通过四元数旋转坐标系。

We have a gazillion spatial coordinates (x, y and z) representing atoms in 3d space, and I'm constructing a function that will translate these points to a new coordinate system. Shifting the coordinates to an arbitrary origin is simple, but I can't wrap my head around the next step: 3d point rotation calculations. In other words, I'm trying to translate the points from (x, y, z) to (x', y', z'), where x', y' and z' are in terms of i', j' and k', the new axis vectors I'm making with the help of the We have a gazillion spatial coordinates (x, y a