I just wrote a larger piece for the "…zomg it works!" (a programmers' blog in Croatian language) entitled "Mathematical perfection and piloting" (Matematičko savršenstvo i pilotiranje) so I'm inviting those of you following this blog, but not "…pa to radi!" to plug in and read it.
It's quite long, but meh. Read it or suffer my wrath. You'll suffer either way.
For those of you non-fluent in Croatian, hop on and read the poorly auto-translated edition. I don't feel like rewriting it in English.