TQuat2::Concatenate

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References

TQuat2 Concatenate  
&40;  
    const TQuat2 & RHS  
&41; const  
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TQuat2 Concatenate &40;     const TQuat2 & RHS &41; const

Remarks

Transform 2 rotations defined by complex numbers: In imaginary land: (A + Bi) * (C + Di) == (AC - BD) + (AD + BC)i

Looking at this as a matrix, A == cos(theta), B == sin(theta), C == cos(sigma), D == sin(sigma):

[ A B] * [ C D] == [ AC-BD AD+BC] [-B A] [-D C] [-(AD+BC) AC-BD]

If you look at how the vector multiply works out: [X(AC-BD)+Y(-BC-AD) X(AD+BC)+Y(-BD+AC)] you can see it follows the same form of the imaginary form. Indeed, check out how the matrix nicely works out to [ A B] for a visual proof of the results. [-B A]