Vocabulary

Here are some terms that relate to quaternions that might be used throughout the wiki.
Don't worry if you don't understand some of it as it isn't relevant to using the library, only to understanding the code behind it.

The order of the terms are not in true alphabetical order, but are grouped. For instance, terms that are type of quaternions all fall under q. Copies of important definitions are also pinned at the top.

Term	Definition
Quaternion	quaternion $q = a + bi + cj + dk$ is a point in 4D space on a 4D sphere centered at the origin with radius of 1
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Norm	The norm represents the magnitude of the quaternion $|q| = \sqrt{a^2+b^2+c^2+d^2}$
Quaternion	$q = a + bi + cj + dk$ where $a$ is the angle of rotation and $bi + cj + dk$ is a vector representing the axis of rotation, given $i^2 = j^2 = k^2 = ijk = -1$
Conjugate Quaternion	Given $q = a + bi + cj + dk$, the conjugate of $q$ would be $q* = a - bi - cj - dk$
Inverse Quaternion	The inverse of quaternion $q$ is $q^{-1} = \frac{q*}{|q|^2}$
Pure Quaternion / Vector	A form of quaternion where $q=0+bi+cj+dj$
Unit Quaternion	A quaternion whose norm is equal to 1
Zero Element Quaternion	A quaternion such that $q=0+0i+0j+0k$