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Mathematics Researcher. Main interests:

  • physics based animation (deformable objects, kinematics)
  • mathematics of CG applications (simulation, games, etc.)
  • shader programming
  • discrete differential geometry (manifold properties)
  • robotics

While you're here, please stop saying these two things

  • quaternions avoid gimbal lock
  • premature optimization


  • gimbal lock is related to a mechanism, quaternions are just an algebraic/geometric description of an angle-axis rotation. So they do not avoid it since the mechanism itself cannot.
  • if it's an optimization, if it's common sense, just implement it! Better do it now, than to look for it desperately later.

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