Unit testing

Fix angle and rotation bugs in math utils #4015

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Run time

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Job	Run time
Unit tests (ubuntu-latest, 3.10, x64)	1m 10s
Unit tests (ubuntu-latest, 3.13, x64)	1m 7s
Unit tests (ubuntu-latest, 3.12, x64)	1m 7s
Unit tests (ubuntu-latest, 3.11, x64)	57s
	4m 21s