3.2 Changing Position and Orientation

Suppose that a movable model has been defined as a mesh of triangles. To move it, we apply a single transformation to every vertex of every triangle. This section first considers the simple case of translation, followed by the considerably complicated case of rotations. By combining translation and rotation, the model can be placed anywhere, and at any orientation in the virtual world $ {\mathbb{R}}^3$.


Steven M LaValle 2016-12-31