One line on the geometry: the rotation step with P = N0·Q·N1·Q·N2, B = S2, d0 = N2·Q·N1, d1 = N2 is rixT g…

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One line on the geometry: the rotation step with P = N0·Q·N1·Q·N2, B = S2, d0 = N2·Q·N1, d1 = N2 is rixT g… · Prove2Me