Rats! The code I posted was mangled by the mailer.
This time I'll leave out the comments.
------------------------------------------------------------------
qRot=: dyad define
'u w'=. y
u=. u*sin-:w
t=. +: u cross x
x+ (t*cos-:w)+ u cross t
)
L=: +/"1 &. (*:"_)
norm=: ] % L
cross=: (([: 1&|."1 [)* [: 2&|."1 ])- (([: 1&|."1 [)* [: 2&|."1 ])~
-------------------------------------------------------------------
Patrick
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