Quaternions and Dual Quaternion Skinning
For some reason I like quaternions. I fell in love with complex numbers back in school when I found out that they made more sense than real numbers. While it might not exactly be helpful to visualise quaternions as an extension of complex numbers, there's something in there that just grabs at me. Unlike previous posts, I've managed to update to D3D11 so I'll be discussing implementation details in terms of HLSL (Shader Model 4, as I also have a D3D10 dev machine).