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I've been writing accelerometer coordinate system rotation code for the whole day. Almost melted my brain; trying to imagine 3D rotation is hard, especially when you lack the proper tools and have very little experience with it. Finally got the thing working; decided to have one last look at HN before going to bed. It was then when I saw "Rotate the world" and thought to myself: "well this better not be about Euler angles!"

Yup. Thanks pjan, you made my day brighter :)

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