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Rotors: A practical introduction for 3D graphics (2023)
17 Apr 2023 When putting 3D graphics on a screen, we need a way to express rotations of the geometry we’re rendering. To avoid the problems that come with storing rotations as axes & angles, we could use quaternions.
Over the past few years I’ve seen a steady increase in the number of people claiming we should bin quaternions entirely in 3D graphics and replace them with rotors. I struggled to find educational materials online that clicked well with how I think about these things though, so this post is my own explanation of rotors and the surrounding mathematical concepts. The first and simplest way to interpolate between two rotors is just standard 4D vector lerp() with the extra step to re-normalise the resulting value, sometimes called nlerp():
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