Vector functions

The following is a list of the various vector functions
    // Inner product of u and v
    Scalar = exmat::dot(const exmat::Vec& u, const exmat::Vec& v);
    // Length of u: ||u||
    Scalar = exmat::norm(const exmat::Vec& u);
    // Length of u, squared
    Scalar = exmat::norm2(const exmat::Vec& u);
    // Cross product for vector of size 3
    Vec3 = exmat::cross(const Vec3& u, const Vec3& v);

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