I'm using this formula for my quaternion camera in OpenGL. It works perfectly but I didn't understand how it was derived. Can anyone here teach me how did the conversion was derived? or maybe give me a book that teach how it is done. Most of the site I found on the net was just showing the equation without showing how it was derived.(adsbygoogle = window.adsbygoogle || []).push({});

http://img502.imageshack.us/img502/3771/matrixn.jpg" [Broken]

Source: http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.htm"

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# Derivation of Matrix to Quaternions conversion

Can you offer guidance or do you also need help?

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