Numerical Stability

This issue came up at work today, I thought ya /prog/ peeps might have some info.

So what do ya'll know about the numerical stability of rotations with, matrices, euler angles, and quaterions.

Also what do you know about the methods for interpolating rotations, and which method maintains numerical stability across the interpolation operation.

IF YOU FUCKING JUST PLOT YOUR SHIT IN COORD SYSTEM 3 YOU DON'T HAVE TO INTERPOLATE SHIT

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MATRIXFGT