About The Quaternion 有关四元数

I took many days to try to understand anything about Quaternion but got no result. The resaon why I paied out so much on quaternion is that, I'm trying to write a better camera system which is to added to my Cuby Projectcan. It should be able to move & rotate freely,. And meanwhile it uses as simple & little representation for itself as possible. So without saying that I refered to Ogre's implementation and found it uses Quaternion. But I don't only copy its code, I want to make out principle behind the code. According to comments in the code of Quaternion part from Ogre, I got a meesage that there is article linked at http://www.cs.ucr.edu/~vbz/resources/quatut.pdf explained details of Quaternion. I‘m not drawing blank, though. There is somewhat a little progress. Anyway, I'll read it in near term. 

 

最近我花了很长时间去理解四元数，但总是一无所获。之所以研究四元书，是因为我在尝试写一个相对更加完善的相机系统，可以用在我的Cuby项目中。它应该在移动和旋转灵活的同时，能够用尽可能简洁的方式来表达它自己。很自然地，我参考了Ogre的实现方法，然后发现它使用了四元数。但我不只是想照着它的代码抄一遍，我想知道四元数背后的原理。从Ogre的代码注释中我找到一条线索，它用了这里的一篇论文 http://www.cs.ucr.edu/~vbz/resources/quatut.pdf  。 总之，我还是有点收获的。近期我会读一读它～

 

BTW： First time to write bilingual notes and felt a little strenuous.. / 第一次写双语笔记， 还是感到有点吃力..