complex numbers
Complex numbers have a polar representation. Three complex numbers that share the same real number are subgroups of a quaternion. Therefore a polar representation of a quaternion must exist. The amplitude is the absolute value of the whole quaternion. The imaginary number i expands to i, j, k for quaternions. The remaining question is how to handle the angle. Two ways work. The first is to take the inverse cosine of the scalar over the absolute value of the quaternion. The second method takes the inverse tangent of the absolute values of the 3-vector over the scalar. A right triangle is animated so the connection between velocity and the polar representation is more apparent.
Calculate the various parts that go in to the polar representation:
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The polar representation of a quaternion is the magnitude of the quaternion times the exponential of angle theta in the I direction: