- Chapter 1
- p. 7, Section 1.2.2, 2nd paragraph, 4th line
1985 should be 1895 (thanks to Brian Wyvill)

- p. 7, Section 1.2.2, 2nd paragraph, 4th line
- Chapter 2
- p. 69, Eq 2.33
there is a p in it which should be a q (thanks to Brian Wyvill)

- p. 69, Eq 2.33
- Chapter 3
- p. 111, eq. 3.29
(1-u*theta) should be (1-u)*theta

- p. 111
As an aside, slerp expressed in terms of quaternion algebra Slerp(q0,q1,t) = q0(q0^(-1)q1)^t where q^t = cos(ta) + vsin(ta)

- p. 113, 2nd full paragraph
adapting control point construction for Bezier interpolation of quaternions needs more explanation. In order to do the quaternion-equivalent of the first step of Figure 3.25, use the following: double(p,q) = 2*(p.q)q - p to produce a quaternion as far away from q as q is from p.

- p.113, two places
De Casteljau should be de Casteljau

- p. 111, eq. 3.29
- Chapter 4
- p. 173, Figure 4.44
it looks like my description of grid-based morphing constructs the auxilliary grid the wrong way. It should use the y-coordinates of the source grid and the x-coordinates of the intermediate grid.

- p. 173, Figure 4.44
- Chapter 5
- p. 202, Figure 5.15
the first equation in the figure is acos(..) = ... should be cos(..) = ... the last equation in the figure in numerator on the right contains -X^2+Y^2 should be -(X^2+Y^2)

- p. 211, Figure 5.21
The x-axis is labeled 210, 220, 230 it should be labeled -10, -20, -30

- p. 213, Figure 5.23
The figure's text reads in part: "Inverse of the Jacobian solution formulated to pull the target toward the goal..." this should read: "Inverse of the Jacobian solution formulated to pull the goal toward the end effector..."

- p. 202, Figure 5.15
- Chapter 7
- p. 236, Eq 7.11
For consistent notation, omega in Eq 7.11 should be alpha

- p. 255, Eq. 7.34 & 7.35
tau-sub-t should be tau-sub-i (thanks B.W.)

- p. 267, second line
the inequality should be 0<=k<=1

- p. 268, Eq 7.59
second term in brackets should be p-dot-sub-B

- p. 268, Eq 7.60
in the first line, the second '=' should be a '+' in the second line, the 'w' should be an omega

- p. 268, Eq. 7.59 and Eq. 7.63
the multiplication by n should be taken noted as a dot product

- p. 269, Figure 7.24
- the second line should be Computer Vrealtive = dot(N,(VA-VB) ; Eq. 7.63 - the first 3 equations cited (which includes the line above) should be Eq. 7.60, Eq. 7.63, and Eq. 7.65 - the first else statement should be else if Vrelative >= -threshold

- p. 276, Eq 7.85
the lower left term in the 3x3 matrix should be -ry

- p. 236, Eq 7.11

- p. 406, Figure 11.6
There is an extra left parenthesis in the 5th line of the equations

- p.511, B.57
Rot[0,x,y,z] should be Rot[theta,x,y,z] (thanks to Brian Wyvill)

- p. 512, B.59, lower left element of matrix
2xy-2sy should be "2xz-2sy"

there should be a negative sign on Iyz in the third row of the matrix in the first integral (Ixx), y and z should be squared

the MXYZ terms should be MYZ

"Verlat" should be "Verlet"