I was about to send questions about this a few days ago.
Do you mean one-side multiplication returns the same result as two-side
for normalized quaternions? Did you check that?
Can we consider quaternions are always normalized?
I'm never really sure when it comes to quaternions, but I would have
write the same operation than Boon.
Bruno
What are you trying to achieve in terms of rotations? If you just try to
convert the point from global to local coordinates, use
localPt=state->ori.Conjugate()*(pt-state.pos)
localP1 = state1.ori.Conjugate() * tempP1 * state1.ori;
I think mathematitians write this multiplication from both sides, but
they really mean just rotation by the inverse (=conjugate, for
normalized) quaternion.
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