If you appreciate quaternions for what they can do for you, but also find them frustratingly unintuitive/ugly, then you may be interested in bivectors (https://

If you appreciate quaternions for what they can do for you, but also find them frustratingly unintuitive/ugly, then you may be interested in bivectors (https://bivector.net/ https://bivector.net/) and geometric algebra more broadly. They're equivalent in power, but suddenly everything actually makes sense!