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Exponentially Better Rotations
| | www.appletonaudio.com
Nick Appleton's blog and stuff - High Dimension Rotation Matrices
1.2 parsecs away

Travel
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| | liorsinai.github.io
Quaternions: Part 3 - Lior Sinai
1.8 parsecs away

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| | A detailed foundation of quaternion mathematics.
| | liorsinai.github.io
Quaternions: Part 1 - Lior Sinai
1.2 parsecs away

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| | Introduction to quaternions and rotations in 3D.
| | marc-b-reynolds.github.io
On quaternion/rotation matrix conversions and errors
18.9 parsecs away

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| Skims the math of quaternions to rotations matrices and back with empirical errors including small angle special case.