Quaternion

Quaternion Representation

All the quaternion in this project are represented using scalar-last vec4 ordered as (x, y, z, w). This is different from the order in numpy-quaternion library as we are following the order defined in Taichi.

Quaternion Math

The quaternion math implemented in this project follows the CS 348A Lecture Notes.

We implemented following quaternion math in Taichi:

• mul

• conj

• inv

• from_axis_angle

• as_axis_angle

• rot_vec3

• as_rotation_mat3

• as_rotation_mat4