text: """
  self, other
  
  self = (-2, -1, 3)
  other = (1, 1, 1)
  
  A = [
      0, -other.z, -other.y
      other.z, 0, other.x
      -other.y, other.x, 0
  }
  
  a, e, i = 0
  
  other.z(other.x * other.y) - other.y(other.x * other.z) = 0  --> det will always be zero.
  
  Therefore, this divCross does not work.
  """
  
  # code:
  import np
  from numpy.linalg import det
  from phyton.linalg import SpatialVector
  
  def _divCross(self, other):
      """
      |u x v| = |u||v|sin(theta)
      """
      A = np.array([
          [0, -other.z, -other.y],
          [other.z, 0, other.x],
          [-other.y, other.x, 0]
      ])
  
      if not det(A):
          return SpatialVector()
  
      b = np.array(self.vec)
  
      return SpatialVector(*A.inv().dot(b))
  