Thanks :)
the hardest part was solving 3d math problems like "find plane orthogonal to given line pasing through given point", "find plane passing through 3 given points", "find line lying on given plane orthogonal to given line", find angle betheen 3 points and such.
A few months ago I tried to do it the "hard way", i.e. setting up the system of equations and solving but never got anywhere, just got a headache. So gave up.
Yesterday almost sleeping I finally figured out some "tricks" that simplified everything a lot, so I managed :)
Simply "find the angle formed by 3 points (in 3D)" is not a trivial task
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