Quaternions? https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotati... https://stackoverf

Quaternions? https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotati... https://stackoverflow.com/questions/8919086/why-are-quaternions-used-for-rotations https://stackoverflow.com/questions/8919086/why-are-quaterni...