一、四元数乘法 定义: q = a + u ⃗ = a + b i + c j + d k q = a + \vec u = a + bi + cj + dk q=a+u =a+bi+cj+dk p = t + v ⃗ = t + x i + y j + z k p = t+\vec v = t + xi + yj + zk p=t+v