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POQuaternion instant numeric drift
 

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    <p>I'm propagating a quaternion with little changes created from user mouse input where I create a quaternion for the added rotation in the X-axis and one for the Y-axis and combine these rotations into one quaternion. I keep adding (appending) these changes to a camera quaternion and so created a glimbal-lock free camera (which is still rolling like crazy :S)</p> <p>The moment I start rotating my camera the rotation matrix starts to scale and skew out of control. Everything works fine when I normalize the camera quaternion every frame, but normalizing every frame should not be needed right? If this IS numeric drift, it couldn't be visible so soon could it?</p> <p>In this question: <a href="https://stackoverflow.com/questions/11667783/quaternion-and-normalization">Quaternion and normalization</a></p> <p>David Hammen posted this comment:</p> <blockquote> <p>Normalization is a kludge to drag the quaternion back to the unit 3-sphere. The reason quaternions drift off the manifold is because that Euler step is in a sense invalid mathematically: The unit quaternions are a group, not an algebra. Not using unit quaternions is also invalid; now you don't have a chart on so(3). Do it right (e.g., Lie group integration techniques) and the quaternion will pretty much stay on the manifold. You might still need to normalize occasionally</p> </blockquote> <p>Could it be that because I'm creating two quaternions from euler rotations that this is the cause of my drastic rotation errors?</p> <p>Should quaternion generated from euler rotations always be normalized before use?</p>
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