四元数
http://blog.csdn.net/candycat1992/article/details/41254799
http://www.cnblogs.com/yiyezhai/p/3176725.html
https://www.zhihu.com/question/23005815
http://www.cnitblog.com/luckydmz/archive/2010/09/07/68674.html
四元数
http://blog.csdn.net/candycat1992/article/details/41254799
http://www.cnblogs.com/yiyezhai/p/3176725.html
https://www.zhihu.com/question/23005815
http://www.cnitblog.com/luckydmz/archive/2010/09/07/68674.html