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How Quaternions encode rotations: derivation and sample code

loopspace.mathforge.org

In the post on matrices in Codea I mentionned that an affine transformation (things like rotation, scaling, translation) ℝ 3 → ℝ 3 could be specified by giving four vectors. In this post I want to examine that a little more closely for the special case of a rotation. That is to say: how can I encode a rotation in ℝ 3…
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Math & AlgorithmsSoftware Engineering2016

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Sep 7, 2016How Quaternions encode rotations: derivation and sample code by CarolineW17394

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