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[Václav Šmilauer <eudoxos@xxxxxxxx>]

> Quaternion from 2 vectors (Align in Wm3) also gives different results
> with Eigen library.

Can you check what's wrong with Align? I used it in Dem3DofGeom classes
and results are good in wm3. Its geometrical meaning is very clear, it
computes quaterion rotation from one vector to another. What's the
problem there? Try with normalized/non-nomrlaized vectors etc, on some
examples you can compute yourself, like
Align(Vector3r(1,0,0),Vector3r(0,1,0)) should be
Quaternion(Vector3r(0,0,1),pi/2) (as axis,angle). And so on.

Cheers, v