3D Math - Quaternion code 5- log, exp

In this episode, I discuss code for log, exp, and scalar multiplication with quaternions.

Concepts:
* quaternion log
* quaternion exp
* quaternion scalar multiplication

Resources:
* Code / Slides: https://github.com/davidwparker/programmingtil-3d-math/tree/master/0053-code-quat-5
* Slides JS: https://github.com/hakimel/reveal.js/
* Math JS: https://www.mathjax.org/
* Quaternion calculator: http://tamivox.org/redbear/qtrn_calc/index.html

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