Add Rotation class with docs and bindings

docs/continuum_mechanics/functions/index.rst

@@ -6,6 +6,7 @@ Continuum Mechanics generic functions
    :caption: Contents:
 
    doc_constitutive
+   doc_rotation
    doc_contimech
    doc_criteria
    doc_transfer

docs/cpp_api/simulation/index.rst

@@ -2,14 +2,15 @@
 Simulation
 ==========
 
-The Simulation module provides tools for running simulations, including solvers, 
+The Simulation module provides tools for running simulations, including solvers,
 identification algorithms, and mathematical utilities.
 
 .. toctree::
    :maxdepth: 2
    :caption: Submodules:
 
    maths
+   rotation
    solver
    identification
    phase
@@ -19,7 +20,23 @@ Overview
 
 This module contains simulation and numerical tools:
 
-- **Maths**: Mathematical utilities (rotation, random numbers, solvers)
+- **Maths**: Mathematical utilities (random numbers, statistics, solvers)
+- **Rotation**: Comprehensive 3D rotation tools with ``Rotation`` class and Voigt notation support
 - **Solver**: Material point simulation solvers
 - **Identification**: Parameter identification algorithms
 - **Phase**: Phase management and properties
+
+What's New in Simcoon 2.0
+=========================
+
+The **Rotation module** has been significantly enhanced with:
+
+- New ``Rotation`` class inspired by ``scipy.spatial.transform.Rotation``
+- Unit quaternion internal representation for numerical stability
+- Support for multiple Euler angle conventions (zxz, zyz, xyz, etc.)
+- Intrinsic and extrinsic rotation modes
+- SLERP interpolation for smooth orientation transitions
+- Direct Voigt notation operations (stress, strain, stiffness, compliance)
+- Full Python bindings with NumPy integration
+
+See :doc:`rotation` for complete documentation.

docs/cpp_api/simulation/maths.rst

@@ -5,6 +5,40 @@ Mathematical Functions
 Mathematical utility functions for rotations, random number generation,
 statistics, and numerical solving.
 
-.. doxygengroup:: maths
+.. toctree::
+   :maxdepth: 2
+
+   rotation
+
+Overview
+========
+
+The Maths module provides essential mathematical utilities for continuum mechanics
+simulations:
+
+- **Rotation**: Comprehensive 3D rotation tools including the new ``Rotation`` class
+  and Voigt notation transformations (see :doc:`rotation`)
+- **Random**: Random number generation utilities
+- **Statistics**: Statistical functions
+- **Numerical Solvers**: Root finding and optimization
+
+Random Number Generation
+========================
+
+.. doxygengroup:: random
+   :project: simcoon
+   :content-only:
+
+Statistics
+==========
+
+.. doxygengroup:: stats
+   :project: simcoon
+   :content-only:
+
+Numerical Solvers
+=================
+
+.. doxygengroup:: solvers
    :project: simcoon
    :content-only: