If you are still interested, try this: https://marctenbosch.com/quaternions/ https://marctenbosch.com/quaternions/ The idea is that quaternions are the wrong w

If you are still interested, try this: https://marctenbosch.com/quaternions/ https://marctenbosch.com/quaternions/ The idea is that quaternions are the wrong way to look at the problem and that a better approach would be to use geometric algebra, bivectors and rotors. The formulas are essentially the same as with quaternions, but at least for me, this approach make more intuitive sense. It also work in dimensions other than 3, which matter to the author as he is the author of "4D toys" and hopefully, Miegakure. Here is another talk on the subject, by a different author: https://www.youtube.com/watch?v=htYh-Tq7ZBI https://www.youtube.com/watch?v=htYh-Tq7ZBI It is not specifically about quaternions, it is about multiplying vectors and what you get from that, and it includes quaternions.