| Rotations and quaternions |
|
|
|
|
|
|
|
| How do we
represent rotation matrices? |
||||||
| 2. | Unit quaternions
[Shoemake SIGGRAPH’85] |
|||||
| q = (n sinθ/2, cosθ/2)
= (w,s) |
||||||
| quaternion
multiplication (division is easy) |
||||||
| q0 q1 = (s1w0+
s0w1, s0 s1-w0·w1) |
||||||
