Rotors: A practical introduction for 3D graphics

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When putting 3D graphics on a screen, we need a way to express rotations of the geometry we’re rendering. To avoid the problems that come with storing rotations as axes & angles, we could use quaternions. However quaternions require that we think in 4 distinct spatial dimensions, something humans are notoriously bad at. Thankfully there is an alternative that some argue is far more elegant…

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