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Hi everyone! I'm the author of this project. I wrote it because I think that the math that makes characters move in games and movies is incredibly beautiful, and I wanted to give others a glimpse into it. It's crazy to think that quaternions, an abstract mathematical tool discovered by William Rowan Hamilton in 1843, would be so perfectly suited to solve hard problems in the world of 3D character animation more than a hundred years later. The story of how he discovered quaternions is also beautiful. Here's an excerpt from Wikipedia: "Hamilton was looking for ways of extending complex numbers…

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