u/Positronium2

So I just finished the game, man that was a journey but such a brilliant story. Anyway I had wondered if anyone had any thoughts on where the Nameless One actually ends up. It's clear ofc that they end up fighting in the Blood War on one of the Lower Planes as punishment for their sins in life.

Now the question to me is which lower plane would they end up on? We know that souls that swing lawful or chaotic evil tend towards the Hells or Abyss respectively? Given the Nameless one committed so many crimes over many lifetimes which aspect the Nameless one is closer is somewhat unclear. The practical incarnation would likely belong in Baator but there are likely other incarnations that belong in the Abyss. Would this possibly become a point of contention over which plane gets to claim such a potentially highly desirable soul?

We also saw the Nameless one looking like himself when he entered the Blood War. So he hasn't been turned into some kind of devil or demon at least like a lemure or mane? Although given his rather unique life he may form a unique devil or demon. Either way was curious to hear your thoughts.

With all the enthusiasm for Count Binface across the country do you think he should call a Clacton Clean-up day where volunteers litter pick and clean up the town. It would be a good gesture and show that the Bin is doing more for Clacton than Nigel Farage ever did as an MP.

So I effectively want to solve for a 3D rotation matrix such that the Cartesian coordinates of the rigid body I am rotating in the new frame satisfy certain constraints, in this case such that they vanish. With the exponential map I already have a simple Newton-Raphson solver that takes the derivatives of the constraints with automatic differentiation to compute the Jacobian of what would have otherwise been a pretty ugly expression.

My question is, with the alternate quarternion representation is there any advantage over exponential maps. I know that euler angles for instance are subject to gimbal lock and such hence why we have these other two approaches. From my understanding quarternions or at least the components of the quarternion effectively correspond to the skew-symmetric matrix k in the exponential map so I do not see a clear advantage if any, since I already obtain and solve for the three elements of k.

Perhaps there is something I'm missing but either way would appreciate any insight from you all!

I heard from some it's a bad idea and mimic the voice of another singer? Is this generally the case?