I added quaternions to my Javascript canvas library. They scared the heck out of me - I coded up the functions from scratch in JS, partly to try and 'understand

I added quaternions to my Javascript canvas library. They scared the heck out of me - I coded up the functions from scratch in JS, partly to try and 'understand' the concepts behind quaternions, but mainly because I was stupid and over-confident. I am not a math/physics genius! I doubt using the concept of rotors in place of quaternions would've made my experience any better. It's not the concepts that really frighten me - I can read about them and nod my head, pretending that the information is somehow sinking into my brain; the things that scared me were the equations which, the article implies, are pretty much the same. In the end, the things (seem to) work as intended in my library, and I can now sleep at night knowing I'll never have to revisit quaternions (or rotors) again in my life.