No game developer knows how they work, we just think it's name sounds cool. - A quaternion is made up of a scalar w and a vector component.
- A quaternion p can be listed as [w, v] or [ w, (x, y, z) ].
- It's math is based on complex numbers and makes no sense for anyone.
- To negate a quaternion we negate each component in it. -q =) [-w, -n]
- The identity quaternion i = [1, 0].
- The magnitude of a quaternion is ||q|| = sqrt(w^{2} + ||v||^{2}).
- The conjugate of q is obtained by negating the vector portion of the quaternion. q* = [w, -v]
- The inverse of q is the conjugate divided by its magnitude. q^{-1} = q* / ||q||.
- If only unit vectors are used then the inverse is the same as the conjugate.
Axis Angle Pair: - With n the axis of rotation and θ the angle around it then q = [ cos(θ/2), sin(θ/2)n, ) ].
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