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• 06:23, 15 July 2023 Eric Lengyel talk contribs created page Quaternion (Created page with "__NOTOC__ A ''quaternion'' is an operator that performs a rotation about the origin in 3D space. Conventionally, a quaternion $$\mathbf q$$ is written as :$$\mathbf q = q_w + q_x \mathbf i + q_y \mathbf j + q_z \mathbf k$$ , where the "imaginary" units $$\mathbf i$$, $$\mathbf j$$, and $$\mathbf k$$ all square to $$-1$$ and multiply according to the rules :$$\mathbf{ij} = -\mathbf{ji} = \mathbf k$$ :$$\mathbf{jk} = -\mathbf{kj} = \mathbf i$$ :$$\mathbf{ki} = -\mathbf{...")