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https://www.qiujiawei.com/understanding-quaternions/#0
https://blog.csdn.net/zouxu634866/article/details/79657384
http://blog.sina.com.cn/s/blog_ab603ca00101m9mc.html
https://www.qiujiawei.com/understanding-quaternions/#0
https://blog.csdn.net/zouxu634866/article/details/79657384
http://blog.sina.com.cn/s/blog_ab603ca00101m9mc.html