Calculate I3dm instance rotations by converting basis to a matrix #2921

Job	Run time
Quick Checks	12s
Documentation	58s
ubuntu-22.04 / gcc / Debug	3m 43s
Linting	14m 0s
ubuntu-22.04 / gcc / RelWithDebInfo	8m 15s
ubuntu-20.04 / clang / Debug	4m 32s
windows-2022 / Debug	5m 8s
ubuntu-20.04 / clang / RelWithDebInfo	3m 34s
windows-2022 / RelWithDebInfo	5m 13s
macos-15 / clang / Debug	8m 1s
macos-15 / clang / RelWithDebInfo	4m 28s
	58m 4s

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