"[T]he common solution, using three Euler's angles interpolated independently, is not ideal. The more recent (1843) notation of quaternions is proposed instead, along with interpolation on the quaternion unit sphere. Although quaternions are less familiar, conversion to quaternions and generation of in-between frames can be completely automatic, no matter how key frames were originally specified, so users don't need to know—or care—about inner details. The same cannot be said for Euler's angles, which are more difficult to use."