I'm working on a skeletal animation system, and I want to interpolate the rotations between frames. The rotations are represented by 3x3 matrices.(adsbygoogle = window.adsbygoogle || []).push({});

It's easy enough to interpolate one of the axes linearly by averaging the values from the two frames and re-normalizing, but when you do this with 3 axes, they usually lose their orthogonality.

One possible way to interpolate them would be to convert them to Euler angles (which I still need to learn/figure out how to do), interpolate those, and then convert back to a matrix.

Is there any way to interpolate matrices without first converting them to another representation?

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# Interpolating Rotation Matrices

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