Errata for 2nd edition

• Chapter 1
  • p. 7, Section 1.2.2, 2nd paragraph, 4th line

    1985 
    should be 
    1895
    (thanks to Brian Wyvill)
    

• Chapter 2
  • p. 69, Eq 2.33

    there is a p in it which should be a q
    (thanks to Brian Wyvill)
    

• 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
    

• 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.
    

• 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..."
    

• 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
    
      

• Chapter 11
  • p. 406, Figure 11.6

    There is an extra left parenthesis in the 5th line of the equations
    

• Appendix B
  • 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"
    

• p. 553, Eq. B.141

    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
  

• p. 554, Eq. B.146

    the MXYZ terms should be MYZ
  

• p. 560

    "Verlat"
    should be 
    "Verlet"