说明：  详细论述了3D开发中的数学问题－4元数，从这本书中详细讲述了万向锁的问题，通过四元数的学习，你可以优化许多代码，提高系统效率
(Discussed in detail in the 3D development of mathematical problem-ary number-4, this book describes in detail the issue of universal lock through quaternion learning, you can optimize the number of code, improve system efficiency)