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The most used parameterization of the ordinary torus (the donut) is: $\textrm{torus}_{R,r}(u, v) = \begin{pmatrix} (R + r \cos v) \cos u \\ (R + r \cos v) \sin u \\ r \sin v \end{pmatrix}.$

The elliptic Dupin cyclide is a generalization of the torus. It has three nonnegative parameters $$c < \mu < a$$, and its usual parameterization is, letting $$b = \sqrt{a^2 – c^2}$$: $\textrm{cyclide}_{a, c, \mu}(u, v) = \begin{pmatrix} \dfrac{\mu (c – a \cos u \cos v) + b^2 \cos v}{a – c \cos u \cos v} \\ \dfrac{b (a – \mu \cos u) \sin v}{a – c \cos u \cos v} \\ \dfrac{b (c \cos v – \mu) \sin u}{a – c \cos u \cos v} \end{pmatrix}.$ The picture below shows such a cyclide in its symmetry plane $$\{z = 0\}$$: For $$c=0$$, this is the torus.

Here is a cyclide in 3D (image taken from this post): I think almost everything you can do with a torus, you can do it with a cyclide. For example, a parameterization of the $$(p,q)$$-torus knot is $\textrm{torus}_{R, r}(pt, qt), \qquad 0 \leqslant t < 2\pi.$ Then, the $$(p,q)$$-cyclide knot is parameterized by $\textrm{cyclide}_{a, c, \mu}(pt, qt), \qquad 0 \leqslant t < 2\pi.$ Here is a cyclidoidal helix: And here is a rotoid dancing around a cyclide: I found the way to do this animation for the torus on this website, and then I adapted it to the cyclide.

The R code used to generate these animations is available in this gist.