• 1. Vector Cross Product: 向量外积的推导

• 1.After the formula of documents are used to rewrite elements of Jacobian matrix, the vector cross product is changed into the vector dot product in Jacobian matrix.
  利用现有的公式对雅可比矩阵中的元素进行改写，将矢量叉乘变为矢量点乘。
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• 2.OK, now, so there's an interesting thing to note, which is that we can use the usual product rule for derivatives with vector expressions, with dot products or cross products.
  还有个很有趣的现象要注意一下，就是我们可以用乘积法则,对向量表达式求导，无论是点乘或叉乘。
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• 3.Another way to do it, of course, would provide actually parametric equations of these lines, get vectors along them and then take the cross-product to get the normal vector to the plane.
  当然也有另一种方法，就是用参数方程表示这两条直线，用两条直线的方向向量作外积，从而得到切平面的法向量。
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