文章目录
在看PhysX源码的时候,看到四元数公式,想知道怎么推导过来的,因为网上一大片帖子都是直接写上这个公式。最主要是纠结公式中角度的一半是如何来的
公式
参考[2] 10.4.3
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\begin{aligned} q & = [cos(\theta/2), sin(\theta/2)\vec{n}] \\ & = [cos(\theta/2), sin(\theta/2)n_x , sin(\theta/2)n_y, sin(\theta/2)n_z] \end{aligned}
q=[cos(θ/2),sin(θ/2)n]=[cos(θ/2),sin(θ/2)nx,sin(θ/2)ny,sin(θ/2)nz]
推导
参考[6]直接给出了证明,下面自己推导一遍
三维空间旋转公式
先抛开四元数,我们去求一个三位空间向量绕固定轴旋转之后的向量的公式是什么?也就是参考[2]书中提到的轴-角式旋转。而四元数是跟轴-角式的旋转相关的,先以这个为基础,再去推导四元数的公式会容易理解一些。
和参考[6]一样,用的右手坐标系,主要是用的绘图软件[9],右手坐标系好看点。
设定:
- 任意向量 v \pmb{v} vvv(向量用粗体小写字母表示)
- 绕经过原点的旋转轴 u = ( x , y , z ) T \pmb{u} = {(x, y, z)}^T uuu=(x,y,z)T
- 右手坐标系,绕向量 p m b u pmb{u} pmbu从箭头到原点方向逆时针旋转角度 θ \theta θ
- u \pmb{u} uuu是单位向量: ∥ u ∥ = x 2 + y 2 + z 2 = 1 \Vert{\pmb{u}}\Vert = \sqrt{x^2 + y ^2 + z^2} = 1 ∥uuu∥=x2+y2+z2=1
为了简单起见,看下图所示
1.向量分解
将
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\pmb{v} = \pmb{v}_{\Vert} + \pmb{v}_{\bot}
vvv=vvv∥+vvv⊥
分别旋转这两个分向量,再把最后旋转的两个分量相加,得到旋转后的向量
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\pmb{v}^{'} = {\pmb{v}_{\Vert}}^{'} + {\pmb{v}_{\bot}}^{'}
vvv′=vvv∥′+vvv⊥′
如下图所示:
根据正交投影公式
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\begin{aligned} \pmb{v}_{\Vert} &= \frac {\pmb{u}.\pmb{v}}{\pmb{u}.\pmb{u}} \pmb{u} \\ &= (\pmb{u}.\pmb{v})\pmb{u} \qquad (\Vert {\pmb u} \Vert = 1) \end{aligned}
vvv∥=uuu.uuuuuu.vvvuuu=(uuu.vvv)uuu(∥uuu∥=1)
因为
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\pmb{v} = \pmb{v}_{\Vert} + \pmb{v}_{\bot}
vvv=vvv∥+vvv⊥,所以
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\begin{aligned} \pmb{v}_{\bot} &= \pmb v - \pmb{v}_{\Vert} \\ & = \pmb v - (\pmb{u}.\pmb{v})\pmb{u} \end{aligned}
vvv⊥=vvv−vvv∥=vvv−(uuu.vvv)uuu
接下来分别计算~
2.水平方向 v ∥ \pmb{v}_{\Vert} vvv∥的旋转
因为平行向量
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uuu旋转任意角度之后还是自身,所以有:
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{\pmb{v}_{\Vert}}^{'} = \pmb{v}_{\Vert}
vvv∥′=vvv∥
3.垂直方向 v ⊥ \pmb{v}_{\bot} vvv⊥的旋转
三维空间如图所示:
用2D的俯视图,会更容易看到清楚,对应于上图的下面一个虚线的圆
借助一个向量
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\pmb w = \pmb u \times {\pmb v_{\bot}}
www=uuu×vvv⊥
注意:右手坐标系统,叉乘顺序
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\begin{aligned} \Vert \pmb w \Vert & = \Vert \pmb u \times {\pmb v_{\bot}} \Vert \\ &= \Vert u \Vert . \Vert \pmb v_{\bot} \Vert . sin(\pi/2) \\ & = \Vert \pmb v_{\bot} \Vert \end{aligned}
∥www∥=∥uuu×vvv⊥∥=∥u∥.∥vvv⊥∥.sin(π/2)=∥vvv⊥∥
将
