This seems like it should be a simple problem, but I've been stuck on it for about a day now. It's technically a programming problem, but I'm posting it here because the root of the problem is really mathematics.
I have an object moving in a 3D space. This space has three coordinate axes and these are global axes, and space is the global reference frame. The object also has three coordinate axes and these can be in any orientation in respect to the global frame as the object is rotated.
Q: If I apply a velocity vector in respect to the local frame, how can I find the equivalent vector in the global frame?
A quaternion describing the rotation of the object in 3D space.
A vector position for the object in space.
A vector velocity that I want to add to the position over time.
I have a feeling the answer is really simple and I'm just thinking of it the wrong way. Thanks for your help.