THANKS!

[facontidavide]

Just wanted to say thank you. You saved me 1 day of work today :)

I wonder if you would accept pull requests. I would like to remove the math3d.h and use Eigen instead

[aprotyas]

That's great to hear, you're welcome!

Yes, definitely accepting pull requests. Using Eigen makes sense and I'd be happy to review and merge that PR.