void xprod(double r[D3], const double a[D3], const double b[D3]);
double dotprod(const double a[D3], const double b[D3]);
void xprod_norm(double r[D3], const double a[D3], const double b[D3],
void xprod(double r[D3], const double a[D3], const double b[D3]);
double dotprod(const double a[D3], const double b[D3]);
void xprod_norm(double r[D3], const double a[D3], const double b[D3],