I’d say Quaternions are necessary purely because they avoid gimbal locking common with 3 axis Euler rotations.
I know in Blender all other rotation options are really just quaterinions under the hood. But an advantage Euler rotations have over quaternions is continuous rotation. I can set 2 key frames with linear extrapolation and have them just continue along each axis forever. Everything quaternion ideally should be bounded to the 4d unit circle.
I’d say Quaternions are necessary purely because they avoid gimbal locking common with 3 axis Euler rotations.
I know in Blender all other rotation options are really just quaterinions under the hood. But an advantage Euler rotations have over quaternions is continuous rotation. I can set 2 key frames with linear extrapolation and have them just continue along each axis forever. Everything quaternion ideally should be bounded to the 4d unit circle.