"While translations are well animated by using vectors, rotation animation can be improved by using the progenitor of vectors, quaternions. ...By an odd quirk of mathematics, only systems of two, four, or eight components will multiply as Hamilton desired; triples had been his stumbling block."
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Original Language: English
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Sources
Ken Shoemake, "Animating Rotation with Quaternion Curves" (1985) Computer Graphics, Volume 19, Issue 3, Jul. 1985 pp. 245–254.
https://en.wikiquote.org/wiki/Quaternion
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Quaternion
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