tsarakoye_selo··on Rediscovering QuaternionsSorry, what you have stated is not very clear. If you use cos(theta) + sin(theta)*(ai + bj + ck) representation as you mentioned, what does happen to the orientation information when sin(theta) becomes zero
tsarakoye_selo··on Rediscovering QuaternionsWhat happens if rotation is zero? Won't (ai +bj+ ck) get multiplied by zero then, and the orientation information is lost?