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<meta name="description" content="A place to learn all about real-time physics simulations through descriptions, code snippets, and example programs all written in C++ and OpenGL.">
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<h1><a title="physicsforgames.com" href="/">Physics for Games</a></h1>
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<li><a href="/">Introduction</a></li>
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<span>🏀<span>2D</span></span>
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<li><label>Rigidbody</label></li>
<li><a title="/2d/rigidbody/rigidbody_1.html" href="/2d/rigidbody/rigidbody_1.html">Linear Forces</a></li>
<li><a title="/2d/rigidbody/rigidbody_2.html" href="/2d/rigidbody/rigidbody_2.html">Rotational Forces</a></li>
<li><a title="/2d/rigidbody/rigidbody_3.html" href="/2d/rigidbody/rigidbody_3.html">Collisions</a></li>
<li><label>Collisions</label></li>
<li><a title="/2d/_collisions/rectangle_rectangle.html" href="/2d/_collisions/rectangle_rectangle.html">Rectangle-Rectangle</a></li>
<li><a title="/2d/_collisions/polygon_polygon.html" href="/2d/_collisions/polygon_polygon.html">Separating Axis Theorem</a></li>
<li><label>Softbody</label></li>
<li><a title="/2d/softbody/softbody_1.html" href="/2d/softbody/softbody_1.html">Springs</a></li>
<li><a title="/2d/softbody/softbody_2.html" href="/2d/softbody/softbody_2.html">Springy Rectangle</a></li>
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<span>🌠<span>3D</span></span>
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<li><label>Rigidbody</label></li>
<li><a title="/3d/rigidbody.html" href="/3d/rigidbody.html">Rigidbody in 3D</a></li>
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<span>🔧<span>WebAssembly</span></span>
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<li><a title="/intro/intro.html" href="/intro/intro.html">Introduction</a></li>
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<span>🛈<span>About</span></span>
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var lPlayElement = document.getElementById('gl_canvas_play'),
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lPlayElement.addEventListener('click', function() {
lPlayElement.style.display = 'none';
lStopElement.style.display = 'block';
});
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lStopElement.style.display = 'none';
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<article>
<h1>Rigidbody in 3D</h1>
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<section>
<h2>Quaternions</h2>
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<h2>Quaternions</h2>
<p>
A discussion of 3D physics simulation woudl not really wouldn't be a discussion of 3D simulation if we didn't jump right into quaternions. Before I start, however, I recommend you take a look at <a href='https://www.3dgep.com/understanding-quaternions'>this article</a>. Quaternions have been written about over and over throughout the years (and I have read many articles about them over and over throughout the years), so I will not waste your time describing every single detail here. The article that I linked to should provide you enough information to begin to understand what quaternions are and why they're important. That being said, I will provide a brief intro to quaternions here, as well as my own C++ implementation of their algebra. (This article is also quite useful: <a href='http://danceswithcode.net/engineeringnotes/quaternions/quaternions.html'>Dance's With Code Website</a>)
<br/><br/>
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<h2>
Live Example
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<button id='force_apply'>Click Me</button>
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Play
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