First, the mathematical basis
1, the vector multiplication, dot product, cross product of the difference
He said the junior high school textbooks vector multiplication, refers to the cross product, prove the following:
Which ixi = jxj = kxk = 0, note, ixi = jxj = kxk = -1, I thought to understand why this is so in quaternions, the first to leave a question mark right
So the above result
This is the same result we obtained determinant method.
2, showing the rotational complex multiplication
3, qpq-1 represents a rotational Why, to prove
Application of the principle 4, quaternions