Constants::piHalf() is not longer to write than doing the division
manually and it has significantly smaller mental overhead. Also I chose
piHalf() instead of halfPi() to make it more discoverable through
autocompletion.
Float a = Constants::pi()*0.5f;
Float a = Constants::piHalf();
Float b = Constants::pi()/(2*countOfSomething);
Float b = Constants::piHalf()/countOfSomething;
DualQuaternion and DualComplex has now only rotation() which returns
full rotation part, rotationAngle() and rotationAxis() on Quaternion and
Complex were renamed to angle() and axis().