On: Quaternions

[handrous]

Thank you, this was very helpful.

> The axis of rotation is actually the vector "u".

Ah, I thought the vector was what we were rotating.

[marcodiego → handrous]

I think "p" is better described as a point instead of a vector. So, a better writing could be: "[..]it is possible rotate any point q by an angle theta around the axis define by u [...]"