四元数简介

四元数入门

★旋转篇：
　我将说明使用了四元数（si yuan shu, quaternion）的旋转的操作步骤
（ １ ）四元数的虚部，实部和写法
所谓四元数，就是把4个实数组合起来的东西。
4个元素中，一个是实部，其余3个是虚部。
比如，叫做Q的四元数，实部t而虚部是x,y,z构成，则像下面这样写。
Q = (t; x, y, z)
又，使用向量 V = (x,y,z)，
Q = (t; V) 
也可以这么写。

正规地用虚数单位i,j,k的写法的话，
Q = t + xi + yj + zk
也这样写，不过，我不大使用

（ ２ ）四元数之间的乘法
虚数单位之间的乘法
ii = - 1 , ij = - ji = k (其他的组合也是循环地以下同文)
有这么一种规则。（我总觉得，这就像是向量积（外积），对吧）
用这个规则一点点地计算很麻烦，所以请用像下面这样的公式计算。

A = (a; U)
B = (b; V)
AB = (ab - U·V; aV + bU + U×V)
不过，“U·V”是内积，「U×V」是外积的意思。
注意：一般AB <> BA所以乘法的左右要注意！

（ 3 ）3次元的坐标的四元数表示
如要将某坐标(x,y,z)用四元数表示，
P = ( 0 ; x, y, z)
则要这么写。

另外，即使实部是零以外的值，下文的结果也一样。用零的话省事所以我推荐。

（ ４ ）旋转的四元数表示
以原点为旋转中心，旋转的轴是(α, β, γ)
（但 α ^ 2 + β ^ 2 + γ ^ 2 = 1 ），
（右手系的坐标定义的话，望向向量(α, β, γ)的前进方向反时针地）
转θ角的旋转，用四元数表示就是，
Q = (cos(θ / 2 ); α sin(θ / 2 ), β sin(θ / 2 ), γ sin(θ / 2 ))
R = (cos(θ / 2 ); - α sin(θ / 2 ), - β sin(θ / 2 ), - γ sin(θ / 2 ))
(另外R 叫 Q 的共轭四元数。）

那么，如要实行旋转，
则 R P Q = (0 ; 答案)

请像这样三明治式地计算。这个值的虚部就是旋转之后的点的坐标值。
（另外，实部应该为零。请验算看看）

例子代码

/// Quaternion.cpp
/// (C) Toru Nakata, toru-nakata@aist.go.jp
/// 2004 Dec 29
 
#include <math.h>
#include <iostream.h>
 
/// Define Data type
typedef struct
{
              double t; // real-component
              double x; // x-component
              double y; // y-component
              double z; // z-component
} quaternion;
 

//// Bill 注：Kakezan 在日语里是 “乘法”的意思
quaternion Kakezan(quaternion left, quaternion right)
{
              quaternion ans;
              double d1, d2, d3, d4;
 
              d1 =  left.t * right.t;
              d2 = -left.x * right.x;
              d3 = -left.y * right.y;
              d4 = -left.z * right.z;
              ans.t = d1+ d2+ d3+ d4;
 
              d1 =  left.t * right.x;
              d2 =  right.t * left.x;
              d3 =  left.y * right.z;
              d4 = -left.z * right.y;
              ans.x =  d1+ d2+ d3+ d4;
 
              d1 =  left.t * right.y;
              d2 =  right.t * left.y;
              d3 =  left.z * right.x;
              d4 = -left.x * right.z;
              ans.y =  d1+ d2+ d3+ d4;
 
              d1 =  left.t * right.z;
              d2 =  right.t * left.z;
              d3 =  left.x * right.y;
              d4 = -left.y * right.x;
              ans.z =  d1+ d2+ d3+ d4;
             
              return ans;
}
 
//// Make Rotational quaternion
quaternion MakeRotationalQuaternion(double radian, double AxisX, double AxisY, double AxisZ)
{
              quaternion ans;
              double norm;
              double ccc, sss;
             
              ans.t = ans.x = ans.y = ans.z = 0.0;
 
              norm = AxisX *  AxisX +  AxisY *  AxisY +  AxisZ *  AxisZ;
              if(norm <= 0.0) return ans;
 
              norm = 1.0 / sqrt(norm);
              AxisX *= norm;
              AxisY *= norm;
              AxisZ *= norm;
 
              ccc = cos(0.5 * radian);
              sss = sin(0.5 * radian);
 
              ans.t = ccc;
              ans.x = sss * AxisX;
              ans.y = sss * AxisY;
              ans.z = sss * AxisZ;
 
              return ans;
}
 
//// Put XYZ into  quaternion
quaternion PutXYZToQuaternion(double PosX, double PosY, double PosZ)
{
              quaternion ans;
 
              ans.t = 0.0;
              ans.x = PosX;
              ans.y = PosY;
              ans.z = PosZ;
 
              return ans;
}
 
///// main
int main()
{
              double px, py, pz;
              double ax, ay, az, th;
              quaternion ppp, qqq, rrr;
 
              cout << "Point Position (x, y, z) " << endl;
              cout << "  x = ";
              cin >> px;
              cout << "  y = ";
              cin >> py;
              cout << "  z = ";
              cin >> pz;
              ppp = PutXYZToQuaternion(px, py, pz);
 
              while(1) {
                            cout << "\nRotation Degree ? (Enter 0 to Quit) " << endl;
                            cout << "  angle = ";
                            cin >> th;
                            if(th == 0.0) break;
 
                            cout << "Rotation Axis Direction ? (x, y, z) " << endl;
                            cout << "  x = ";
                            cin >> ax;
                            cout << "  y = ";
                            cin >> ay;
                            cout << "  z = ";
                            cin >> az;
 
 
                            th *= 3.1415926535897932384626433832795 / 180.0; /// Degree -> radian;
 
                            qqq = MakeRotationalQuaternion(th, ax, ay, az);
                            rrr = MakeRotationalQuaternion(-th, ax, ay, az);
 
                            ppp = Kakezan(rrr, ppp);
                            ppp = Kakezan(ppp, qqq);
 
                            cout << "\nAnser X = " << ppp.x
                                          <<  "\n      Y = " << ppp.y
                                          <<  "\n      Z = " << ppp.z << endl;
 
              }
 
              return 0;
} 

 

转自：

http://www.cppblog.com/tommy/archive/2010/10/21/130772.html?opt=admin