Also, I really think we'd all be better off if we stopped using quaternions entirely and started using rotors instead.

They're pretty much the same thing except in one of them you say "i, j, k" and in the other you say "e12, e13, e23".

	▲	DarkUranium a day ago \| parent [-]
		In the other, you say "xy, yz, zx" (or whatnot), which makes it much clearer as to what's what. What exactly does `i` correspond to in a quaternion? They always rely on implicit assumptions/conventions.