title: How to store and modify angles in 3D space
body: <p>This isn't about understanding angular physics, but more how to actually implement it.</p>
  
  <p>For example, I'm using a simple linear interpolation per frame (with dT)
  I'm having trouble with the angular units, I want to be able to rotate around arbitrary axes.</p>
  
  <p>(with glm)
  Using a <code>vec3</code> for torque, inertia and angular velocity works excellent for a single axis.
  Any more and you get gimbal lock. (i.e. You can rotate around a local x, y or z but superimposing prevents proper results)</p>
  
  <p>Using quaternions I can't get it to function nicely with time, inertia or for an extended period.</p>
  
  <p>Is there any tried-and-true method for representing these features?</p>