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www和
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\begin{aligned} \pmb v ^ {'} _ {\bot} &= \pmb v^{'}_v + \pmb v^{'}_w \\ & = cos(\theta) \pmb v_\bot + sin(\theta) \pmb w \\ & = cos(\theta) \pmb v_\bot + sin(\theta)(\pmb u \times \pmb v_\bot) \end{aligned}
vvv⊥′=vvvv′+vvvw′=cos(θ)vvv⊥+sin(θ)www=cos(θ)vvv⊥+sin(θ)(uuu×vvv⊥)
书上说提到用一点三角学的公式,其实主要是下面的这个三个向量的模都相等。按照投影或者分解,本应该是
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vvvw′=sin(θ)vvv⊥′。简单换算一下就是上面的等式了
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\begin{aligned} \pmb v^{'}_v &= cos(\theta) \pmb v^{'}_\bot = cos(\theta) \frac {\pmb v_\bot}{\Vert \pmb v_\bot \Vert} \Vert \pmb v^{'}_\bot \Vert = cos(\theta)\pmb v_\bot \\ \pmb v^{'}_w &= sin(\theta) \pmb v^{'}_\bot = sin(\theta) \frac {\pmb w}{\Vert \pmb w \Vert} \Vert \pmb v^{'}_\bot \Vert = sin(\theta) \pmb w = sin(\theta) (\pmb u \times \pmb v_\bot) \end{aligned}
vvvv′vvvw′=cos(θ)vvv⊥′=cos(θ)∥vvv⊥∥vvv⊥∥vvv⊥′∥=cos(θ)vvv⊥=sin(θ)vvv⊥′=sin(θ)∥www∥www∥vvv⊥′∥=sin(θ)www=sin(θ)(uuu×vvv⊥)
4.向量 v \pmb v vvv的旋转公式
再由旋转后的向量组合起来得到
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\begin{aligned} \pmb v^{'} &= \pmb v^{'}_\Vert + \pmb v^{'}_\bot \\ & = \pmb v_\Vert + cos(\theta) \pmb v_\bot + sin(\theta)(\pmb u \times \pmb v_\bot) \end{aligned}
vvv′=vvv∥′+vvv⊥′=vvv∥+cos(θ)vvv⊥+sin(θ)(uuu×vvv⊥)
因为叉乘遵守分配律,有
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\begin{aligned} \pmb u \times \pmb v_\bot &= \pmb u \times (\pmb v - \pmb v_\Vert) \\ & = \pmb u \times \pmb v - \pmb u \times \pmb v_\Vert \\ & = \pmb u \times \pmb v \qquad (\pmb u 平行于 \pmb v_\Vert) \end{aligned}
uuu×vvv⊥=uuu×(vvv−vvv∥)=uuu×vvv−uuu×vvv∥=uuu×vvv(uuu平行于vvv∥)
最后,将
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vvv⊥=vvv−(uuu.vvv).uuu代入,得到
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\begin{aligned} \pmb v^{'} = (\pmb u {.} \pmb v){.} \pmb u+ cos(\theta)(\pmb v - (\pmb u {.} \pmb v){.} \pmb u) + sin(\theta)(\pmb u \times \pmb v) \\ \quad = cos(\theta)\pmb v + (1 - cos(\theta))(\pmb u {.} \pmb v){.} \pmb u + sin(\theta)(\pmb u \times \pmb v) \end{aligned}
vvv′=(uuu.vvv).uuu+cos(θ)(vvv−(uuu.vvv).uuu)+sin(θ)(uuu×vvv)=cos(θ)vvv+(1−cos(θ))(uuu.vvv).uuu+sin(θ)(uuu×vvv)
注意这个公式,参考[6]中叫做叫做「Rodrigues’ Rotation Formula」
四元数的3D旋转公式
接下来,我们要慢慢推导四元数的公式了,那么先要搞清楚四元数喝旋转之前的关系。下面的内容把四元数相关性质省略了,想看的话,看参考[6]或者其他书籍吧。
参考上一节,还是走相同的流程:三维空间旋转公式,也是分解向量 v v v。但是,这次不是用的向量的三维表示,而是再上一个维度,用四元数去表示。高一维度能完全秒杀低一维度的生物,所以想想还是挺厉害的。
