Re: [boost.QVM] can you explain quaternions in the docs?

From: Kostas Savvidis (kotika98_at_[hidden])
Date: 2024-05-12 15:58:08

> On May 11, 2024, at 22:55, Andrzej Krzemienski via Boost <boost_at_[hidden]> wrote:
> 
> Could I request an introduction section in the docs that would explain what
> quaternions are and why one would want to use them?

A good reference is
https://danceswithcode.net/engineeringnotes/quaternions/quaternions.html
There is a compendium of formulae for converting to and from 
1) Euler angles
2) rotation matrices 
3) axis/angle representation

The major advantage of quaternions is
1) over Euler angles is avoiding "gymbal lock", 
2)  over matrices the advantage is less or no redundant data,
3) composing two rotations is difficult with axis/angle but easy with quaternions.

Hope that helps alittle