不管四元数和3D的旋转,我先要弄清楚复数和2D旋转:
cos(b) * r = x => cos(b) = x / r (1)
sin(b) * r = y => sin(b) = y / r (2)
cos(a + b) * r = x' => cos(a)cos(b) - sin(a)sin(b) = x' (3)
sin(a + b) * r = y' => sin(a)cos(b) + cos(a)sin(b) = y' (4)
把(1),(2)代入(3),(4)中:
x' = cos(a)x - sin(a)y
y' = sin(a)x + cos(a)y
这样(x + yi)(cos(a) + sin(a)i) = (cos(a)x - sin(a)y) + (sin(a)x + cos(a)y)i