matrix - Can i switch X Y Z in a quaternion? -


i have coordinate system y axis up. need convert coordinate system z up. have rotations stored in quaternions, question : if have quaternion x,y,z can switch y z , result z up?

just swpping 2 axes in quaternions? no doesn't work because flips chirality. if flip chirality , negate quaternion's real part you're in original chirality. in general form can write

q'(q, i'j'k') = εi'j'k' qw_w + qi_i + qj_j + qk_k

where

levi-cevita symbol definition

is totally antisymmetric tensor, known levi-cevita symbol.

this shouldn't surprise, i², j², k² rules of quaternions defined same totally antisymmetric tensor.


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