> We ended up going with vector algebra, then learned that quarternions were actually better Wait, what? I'm still mostly familiar with assessments like "Quat

> We ended up going with vector algebra, then learned that quarternions were actually better Wait, what? I'm still mostly familiar with assessments like "Quaternions... have been an unmixed evil to those who have touched them in any way" and "quaternions appear to exude an air of nineteenth century decay" (but not actually familiar with quaternions beyond a vague understanding of them as kind of 4d version of complex numbers).