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More information Method, Storage ...
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* Note: angle-axis can be stored as 3 elements by multiplying the unit rotation axis by the rotation angle, forming the logarithm of the quaternion, at the cost of additional calculations.
More information Method, # multiplies ...
Performance comparison of rotation chaining operations
| Method | # multiplies | # add/subtracts | total operations |
| Rotation matrices | 27 | 18 | 45 |
| Quaternions | 16 | 12 | 28 |
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More information Method, # multiplies ...
Performance comparison of vector rotating operations
| Method | # multiplies | # add/subtracts | # sin/cos | total operations |
| Rotation matrix | 9 | 6 | 0 | 15 |
| Quaternions | 18 | 12 | 0 | 30 |
| Angle/axis3 (via matrix) | 23 | 16 | 2 | 41 |
| Angle/axis4 (Rodrigues' rotation formula) | 16 | 9 | 2 | 27 |
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