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Re:How Quaternions encode rotations: derivation and sample code by logfromblammo on Wednesday September 07, 2016 @02:41PM (#12445903)
There are multiple ways that will work. The simplest I can think of is to fix the real part at zero and use i, j, and k to represent deltas along the x, y, and z axes. Then point + translation = point.

There may also be a representation that also encodes distance from the origin, but I am probably confusing this in my memory with something else.

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