先放两个引理,后面还会遇到几个引理,都是为了方便推导公式:
- 引理一 纯四元数
简单来讲呢?现在要用一个四维的向量来表示空间的旋转,表示方法就有了一些对应的变化
如果一个四元数能写成这样的形式,
v = [ 0 , v ] v = [0, \pmb v] v=[0,vvv]
那么我们称 v v v为一个纯四元数
注意:这里用非粗体字母表示四元数
- 引理二 Graßmann 积
直接列出来,如果看推理,参考[6]
对任意的四元数 q 1 = [ s , v ] , q 2 = [ t , u ] , q 1 q 2 的 结 果 是 q_1 = [s, \pmb v],\; q_2 = [t, \pmb u], q_1q_2的结果是 q1=[s,vvv],q2=[t,uuu],q1q2的结果是
q 1 q 2 = [ s t − v . u , s u + t v + v × u ] q_1q_2 = [st - \pmb v {.} \pmb u, \; s \pmb u + t \pmb v + \pmb v \times \pmb u] q1q2=[st−vvv.uuu,suuu+tvvv+vvv×uuu]
按照引理一,列出所有的四元数表示
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\begin{aligned} &v = [0, \pmb v] &v^{'} = [0, \pmb v ^{'}] \\ &v_\bot = [0, \pmb v_\bot] &v^{'}_\bot = [0, \pmb v^{'}_\bot] \\ &v_\Vert = [0, \pmb v_\Vert] &v^{'}_\Vert = [0, \pmb v^{'}_\Vert] \\ &u = [0, \pmb u] \end{aligned}
v=[0,vvv]v⊥=[0,vvv⊥]v∥=[0,vvv∥]u=[0,uuu]v′=[0,vvv′]v⊥′=[0,vvv⊥′]v∥′=[0,vvv∥′]
并且有:
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v = v_\bot + v_\Vert \qquad \qquad v^{'} = v^{'}_\bot + v^{'}_\Vert
v=v⊥+v∥v′=v⊥′+v∥′
1.水平方向 v ∥ v_\Vert v∥的旋转
同理,这个旋转没有发生任何变化
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v∥′=v∥
2.垂直方向 v ⊥ v_\bot v⊥的旋转
之前推导有
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\pmb v^{'}_\bot = cos(\theta) \pmb v_\bot + sin(\theta)(\pmb u \times \pmb v_\bot)
vvv⊥′=cos(θ)vvv⊥+sin(θ)(uuu×vvv⊥)
把向量换成四元数,就可以有四元数表示的公式了,但是向量的叉乘怎么和四元数什么乘积对应起来呢?看下面,可以看到是Graßmann 积
根据引理二的Graßmann 积,假设有两个四元数
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vu = [-\pmb v {.} \pmb u, \pmb v \times \pmb u]
vu=[−vvv.uuu,vvv×uuu]。由此,那么可以算出来推理一中的四元数
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\begin{aligned} uv_\bot &= [-\pmb u {.} \pmb v_\bot, \; \pmb u \times \pmb v_\bot] \\ &= [0, \; \pmb u \times \pmb v_\bot] \qquad (\pmb u {.} \pmb v_\bot = 0) \end{aligned}
uv⊥=[−uuu.vvv⊥,uuu×vvv⊥]=[0,uuu×vvv⊥](uuu.vvv⊥=0)
结果还是一个四元数!所以,上面向量
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v^{'}_\bot = cos(\theta)v_\bot + sin(\theta)(uv_\bot )
v⊥′=cos(θ)v⊥+sin(θ)(uv⊥)
四元数遵循乘法分配律,得到
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\begin{aligned} v^{'}_\bot &= cos(\theta)v_\bot + sin(\theta)(uv_\bot ) \\ \quad &= (cos(\theta) + sin(\theta)u)v_\bot \end{aligned}
v⊥′=cos(θ)v⊥+sin(θ)(uv⊥)=(cos(θ)+sin(θ)u)v⊥
接下来做一些数学上常用的技巧。
如果将 ( c o s ( θ ) + s i n ( θ ) u ) (cos(\theta) + sin(\theta)u) (cos(θ)+sin(θ)u)看成一个旋转四元数,我们就能将旋转写成四元数的乘积了。到此为止,我们已经将旋转与四元数的积联系起来了
