https://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/transforms/index.htm https://paroj.github.io/gltut/Positioning/Tut08%20Quaternions.html https://math.stackexchange.com/questions/1905533/find-perpendicular-distance-from-point-to-line-in-3d THIS MIGHT BE WRONG -- IT IS https://danceswithcode.net/engineeringnotes/quaternions/quaternions.html https://web.archive.org/web/20161011113446/http://www.abecedarical.com/zenosamples/zs_circle3pts.html https://math.stackexchange.com/questions/213658/get-the-equation-of-a-circle-when-given-3-points https://www.youtube.com/watch?v=d4EgbgTm0Bg https://eater.net/quaternions https://ulissigroup.cheme.cmu.edu/math-methods-chemical-engineering/notes/linear_algebra/7b-numerical-eigenvalues.html https://stackoverflow.com/questions/6684238/whats-the-fastest-way-to-find-eigenvalues-vectors-in-python https://patrickwalls.github.io/mathematicalpython/linear-algebra/eigenvalues-eigenvectors/ https://math.stackexchange.com/questions/2377980/book-recommendations-for-linear-algebra https://github.com/NeilStrickland/linear_maths https://www.cs.ox.ac.uk/files/12921/book.pdf https://www.cis.upenn.edu/~cis5150/linalg-I-f.pdf https://la4cs.com/files/LA4CS-Free.pdf Linear Algebra for Computational Sciences and Engineering https://stackoverflow.com/questions/79631106/whats-the-difference-between-reprrust-reprc-and-reprpacked https://www.cs.utexas.edu/~ear/cs341/automatabook/AutomataTheoryBook.pdf
https://dl.acm.org/doi/pdf/10.1145/360825.360855 https://docs.google.com/document/d/1KkKC2-ozJkvbWQIAXeJ1MUGqxjn19c-Mmc7RtxFTA3c/edit?tab=t.0 https://ntrs.nasa.gov/api/citations/19900013774/downloads/19900013774.pdf
https://www.cs.unc.edu/techreports/96-043.pdf
https://vini-fda.github.io/numerical-algorithms-rust/index.html https://library.oapen.org/bitstream/id/9bb74b77-23e3-42d3-9ae3-e5307f6de777/978-3-031-25820-6.pdf https://amath583.github.io/sp22/units/L9.html https://fab.cba.mit.edu/classes/865.18/design/optimization/dynamics_1.pdf https://stackoverflow.com/questions/31600717/how-to-generate-a-random-quaternion-quickly
https://math.stackexchange.com/questions/2177006/how-to-define-a-plane-based-on-4-points https://naif.jpl.nasa.gov/pub/naif/misc/Quaternion_White_Paper/Quaternions_White_Paper.pdf https://naif.jpl.nasa.gov/pub/naif/misc/toolkit_docs_N0067/C/req/rotation.html#Composing%20rotations%20using%20quaternions https://nescacademy.nasa.gov/review/downloadfile.php?file=quat_ident.pdf&id=120&distr=Public https://www.mathworks.com/help/aerotbx/flight-parameters-1.html https://web.mit.edu/2.998/www/QuaternionReport1.pdf
intersperse benchmark: https://play.rust-lang.org/?version=nightly&mode=debug&edition=2018&gist=50bda743d1955e8ae94d9f5c03d59f9f