mollyrocket.com - Quaternions

Quaternions for real-time animation were very poorly understood when I started working with them. The conventional wisdom of the day was that to interpolate quaternions, you had to use something expensive like SLERP, which is what I did at first. But I later discovered with some experimentation that you have many more powerful options. My initial e-mails on the subject are here, along with the original screenshots from my cute little MathVis test harness.

Text of initial e-mails

Text of later e-mails

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