Editing Gimbal lock (section)

===Alternate orientation representation===
The cause of gimbal lock is the representation of orientation in calculations as three axial rotations based on Euler angles. A potential solution therefore is to represent the orientation in some other way. This could be as a [[rotation matrix]], a quaternion (see [[quaternions and spatial rotation]]), or a similar orientation representation that treats the orientation as a value rather than three separate and related values. Given such a representation, the user stores the orientation as a value. To quantify angular changes produced by a transformation, the orientation change is expressed as a delta angle/axis rotation. The resulting orientation must be re-normalized to prevent the accumulation of [[Floating point#Accuracy problems|floating-point error]] in successive transformations. For matrices, re-normalizing the result requires converting the matrix into its [[orthonormal matrix#Nearest orthogonal matrix|nearest orthonormal representation]]. For quaternions, re-normalization requires [[unit quaternions|performing quaternion normalization]].