What in the world is a Dual-Quaternion?

Dual quaternions are relatively new. You don't find them in many computer graphics books and very few people use them. Nonetheless, it is a mathematical concept you should be aware of if you are planning to develop a game engine.

Don't fix multiple issues in the same git branch

If you have the tendency of fixing multiple issues in the same git branch, stop now. This is not a proper workflow habit.

The unexpected thing I had to learn

To develop a game engine, I knew I had to learn a lot of math and programming concepts. However, learning how to model a 3D game character was never one of them. 

Why is a non-gamer developing a game engine?

I don't play video games. I don't even own a game console. Yet I'm developing a game engine. Find out why I ended up doing something I wasn't qualified to do.  

Computing the Convex Hull of a 3D mesh

Convex Hulls are essential for a Collision-Detection system. Without Convex-Hulls, a game engine would not be able to detect collision among convex objects. Unfortunately, computing Convex-Hulls is complicated and time-consuming.  Luckily for us, Joseph O'Rourke came to the rescue.