令:
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q = cos(\theta) + sin(\theta)u
q=cos(θ)+sin(θ)u,得到
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v⊥′=qv⊥
对q进行变形
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\begin{aligned} q &= cos(\theta) + sin(\theta)u \\ \quad &= [cos(\theta, \pmb 0)] + [0, sin(\theta)\pmb u] \\ \quad &= [cos(\theta), sin(\theta) \pmb u] \end{aligned}
q=cos(θ)+sin(θ)u=[cos(θ,000)]+[0,sin(θ)uuu]=[cos(θ),sin(θ)uuu]
到这里,就和最开始的公式有点像了,但是还差个2倍的关系
注意:这里对一个向量
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vvv⊥绕旋转轴
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uuu旋转左乘四元数
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q就可以了。但是,这里的一个前提条件是向量和旋转轴垂直的情况
所以,接下来,我们再回到一般情况
3.四元数 v v v的旋转公式
回到一般情况
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\begin{aligned} v^{'} &= v^{'}_\bot + v^{'}_\Vert \\ \quad &= v_\Vert + qv_\bot \end{aligned}
v′=v⊥′+v∥′=v∥+qv⊥
这里,我把步骤写下来,完全参考[6],对于中间的证明,可以翻阅参考[6],非常的详细
接下来就是等式各种演变了
- 引理三
如果 q = [ c o s ( θ ) , s i n ( θ ) u ] q = [cos(\theta), sin(\theta) \pmb u] q=[cos(θ),sin(θ)uuu],如果 u \pmb u uuu为单位向量, q 2 = q q = [ c o s ( 2 θ ) , s i n ( 2 θ ) u ] q^2 = qq = [cos(2\theta), sin(2\theta)\pmb u] q2=qq=[cos(2θ),sin(2θ)uuu]
我要找的2倍角出现了,有点苗头了.
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\begin{aligned} v^{'} &= v^{'}_\bot + v^{'}_\Vert \\ \quad &= v_\Vert + qv_\bot \\ \quad &= 1 {.} v_\Vert + qv_\bot \\ \quad &= pp^{-1}v_\Vert + ppv_\bot \qquad (令q = p^2, \;则p = [cos(1/2\theta), sin(1/2\theta) \pmb u]) \end{aligned}
v′=v⊥′+v∥′=v∥+qv⊥=1.v∥+qv⊥=pp−1v∥+ppv⊥(令q=p2,则p=[cos(1/2θ),sin(1/2θ)uuu])
因为
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继续做等式变换
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\begin{aligned} v^{'} &= pp^{-1}v_\Vert + ppv_\bot \\ \quad &= pp^{\star} v_\Vert + ppv_\bot \end{aligned}
v′=pp−1v∥+ppv⊥=pp⋆v∥+ppv⊥
- 引理四
假设 v ∥ = [ 0 , v ∥ ] v_\Vert = [0, \pmb v_\Vert] v∥=[0,vvv∥]是一个纯四元数,而 q = [ α , β u ] q = [\alpha, \beta \pmb u] q=[α,βuuu],其中 u \pmb u uuu是一个单位向量, α , β ∈ R \alpha, \beta \in \mathbb R α,β∈R。在这种情况下,如果 v ∥ \pmb v_\Vert vvv∥平行于 u \pmb u uuu,那么 q v ∥ = v ∥ q qv_\Vert = v_\Vert q qv∥=v∥q
- 引理五
假设 v ⊥ = [ 0 , v ⊥ ] v_\bot = [0, \pmb v_\bot] v⊥=[0,vvv⊥] 是一个纯四元数,而 q = [ α , β u ] q = [\alpha, \beta \pmb u] q=[α,βuuu],其中 u \pmb u uuu 是一个单位向量, α , β ∈ R \alpha, \beta \in \mathbb R α,β∈R.在这种条件下,如果 v ⊥ \pmb v_\bot vvv⊥ 正交于 u \pmb u uuu,那么 q v ⊥ = v ⊥ q ⋆ qv_\bot = v_\bot q^{\star} qv⊥=v⊥q⋆
