[jiyinyiyong]

another way to understand 3D rotation is using geometric algebra, which regard a 3D rotation with 2 reflections within an angle in the reflection planes. It's very interesting and also available calculating with 3D vectors.

https://marctenbosch.com/quaternions/#h_5 https://www.bilibili.com/video/BV1Ey4y1P782/?vd_source=85697...