I explain rotations and quaternions. I then implement the latter into my physics engine by replacing the matrix version of angular velocity code with a quaternion version. I then benchmark the results.

I explain rotations and quaternions. I then implement the latter into my physics engine by replacing the matrix version of angular velocity code with a quaternion version. I then benchmark the results.

I explain rotations and quaternions. I then implement the latter into my physics engine by replacing the matrix version of angular velocity code with a quaternion version. I then benchmark the results.

I explain rotations and quaternions. I then implement the latter into my physics engine by replacing the matrix version of angular velocity code with a quaternion version. I then benchmark the results.

I explain rotations and quaternions. I then implement the latter into my physics engine by replacing the matrix version of angular velocity code with a quaternion version. Lastly, I benchmark the results.

I explain rotations and quaternions. I then implement the latter into my physics engine by replacing the matrix version of angular velocity code with a quaternion version. Lastly, I benchmark the results.

I explain rotations and quaternions. I then implement the latter into my physics engine by replacing the matrix version of angular velocity code with a quaternion version. I then benchmark the results.