[scotty79]

Great post although it made me hungry for explanation what are the actual implementation differences between rotors and quaternions because I got the impression that we use exactly same real numbers to do exactly same things. We just imagine basis of this transformation space not as some 4 orthogonal vectors, just 3 orthogonal unit planes plus one real number for scaling.

Those bivectors just explain (incredibly, amazingly well) what quaternions are and why they have properties they have. It doesn't seem to change how you crunch the numbers to get what you want.

...

It's really great that you wrote that post. I feel like for the first time I truly understand rotations in 3D and know why I felt something fishy was going on with results of vector product and expressing rotations with them.

[marctenbosch]

99% of the time this is true.