> I'm told by a colleague who really does know how to do this that "his
> favorite
> way" to do rotations is to use quaternions. See
>
> http://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation
>
> Does this help?

I know that quaternions are a contraversial subject. As I understand it,
some people like them and other people hate them ... think they are black
magic ... the work of the devil.

My rough understanding is quaternions are generally a replacement for
angle-axis rotations. But angle-axis is easier for me to understand.

We'll see.


Miguel



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