Quaternions are an alternate way to describe orientation or rotations in 3D space using an ordered set of four numbers. They have the ability to uniquely describe any 3D rotation about an arbitrary axis and do not suffer from a problem using Euler angles called gimbal lock.

Euler angles are a way to describe the orientation of a rigid body with three values. These values represent three angles: - *Yaw* - Rotation around the vertical axis - *Pitch* - Rotation around the side-to-side axis - *Roll* - Rotation around the front-to-back axis

The basics of rotation in 2D and 3D for computer graphics, with a focus on 3D rotation about cardinal axes and 3D rotation with quaternions. For quaternions, please also look at [https://eater.net/quaternions](https://eater.net/quaternions) for amazing animations!