A small soft raster engine with clear thinking and a case of quaternion combination

hello , This section is selected from   Get started with your hands 3D Graphic mathematics - Four yuan number   Chapter XI contents , It mainly explains how the small engine of soft grating realizes the rotation of objects through quaternion , How to avoid the problem of universal lock . At the same time, I will explain uvn matrix , How to build The view matrix (viewmatrix) The world matrix (worldmatrix) And how to achieve the movement and scaling of objects , It also explains how to convert local coordinates to world coordinates , Change world coordinates to local coordinates .

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Soft raster small engine combined with quaternion