US EditionComposing rotations using quaternions
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Composing rotations using quaternions
Every rotation in 3D fixes an axis [1]. This is Euler’s rotation theorem from 1775. Another way to state the theorem is that no matter how you rotate a sphere about its center, two points stay fixed. The composition of two rotations is a rotation. So the first rotation fixes some axis, the second rotation fixes some axis, and the composition fixes some third axis. It’s easy to see what these axes are if we work with quaternions. (Quaternions wer…
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