How did the first matrix derived? Also the second one?
The picture came from here. Part Five: Quaternions
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How did the first matrix derived? Also the second one?
The picture came from here. Part Five: Quaternions
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)