Quaternion计算3D物体旋转⾓度搭配 英文
在3D程序中，通常⽤quaternion来计算3D物体的旋转⾓度，与Matrix相⽐，quaternion更加⾼效，占⽤的储存空间更⼩，此外也更便于插值。在数学上，quaternion表⽰复数w+xi+yj+zk，其中i,j,k都是虚数单位。
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小学教材可以把quaternion看做⼀个标量和⼀个3D向量的组合。实部w表⽰标量，虚部表⽰向量标记为V，或三个单独的分量（x,y,z）。所以quaternion可以记为[w,V]或[ w,x,y,z]。对quaternion最⼤的误解在于认为w表⽰旋转⾓度，V表⽰旋转轴，正确的理解应该是w与旋转⾓度有关，v与旋转轴有关。
unity3d⾥的Quaternion⾃带了⼀些⽅便的改变形式：
lehmanCreates a rotation which rotates angle degrees around axis.
akb0048 next stageCreates a rotation which rotates from fromDirection to toDirection.
Creates a rotation that looks along forward with the the head upwards along upwards
Spherically interpolates from towards to by t.
2300Interpolates from towards to by t and normalizes the result afterwards.
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unwiReturns the Inver of rotation.
Returns the angle in degrees between two rotations a and b.
5228
Returns a rotation that rotates x degrees around the x axis. y degrees around the y axis. z degrees around the z axis.
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