THREE-DIMENSIONAL ANGLE INTERPOLATING METHOD

PROBLEM TO BE SOLVED: To obtain an interpolating result suited to the feeling of human beings even when the difference of three-dimensional angles to be interpolated is large by interpolating only a rotary angle around a rotation axis as the object of interpolation and returning it to an angle by a reversed sequence. SOLUTION: Angular interpolation by each component of X-axis rotation, Y-axis rotation and Z-axis rotation is excluded and each rotation matrix is calculated first to obtain a rotation matrix for transform from one rotation matrix to another rotation matrix. After dividing it in to a rotation axis and a rotation angle around it in addition, the direction of the rotation axis is kept as it is only the rotation angle around it is interpolated as the object and returned by a reversed sequence. In this case, in order to interpolate spaces between with three-dimensional angles A 101 and B 102, the parameter (t) of an actual number is introduced to vary the number of (t) continuously from 1 to 0. By varying the value of (t) like this, angles in the middle are all calculated.