Derivation of Matrix to Quaternions conversion

This is a discussion on Derivation of Matrix to Quaternions conversion within the Game Programming forums, part of the General Programming Boards category; How did the first matrix derived? Also the second one? The picture came from here. Part Five: Quaternions...

  1. #1
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    Derivation of Matrix to Quaternions conversion

    How did the first matrix derived? Also the second one?

    The picture came from here. Part Five: Quaternions
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  2. #2
    Super Moderator VirtualAce's Avatar
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    I believe it comes from this:

    (Q1 * Q2).w = (w1w2 - x1x2 - y1y2 - z1z2)
    (Q1 * Q2).x = (w1x2 + x1w2 + y1z2 - z1y2)
    (Q1 * Q2).y = (w1y2 - x1z2 + y1w2 + z1x2)
    (Q1 * Q2).z = (w1z2 + x1y2 - y1x2 + z1w2)

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