Given three unitary 3D vectors $ a $, $ b $, $ c $ such as:
$ a times b = c $
$ b times c = a $
$ c times a = b $
(that is to say $ a, b, c $ for men orthonormal basis)
How do you calculate a unit quartile $ q $ so that the product of the sand width (i.e. rotation) of $ q $ the (1,0,0) is $ a $, (0,1,0) is $ b $ and (0,0,1) is $ c $ ?