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Why you crazy quaternions!!!!

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OK. To start off, ROTATIONS SUCK!! There. Now the problem im having is figuring out how to use quaternions to rotate things in my space correctly. there are 2 ships. 1 chases the other. the camera follows the chaser and so everything is translated around that. Thats the easy part. Now the second ship also can rotate around its own origin for turning. How do i get the correct translations/rotations for the second ship? I dont know how to explain it any more clearly. Thanks, BOB

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