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* moved braces to new lines
* fixed some function/variable names
* fixed whitespace issues
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- rewritten tests to use new framework
- updated/reformatted Doxygen
- removed legacy conversions
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- updated Doxyfile
- added/changed file, dir and namespace descriptions
- fixed some errors in doxygen tags
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- rewritten RotateAngle() function and test for it in geometry_test.cpp
- added conv.h - conversion functions
- added comments in math3d.h and d3dmath.h pointing to new functions
- other minor fixes
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