A portion of the Francis Scott Key Bridge in Baltimore has collapsed after a large boat collided with it early on Tuesday morning, sending multiple vehicles into the water.
At about 1.30am, a vessel crashed into the bridge, catching fire before sinking and causing multiple vehicles to fall into the water below, according to a video posted on X.
“All lanes closed both directions for incident on I-695 Key Bridge. Traffic is being detoured,” the Maryland Transportation Authority posted on X.
Matthew West, a petty officer first class for the coastguard in Baltimore, told the New York Times that the coastguard received a report of an impact at 1.27am ET. West said the Dali, a 948ft (29 metres) Singapore-flagged cargo ship, had hit the bridge, which is part of Interstate 695.
Yeah. The thing that made me "get" quaternions was thinking about clocks. The hands move around in a 2d plane. You can represent the tips position with just x,y. However the axis that they rotate around is the z axis.
To do a n dimensional rotation you need a n+1 dimensional axis. So to do a 3D rotation you need a 4D axis. This is bassicly a quat.
You can use trig to get there in parts but it requires you to be careful to keep your planes distinct. If your planes get parallel you get gimbal lock. This never happens when working with quats.