comments:rotation_quaternions

[utterances-bot]

Quaternions — splines, version 0.3.3-14-g4473d4b

https://splines.readthedocs.io/en/latest/rotation/quaternions.html

[Wirlocke]

This is easily the best explanation of Quaternions I have ever seen, and it's in documentation on splines of all places.
I didn't think about how the left most rotation is relative to the global frame of reference, and how each rotation to the right is relative to the previous rotation. It's like a form of nesting with rotations on the right nested into rotations on the left.