Also, I really think we'd all be better off if we stopped using quaternions entirely and started using rotors instead.
They're pretty much the same thing except in one of them you say "i, j, k" and in the other you say "e12, e13, e23".
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They're pretty much the same thing except in one of them you say "i, j, k" and in the other you say "e12, e13, e23".