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Quaternion local rotation 
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#1
Nov2713, 05:49 AM

P: 4

Hey,
Once again, I got a question about quaternions. Say I have an initial rotation Q1. I now want to rotate Q1 on the X and then on the Y axis. BUT: The Y rotation should apply to the local Y axis which was given in Q1. The problem is: If i rotate Q1 by the Xrotation Q2, then the Y axis changes for Q1*Q2. So, since quaternion multiplication is noncommutativ, if I then apply the Yrotation Q3, I don't rotate about the original Y axis of Q1. How can I rotate quaternions this way? Greetings! 


#2
Dec113, 01:54 PM

P: 13

I assume that the rotations around X and Y will be achieved by applying by two separate quaternion increments, call them QX and QY. Assuming this is the case I think you need to proceed as follows;
1. apply the QX rotation to Q1, call the result R1. 2. apply the QX rotation to the QY rotation increment  this transforms the Y axis rotation from the original frame of reference to the frame that exists after you've done the X rotation. Call the modified QY increment QY' 3. apply QY' to R1 


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