O. M. G. That is so awesome.... (Yes, so this probably counts as the kind of "+1" post that should be downvoted. But check out the link and if you don't think

O. M. G. That is so awesome.... (Yes, so this probably counts as the kind of "+1" post that should be downvoted. But check out the link and if you don't think it's the most amazing quaternion explanation, then I will humbly accept your downvote.)