Rewrite math operations so we won't use mathjs a dependency

[mithi]

When we used identity from mathjs in the Linkage module, all sorts of bugs came up on mobile.
It might be better if we don't use this library at all.

[mithi]

We are using mathjs in the following four modules:

twistSolver.js

import { atan2 } from "mathjs"

Vector.js

import { multiply, transpose, index } from "mathjs"

Linkage.js

import { multiply, identity } from "mathjs"

geometry.js

import {
    sin,
    cos,
    unit,
    matrix,
    multiply,
    transpose,
    identity,
    concat,
    dotMultiply,
    ones,
    add,
} from "mathjs"

[mithi]

Before removing mathjs

After removing mathjs

Current bundle size