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c#matrixquaternions

Matrices, quaternion and angle

I have 2 matrices. Matrix A and Matrix B which is a 'matrix A rotated by some angle around some axis' (quaternion?). So: B = A.Transform (quaternion).
now when I know B and A, and maybe axis, how do I find the angle of that quaternion?

Sorry for bad text, I'm on a German keyboard and I'm not German...

Solution

  • So you have B = A x T

    therefore A-1 x B = T

    So take the matrix inverse of A and multiply that by B to get the Transform matrix.

    Then extract the quaternion, (or Euler angles, if you would prefer), using say http://www.cg.info.hiroshima-cu.ac.jp/~miyazaki/knowledge/teche52.html