Hi! I just wanted to pop up here with a quick suggestion. I’m trying to learn quaterions, and in both books I’m using, quaterions start off being defined as a vector [q0, q1, q2, q3] where q0 is the scalar part and q is a vector in R3 space = iq1 + jq2 + kq3.
q = q0 + q
So your suggestion is a decent one, I think, I’d just use real names (q0…q3) and not silly ones.
Yeah, just treat quaterions as a black box that represents orientation. Calling the parameters w, x, y and z has caused nothing but confusion. They are definitely not a vector of Euler angles with some weird w parameter you can figure out later.