I found quaternions much more convenient to work with when writing some 3d graphics software for a college course a long time ago. It's mostly for the same rea

I found quaternions much more convenient to work with when writing some 3d graphics software for a college course a long time ago. It's mostly for the same reasons everyone else mentioned, simplifying interpolation and avoiding gimbal lock. I also found the actual operations much easier to implement. I never developed a good mental model of what they actually are, but tried not to let that bother me too much.