https://youtu.be/jlskQDR8-bY

https://youtu.be/d4EgbgTm0Bg

https://youtu.be/5YJwszR246I

Skinning with Dual Quaternions

https://s3-us-west-2.amazonaws.com/secure.notion-static.com/93e2bc44-298c-4874-b695-6d9bc78b056c/Skinning_Quaternions.png