I love this. Quaternions were my nemesis while learning 3D math. I think it was the way I was taught it but quaternions always confused me as I mixed them up wi

I love this. Quaternions were my nemesis while learning 3D math. I think it was the way I was taught it but quaternions always confused me as I mixed them up with euler angles. Having resources like this that explain them in detail really helps grok what quaternions are, can do, and how to incorporate them in your project. Great job! I’m over the hump now. I use dual quaternions for skinning and single q’s for rotation storage (why store 3x3m when a 4f quaternion will do?).