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並前往https://www.reddit.com/r/gamedev/comments/9s1uj6/amazing_explanation_of_quaternions_for_3d_rotation/

Amazing explanation of quaternions for 3D rotation - Reddit

To construct a quaternion to rotate an angle theta around an axis defined by unit vector v: q = cos(0.5 * theta) + v.x * sin(0.5 * theta) * i + ...

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