则等式可以继续化简
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\begin{aligned} v^{'} &= pp^{\star} v_\Vert + ppv_\bot \\ \quad &= pv_\Vert p^{\star} + pv_\bot p^{\star} \\ \quad &= p(v_\Vert + v_\bot)p^{\star} \end{aligned}
v′=pp⋆v∥+ppv⊥=pv∥p⋆+pv⊥p⋆=p(v∥+v⊥)p⋆
可以看到
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v^{'} = p v p^{\star} = p v p^{-1}
v′=pvp⋆=pvp−1
其中,
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q = [cos(\theta/2), sin(\theta/2)\pmb u]
q=[cos(θ/2),sin(θ/2)uuu]
小结
- 可以看到如果用四元数去旋转一个向量的话,并不是四元数左乘或者右乘一次就行了,而是后面还要乘以一个四元数的逆
到此,这个公式的证明就结束了,参考[6]说四元数的表示和3D旋转向量表示的「Rodrigues’ Rotation Formula」公式是等价的,虽然没有证明,但是其实证明就是各种三角函数的带入。而且文章中也给出了一个关键的叉乘公式,下面自己就手动证明一下,可以跳过。
两种公式等价证明
为了书写方便,先假设
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c = cos(\theta/2), s = sin(\theta / 2)
c=cos(θ/2),s=sin(θ/2)。已知
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v=[0,vvv],q=[c,suuu],Graßmann 积算前面两个
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\begin{aligned} qv &= [0 - s \pmb u{.} \pmb v, c \pmb v + \pmb 0 + s \pmb u \times \pmb v] \\ \quad &= [-s \pmb u {.} \pmb v, c \pmb v + s \pmb u \times \pmb v] \end{aligned}
qv=[0−suuu.vvv,cvvv+000+suuu×vvv]=[−suuu.vvv,cvvv+suuu×vvv]
按照四元数性质,可以很容易知道
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q−1=q⋆=[c,−suuu],继续使用Graßmann 积推导公式
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qvq^{-1} = [-sc \pmb u {.} \pmb v - (c \pmb v + s \pmb u \times \pmb v).(-s \pmb u), \; -s \pmb u {.} \pmb v {.}(-s\pmb u) + c(c\pmb v + s \pmb u \times \pmb v) + (c\pmb v + s \pmb u \times \pmb v) \times (-s \pmb u)] \\
qvq−1=[−scuuu.vvv−(cvvv+suuu×vvv).(−suuu),−suuu.vvv.(−suuu)+c(cvvv+suuu×vvv)+(cvvv+suuu×vvv)×(−suuu)]
分两部算逗号前面的,这样会清洗一点,不然公式写的老长
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1.逗号前面四元数的实数部分
= − s c u . v − ( c v + s u × v ) . ( − s u ) = − s c u . v + s c v . u − s u × v . ( − s u ) = s 2 u × v . u ( 向 量 点 积 满 足 交 换 律 : a . b = b . a ) = 0 ( u × v 和 u 垂 直 ) \begin{aligned} \quad &= -sc \pmb u {.} \pmb v - (c \pmb v + s \pmb u \times \pmb v).(-s \pmb u) \\ \quad &= -sc \pmb u {.} \pmb v + sc \pmb v {.} \pmb u - s \pmb u \times \pmb v {.}(-s \pmb u) \\ \quad &= s^2 \pmb u \times \pmb v {.} \pmb u \qquad &(向量点积满足交换律:\pmb a {.} \pmb b = \pmb b {.} \pmb a) \\ \quad &= 0 \qquad &(\pmb u \times \pmb v 和\pmb u垂直) \end{aligned} =−scuuu.vvv−(cvvv+suuu×vvv).(−suuu)=−scuuu.vvv+scvvv.uuu−suuu×vvv.(−suuu)=s2uuu×vvv.uuu=0(向量点积满足交换律:aaa.bbb=bbb.aaa)(uuu×vvv和uuu垂直) -
