pi sources (not 40 digits that is acutally bad): https://www.jpl.nasa.gov/edu/news/2016/3/16/how-many-decimals-of-pi-do-we-really-need/
once more trying to fix the rotations:
Math proofs and derivations here:
angle between absolute x-axis and any vector
the rotational matrix: say we have a normal 2d coordinate system,and some arbitrary vector A
after a rotation of phi radians of the entire coordinate system:
therefore in matrix:
using cross product to determine clockwise or counterclockwise rotations e.g negative cross product is clockwise whereas positive is counterclockwise