@cmuratori is there any use in having a different attitude representation besides quaternions that requires less operations per call for game performance or is attitude/3d rotations never the performance bottleneck for games these days?
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Thanks! I have wanted for years to look at MRPs (Modified Rodrigues Parameters) bc I use it sometimes for my work (different field). This gives me a direction whenever I do look at it!
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I would not put a lot of stock in MRPs being useful in solving this problem. "Exponential" mappings usually have both types of error (temporal wobble _and_ geodesic divergence), which makes them strictly worse than quaternions for most applications in CG.
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