Tait bryan approach to create lofted blade

The tait-bryan approach has been used to rotate the cross-sections in order to generate the lofted blade.

Note:

1. 0 deg twist is regarded as the local y-axis of the rotated surface having no x-component. Additionally, the only
   contribution to the y-component and z-component is due to prebend about the body X-axis ie [1, 0, 0].

2. Approach will fail for sweep angles of +/-90 deg. due to the phenomenon of gimbal lock (https://en.wikipedia.org/wiki/Gimbal_lock) wherein the local cross-sectional z-axis and the global X ([1,0,0]) aligns. The current temporary fix will result in a discontinuity. Solution: This discontinuity can be solved by interpolation through use of quaternions.

The type of rotation is intrinsic and the order of rotation is Prebend-Sweep-Twist ie (rot_x-rot=y-rot-z).