>> For example, what parameterization of rotations do you use? For orientation we use quaternions. For other things it's an axis-angle representation. For the

>> For example, what parameterization of rotations do you use? For orientation we use quaternions. For other things it's an axis-angle representation. For the equal angle constraint I'm not sure how that's implemented. There was a recent addition of length-ratio between lines and arcs. That implementation was surprising to me.