Exponentially Better RotationsIf you’ve done any 3D programming, you’ve likely encountered the zoo of techniques and representations used when working with 3D rotations. Some of them are better than others, depending on the situation. Based on CMU 15-462 course materials by Keenan Crane. RepresentationsRotation MatricesEuler AnglesQuaternionsAxis/AngleThe Exponential and Logarithmic MapsAxis/Angle in 2DAxis/Angle in 3DAveragin
