TIL (from http://tom94.net , who is not on twitter afaik) if you interpolate camera matrices in log space, the center of rotation is preserved. this is awesome for smoothing camera paths and I cant believe I didnt do this before. may this tweet make you less dumb than me
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You can see the original diagrams I made here: https://caseymuratori.com/blog_0002 It is unfortunate that these are literally two decades old, because that means I am _way_ over the hill now :(
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But anyway, as you can see from the blue arc, expmaps are really pretty janky. Depending on what you're doing, that may not matter, but never assume it's doing the proper torque-minimal path, because it generally doesn't!
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