Rory Yorke wrote: > Incidentally, the quaternions are reversed from what I'm used to; > e.g., no-rotation corresponds to [0,0,0,1], while I was expecting > [1,0,0,0]. Is this a common convention? > This is how it's done in the Open Dynamics Engine, which we use for physics simulation. I'm not sure if it's widely used but it's used at least in ODE and in Soya :)
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