2.逗号后面四元数的虚数部分
= − s u . v . ( − s u ) + c ( c v + s u × v ) + ( c v + s u × v ) × ( − s u ) = s 2 ( u . v ) u + c 2 v + c s u × v − c s v × u − s 2 u × v × u = s 2 ( u . v ) u + c 2 v + 2 c s u × v − s 2 u × v × u ( 向 量 叉 乘 : a × b = − b × a ) = s 2 ( u . v ) u + c 2 v + 2 c s u × v − s 2 [ ( u . u ) v − ( u . v ) u ] [ ( a × b ) × c = ( a . c ) b − ( a . b ) c ] = s 2 ( u . v ) u + s 2 ( u . v ) u + c 2 v − s 2 v + 2 c s u × v = c o s ( θ ) v + ( 1 − c o s ( θ ) ) ( u . v ) u + s i n ( θ ) u × v ( 三 角 函 数 两 倍 角 公 式 ) \begin{aligned} & = -s \pmb u {.} \pmb v {.}(-s\pmb u) + c(c\pmb v + s \pmb u \times \pmb v) + (c\pmb v + s \pmb u \times \pmb v) \times (-s \pmb u) \hspace{1cm}\\ & = s^2 (\pmb u {.} \pmb v)\pmb u + c^2 \pmb v + cs \pmb u \times \pmb v - cs \pmb v \times \pmb u - s^2 \pmb u \times \pmb v \times \pmb u \\ & = s^2 (\pmb u {.} \pmb v)\pmb u + c^2 \pmb v + 2cs \pmb u \times \pmb v - s^2 \pmb u \times \pmb v \times \pmb u \quad (向量叉乘:\pmb a \times \pmb b = - \pmb b \times \pmb a) \\ &= s^2 (\pmb u {.} \pmb v)\pmb u + c^2 \pmb v + 2cs \pmb u \times \pmb v - s^2[(\pmb u {.} \pmb u)\pmb v - (\pmb u {.}\pmb v)\pmb u] \quad[(\pmb a \times \pmb b) \times \pmb c = (\pmb a {.}\pmb c)\pmb b - (\pmb a {.}\pmb b)\pmb c] \\ & = \color{aqua}{s^2 (\pmb u {.} \pmb v)\pmb u + s^2 (\pmb u {.}\pmb v)\pmb u} + \color{blue}{c^2 \pmb v - s^2\pmb v} + 2cs \pmb u \times \pmb v \\ & = cos(\theta)\pmb v + (1-cos(\theta))(\pmb u {.} \pmb v)\pmb u + sin(\theta)\pmb u \times \pmb v \qquad (三角函数两倍角公式) \end{aligned} =−suuu.vvv.(−suuu)+c(cvvv+suuu×vvv)+(cvvv+suuu×vvv)×(−suuu)=s2(uuu.vvv)uuu+c2vvv+csuuu×vvv−csvvv×uuu−s2uuu×vvv×uuu=s2(uuu.vvv)uuu+c2vvv+2csuuu×vvv−s2uuu×vvv×uuu(向量叉乘:aaa×bbb=−bbb×aaa)=s2(uuu.vvv)uuu+c2vvv+2csuuu×vvv−s2[(uuu.uuu)vvv−(uuu.vvv)uuu][(aaa×bbb)×ccc=(aaa.ccc)bbb−(aaa.bbb)ccc]=s2(uuu.vvv)uuu+s2(uuu.vvv)uuu+c2vvv−s2vvv+2csuuu×vvv=cos(θ)vvv+(1−cos(θ))(uuu.vvv)uuu+sin(θ)uuu×vvv(三角函数两倍角公式) -
3.再合在一起
q v q − 1 = [ 0 , c o s ( θ ) v + ( 1 − c o s ( θ ) ) ( u . v ) u + s i n ( θ ) u × v ] qvq_{-1} =[0, cos(\theta)\pmb v + (1-cos(\theta))(\pmb u {.} \pmb v)\pmb u + sin(\theta)\pmb u \times \pmb v] qvq−1=[0,cos(θ)vvv+(1−cos(θ))(uuu.vvv)uuu+sin(θ)uuu×vvv]
这样就完成证明了
参考
[1]Maths - AxisAngle to Quaternion
[2]3D数学基础图形与游戏开发
[4]四元数与欧拉角(RPY角)的相互转换
[5]Converting to Euler & Tait-Bryan
[6]四元数旋转公式推导
[7]eater.net
[8]四元数与三位旋转
[9]https://www.geogebra.org/classic
[10]geogebra