Belated enlightenment on Quaternion
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The first time when I read chapter 4 "Transforms" of Real Time Rendering, the Quaternion part confused me a lot.
You may have already read this great article: http://betterexplained.com/articles/a-visual-intuitive-guide-to-imaginary-numbers/
After you get geometric interpretation to (i, j, k), everything becomes crystal clear.
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