Type Alias quaternion_wrapper::Quaternion

pub type Quaternion<T> = (T, [T; 3]);

Quaternion

The type (q0, [q1, q2, q3]) is equivalent to the expression q0 + q1i + q2j + q3k, where 1, i, j, k are basis of quaternions and satisfy the following equality:

i^2 = j^2 = k^2 = ijk = -1