Exponentially Better Rotations

If 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. Representations Rotation Matrices Euler Angles Quaternions Axis/Angle The Exponential and Logarithmic Maps Axis/Angle in 2D Axis/Angle in 3D