Likewise, I've read all the praises of quaternions and I keep meaning to use them but I always seem to end up just using good ol' matrices. The only thing I've

Likewise, I've read all the praises of quaternions and I keep meaning to use them but I always seem to end up just using good ol' matrices. The only thing I've really seen that seems to specifically need them is spherical linear interpolation (SLERP :D ) for smoothly blending orientations, but I've never quite had to use it.