Don't know if the article has been updated since your post, but Interpolation and Gimbal Lock are both called out as working with Rotors in the 5th paragraph.

Don't know if the article has been updated since your post, but Interpolation and Gimbal Lock are both called out as working with Rotors in the 5th paragraph. > The change is simple and the code remains almost the same. Anything you can do with a Quaternion, such as Interpolation and avoiding Gimbal lock, you can do on a Rotor. But the understanding grows a lot.