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Quaternion A set of numbers that use Complex Numbers. H or by H .If we express the three-dimensional vector in terms of the basis , we obtain .Quaternions : with the scalar value added to it.It can be expressed as .∴Quaternions can be said to be a vector based on ." data-ke-type="html">HTML 삽입미리보기할 수 없는 소스Quaternions multiplication rules   ..

Axis-Angle Rotation(Rodrigues Rotation) It is used as a 3d rotation method that can improve the disadvantages of Euler Angle. 3D rotation is more flexible than Euler Angle. : the axis of rotation, orange line- : a point to rotate- 𝜃 : an angle to rotate- : the final point of rotation- : a point of the world space- : the center of a rotating plane" data-ke-type="html">HTML 삽입미리보기할 수 없는 소스 - ..

Tensor product(Outer product) The outer product (denoted by ⊗) results in a matrix (or tensor) rather than a scalar. Let’s say you have two vectors:  a → = a 1 a 2 ..

Matrix(3*3) * Matrix(3*3) Example  K 2 = [ 0 − n ^ ..

Unit Vector A vector that has a magnitude (or length) of exactly 1. It is used to represent a direction without any information about magnitude or length.  n ^ = [ n ^ x ..