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gurkwarttoday at 11:06 AM0 repliesview on HN

There's a really elegant solution using Geometric Algebra, that to this day is one of the most satisfying things I've ever learnt. Steven de Keninck outlines it in his 2019 Siggraph talk [1].

[1] https://youtu.be/tX4H_ctggYo?t=4795