[empiricus]

From your link: "We can notice that 3D Rotors look a lot like Quaternions". "In fact the code/math is basically the same!"

[dandanua]

Yeah, why remove quaternions if the math is the same as with rotors? They also have their own value, without applications to geometry. The article is good, though.

BTW, it's easy to understand the relations between i,j,k if you're familiar with Pauli matrices.