Make vector projections independent of direction scale

[xiehuanyi]

project(v1, v2) currently multiplies by dot(v1, v2) without dividing by dot(v2, v2). As a result, projecting [3,1,4] onto [2,2,0] returns [16,16,0] instead of [2,2,0]; orthogonalize() then produces a vector that is not perpendicular to its reference direction. List/tuple direction inputs also raise TypeError.

Convert the documented array-like arguments to vectors and compute the full projection formula. Rescale the direction before dot products so very small/large directions do not underflow/overflow. Keep the historical zero-direction result.

Validation: two regressions fail before the fix; the zero-direction control passes. Tests cover signed/scaled directions, list/tuple inputs, scales1e-200 and1e200, and normalized/unnormalized perpendicular results. All184 base+pose3d tests pass with1 skip and8 existing warnings; repository-pinned Black23.10.0 and git diff --check pass.

Prepared with AI assistance.

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