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3D Programming for Windows® by Charles Petzold

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The Quaternion Structure

Different authors use different letters for the four real numbers of the quaternion. I earlier represented the quaternion as:

The Quaternion Structure

Here's one variation:

The Quaternion Structure

The Quaternion structure defined in the System.Windows.Media.Media3D namespace defines properties named W, X, Y, and Z for the four components, so to avoid confusion I will tend to use those same letters in lower case:

The Quaternion Structure

Although this is the standard order for notating these components, ...

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