A implementation of a way of representing rotations that avoid a lot of the problems that the standard rotation about the axis methods have.

Quaternions are a modification of the concept of a vector in space, but specially tailored for spherical space. The cool thing about quaternions is that they are perfectly suited to representing rotations and orientations of objects in three space.

Basically, in a quaternion there are four values: a scalar part and a vector part. q = ( s, v ). Typically, when dealing with rotations, the scalar part represents the rotation about an arbitrary axis. The axis is represented by a unit vector in the vector part.

Since the quaternion is a representation of a rotation, it can be converted into a Euler angle rotation matrix and a rotation matrix can be converted into a quaternion.

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