Results 2 issues of Vinayak

The current implementation of `Physics::Transformations::Rotations::rotation_matrix_3d` requires `axis` of rotation and the `angle` of rotation as separate arguments. However, this creates a bit of a restriction when the `angle` is small....

I am getting the following error upon running the demo-app (on ubuntu 24.04LTS using compiler gcc-13.2.0): ``` : CommandLine Error: Option 'disable-auto-upgrade-debug-info' registered more than once! LLVM ERROR: inconsistency in...