Everyone always seems to bail out on giving a good intuitive description of how quaternions are used as rotations. Sometimes I wonder if this is because most people just don't really understand them, or if they are genuinely hard/weird.
Perhaps they're the gaming equivalent of monads from Haskell - born from math, useful for real, but make your head explode if you try to understand them "properly."
Perhaps they're the gaming equivalent of monads from Haskell - born from math, useful for real, but make your head explode if you try to understand them "properly."