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Game Math: Quaternion Basics | Ming-Lun "Allen" Chou | 周明倫
[latexpage] This post is part of my Game Math Series. A quaternion is a very useful mathematical object devised by Sir William Rowan Hamilton as an extension to complex numbers. It is often used to compactly represent 3D orientations with just four floating-point numbers, as opposed to using a 3-by-3 matrix that contains nine floating-point