Fix/twist pitch clean#196
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The pitch calculation was missing the denominator, returning an incorrect value. Pitch should be normalized by |w|²: pitch = (w · v) / (w · w) This represents the translation distance per radian along the screw axis. All 25 twist tests pass.
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Twist3.pitch previously omitted the |w|^2 denominator; this only happened to work when w was a unit vector, which UnitRevolute always produces. Add a case with non-unit w to catch that regression.
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