A quaternion simply
vector of the form [s, x, y, z]T, where s relates to an angle θ, and [x, y,
z]T = a
defines a unit axis to rotate about.
provide an alternative way to model rotations. The mathematics of quaternions relies
numbers involving three imaginary numbers, which some find a bit
GLM supports quaternions:
q1 = glm::angleAxis(90.0f,