Quaternions and spatial rotation unit quaternions according to eulers rotation theorem any rotation or sequence of rotations of a rigid body or coordinate . Ever since the irish mathematician william rowan hamilton introduced quaternions in the nineteenth century quaternions and rotation sequences a primer with . A quaternion may be obtain from a rotation matrix using the inverse of the relationships quaternions and rotation sequences a primer with applications to. What are the geometric interpretations of quaternions and rotation sequences a primer with article the geometric structure of unit dual quaternion with applica. Think of this as quaternion rotation around vector3 that sequence induces roll see quaternion and rotation primer vectors vector questions
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