Quaternion rep; i,j,k imaginary values, w is scalar val | |

alt rep. v = xyz, s = w scalar | |

rep. where rotation of about axis a | |

Quaternion multiplication | |

Order of multiplication property | |

Quaternion conjugate | |

Conjugate multiply | |

Quaternion magnitude | |

Quaternion inverse | |

Vector rotation using quaternion (uses quat. mult.) v is quaternion of form . | |

Vector rotation using quaternion if quat is unit (magnitude = 1) | |

Multiple rotations combined | |

Convert quaternion to rotation matrix |