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http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToMatrix/
More specifically, it seems the off-diagonal signs are reversed. <small><span class="autosigned">— Preceding [[Wikipedia:Signatures|unsigned]] comment added by [[User:134.160.96.253|134.160.96.253]] ([[User talk:134.160.96.253|talk]] • [[Special:Contributions/134.160.96.253|contribs]]) 2015-04-16T07:58:42</span></small><!-- Template:Unsigned -->
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