guys I learned at university in computer animation class quaternions, but I forgot it, I still have the lect notes but it's terrible, anyone knows good material to learn it from? another thing that confuses me according to my lect notes the algorithm to convert quaternion into rotational matrix is [(1-2y^2-2z^2) (2xy-2sz) (2xz+2sy) etc]and this guy on youtube
youtu.be/3Ki14CsP_9k?t=183 shows it another way so i am confused