[Interest] Add extra rotation to a quaternion

[Rainer Wiesenfarth]

On Sun, Apr 5, 2020 at 11:04 AM Megidd Git <megiddgit at gmail.com> wrote:

> Hi!
> I have a QQuaternion <https://doc.qt.io/qt-5/qquaternion.html> like:
> QQuaternion(scalar:0.707107, vector:(0, 0, 0.707107))
> I want to add this extra rotation to my quaternion:
> Rotation around point QVector3D(34.5, -40, 7.16294) in XY plane by 180°
> [...]
>

Just for clarification: A quaternion does *not* describe a "rotation around
point", but just a rotation in 3D.

If you want to rotate around a given point, you first have to apply a
translation to the origin, then the rotation (which might be given as a
quaternion) and then a translation back to the intended rotational centre.

Cheers, Rainer

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