public static <T extends CalculusFieldElement<T>> T angle(final FieldVector3D<T> v1, final FieldVector3D<T> v2)
        throws MathRuntimeException {

        final T normProduct = v1.getNorm().multiply(v2.getNorm());
        if (normProduct.getReal() == 0) {
            throw new MathRuntimeException(LocalizedCoreFormats.ZERO_NORM);
        }

        final T dot = dotProduct(v1, v2);
        final double threshold = normProduct.getReal() * 0.9999;
        if ((dot.getReal() < -threshold) || (dot.getReal() > threshold)) {
            // the vectors are almost aligned, compute using the sine
            FieldVector3D<T> v3 = crossProduct(v1, v2);
            if (dot.getReal() >= 0) {
                return v3.getNorm().divide(normProduct).asin();
            }
            return v3.getNorm().divide(normProduct).asin().subtract(dot.getPi()).negate();
        }

        // the vectors are sufficiently separated to use the cosine
        return dot.divide(normProduct).acos();

    }

    /** Compute the angular separation between two vectors.
     * <p>This method computes the angular separation between two
     * vectors using the dot product for well separated vectors and the
     * cross product for almost aligned vectors. This allows to have a
     * good accuracy in all cases, even for vectors very close to each
     * other.</p>
     * @param v1 first vector
     * @param v2 second vector
     * @param <T> the type of the field elements
     * @return angular separation between v1 and v2
     * @exception MathRuntimeException if either vector has a null norm
     */
    public static <T extends CalculusFieldElement<T>> T angle(final FieldVector3D<T> v1, final Vector3D v2)

final BSPTree<S> transformedTree = recurseTransform(getTree(false), transform, map);

        // set up the boundary attributes splitters
        for (final Map.Entry<BSPTree<S>, BSPTree<S>> entry : map.entrySet()) {
            if (entry.getKey().getCut() != null) {
                @SuppressWarnings("unchecked")
                BoundaryAttribute<S> original = (BoundaryAttribute<S>) entry.getKey().getAttribute();
                if (original != null) {
                    @SuppressWarnings("unchecked")
                    BoundaryAttribute<S> transformed = (BoundaryAttribute<S>) entry.getValue().getAttribute();
                    for (final BSPTree<S> splitter : original.getSplitters()) {
                        transformed.getSplitters().add(map.get(splitter));
                    }
                }
            }
        }

        return buildNew(transformedTree);

return new BRep(vertices, facets);
        }

        /** {@inheritDoc} */
        @Override
        public Order visitOrder(final BSPTree<Euclidean3D> node) {
            return Order.MINUS_SUB_PLUS;
        }

        /** {@inheritDoc} */
        @Override
        public void visitInternalNode(final BSPTree<Euclidean3D> node) {
            @SuppressWarnings("unchecked")
            final BoundaryAttribute<Euclidean3D> attribute =
                (BoundaryAttribute<Euclidean3D>) node.getAttribute();
            if (attribute.getPlusOutside() != null) {
                addContribution(attribute.getPlusOutside(), false);
            }
            if (attribute.getPlusInside() != null) {
                addContribution(attribute.getPlusInside(), true);
            }
        }

        /** {@inheritDoc} */
        @Override
        public void visitLeafNode(final BSPTree<Euclidean3D> node) {
        }

        /** Add he contribution of a boundary facet.
         * @param facet boundary facet
         * @param reversed if true, the facet has the inside on its plus side
         * @exception MathRuntimeException if facet is unbounded
         */
        private void addContribution(final SubHyperplane<Euclidean3D> facet, final boolean reversed)

this.x = prototype.linearCombination(a1, u1.getX(), a2, u2.getX(), a3, u3.getX(), a4, u4.getX());
        this.y = prototype.linearCombination(a1, u1.getY(), a2, u2.getY(), a3, u3.getY(), a4, u4.getY());
        this.z = prototype.linearCombination(a1, u1.getZ(), a2, u2.getZ(), a3, u3.getZ(), a4, u4.getZ());
    }

    /** Linear constructor.
     * Build a vector from four other ones and corresponding scale factors.
     * The vector built will be a1 * u1 + a2 * u2 + a3 * u3 + a4 * u4
     * @param a1 first scale factor
     * @param u1 first base (unscaled) vector
     * @param a2 second scale factor
     * @param u2 second base (unscaled) vector
     * @param a3 third scale factor
     * @param u3 third base (unscaled) vector
     * @param a4 fourth scale factor
     * @param u4 fourth base (unscaled) vector
     */
    public FieldVector3D(final T a1, final Vector3D u1,

this.x = prototype.linearCombination(a1, u1.getX(), a2, u2.getX(), a3, u3.getX());
        this.y = prototype.linearCombination(a1, u1.getY(), a2, u2.getY(), a3, u3.getY());
        this.z = prototype.linearCombination(a1, u1.getZ(), a2, u2.getZ(), a3, u3.getZ());
    }

    /** Linear constructor.
     * Build a vector from three other ones and corresponding scale factors.
     * The vector built will be a1 * u1 + a2 * u2 + a3 * u3
     * @param a1 first scale factor
     * @param u1 first base (unscaled) vector
     * @param a2 second scale factor
     * @param u2 second base (unscaled) vector
     * @param a3 third scale factor
     * @param u3 third base (unscaled) vector
     */
    public FieldVector3D(final T a1, final Vector3D u1,