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I wrote this article over the past few weeks, while building a structural chemistry model. I found most sources available either dive into quaternion mathematics and reasoning without building intuition useful in applications, or are documentation for specific computer graphics libraries. I'm using this article as a personal reference; perhaps others will find it useful too.

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Thank you for writing this article and especially skipping the unneeded proofs that a programmer usually has to step over to apply quaternions.

Are the long variable names intentional or some kind of Latex artifact? I find it hard to read.

Intentional, but I don't know how I feel about them. I often find math computation terse, to the point where it's difficult to understand how to implement it in code. I took a hybrid approach where I used descriptive names and individual steps; will likely to revise, perhaps by splitting into pure math/latex, and code.

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