四元数 unit quaternion

Hamilton product
For two elements q1: a1 + b1i + c1j + d1k and q2: a2 + b2i + c2j + d2k, their product, called the Hamilton product (a1 + b1i + c1j + d1k) (a2 + b2i + c2j + d2k), is determined by the products of the basis elements and the distributive law. The distributive law makes it possible to expand the product so that it is a sum of products of basis elements. This gives the following expression:

如product(j,k)相当于j与k的叉乘，即i
Now the basis elements can be multiplied using the rules given above to get:[7]

The product of two rotation quaternions[24] will be equivalent to the rotation a2 + b2i + c2j + d2k followed by the rotation a1 + b1i + c1j + d1k.
相当于先转q2，再转q1，即q1q2