> compound matrix ops can also re-normalized and re-orthogonalized as they go Certainly, but as you say it's a bit harder. > does it make up for the general c

> compound matrix ops can also re-normalized and re-orthogonalized as they go Certainly, but as you say it's a bit harder. > does it make up for the general complications with using quats? I'm sure that's context dependent, and don't have much of an opinion which way it's likely to break in general. I was just throwing something in the "pro" column that hadn't yet been discussed.