geometry3d
A Python library for geometric objects in 3 dimentions
...It also can tell if it contains the other object or is it contained by that. Where appropriate, it's easy to check orthogonality and parallelism.
Vectors are sub-typed from numpy ndarray class.
Extensive unit tests are included. Test coverage exceeds 95%.
See documentation of the library internals in section Files ( https://sourceforge.net/projects/geometry3d/files/ ).