auto v = _V(Pitch_sum*sin(0.0349066), Pitch_sum*sin(0.0349066), 1-(Pitch_sum*sin(0.0349066)));
auto m = _M(cos(0.0349066)+0.5*(1-cos(0.0349066)), 0.5*(1-cos(0.0349066))-0*sin(0.0349066), 0*(1-cos(0.0349066))+0.707106*sin(0.0349066),
0.5*(1-cos(0.0349066))+0*sin(0.0349066), cos(0.0349066)+0.5*(1-cos(0.0349066)), 0*(1-cos(0.0349066))-0.707106*sin(0.0349066),
0*(1 - cos(0.0349066))-0.707106*sin(0.0349066), 0*(1 - cos(0.0349066))+ 0.707106*sin(0.0349066), cos(0.0349066)+0*(1 - cos(0.0349066)));
auto r = mul(m, v);