Getting quaternion impulse from two quaternions and time

Question

I have a quaternion that contains the rotation of an object. During the frame, I change it and get a new quaternion. I can calculate a quaternion that rotates from the "previous frame" to the "current frame".

However, I can’t understand how to “divide by t” this quaternion to get the required rotation speed per second.

Ie, depending on the time, I need to know what a quaternion would look like if it were applied to itself X times (which means 28.5 times at 28.5 fps, etc.).

Does anyone know how to do this? Or do you advise me to do something similar conversion to Euler by multiplying and then converting backwards?

Answer 1

Since combining rotations is equivalent to multiplying quaternions, repeating rotation X times is equivalent to raising to a power: pow(q,X)=pow(q,1/t) or exp(ln(q)*X)=exp(ln(q)/t) See how to calculate these here .