FANDOM


The multiplication of quaternions was defined by their inventor Maxwell as follows:

Given two quaternions:

q = a +b.i +c.j + d.k
r = e +f.i +g.j + h.k

where the coefficients a through h are real, the product is given by the rules:

i.i = j.j =k.k = i.j.k = -1
i.j=k
j.k=i
k.i=j
j.i=-k
k.j=-i
i.k=-j

Thus

q.r =
a.e -b.f - h.c - hd +
(e.b +b.f +h.c -g.d).i +
(e.c +a.g +d.f -b.h).j+
(e.d +a.h +b.g -f.c ).k

Ad blocker interference detected!


Wikia is a free-to-use site that makes money from advertising. We have a modified experience for viewers using ad blockers

Wikia is not accessible if you’ve made further modifications. Remove the custom ad blocker rule(s) and the page will load as expected.