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[Václav Šmilauer <eudoxos@xxxxxxxx>]

>     +       Quaternionr normal2pt;
>     +       if (planePt!=Vector3r::ZERO) {
>     +               Vector3r axis=planeNormal.Cross(planePt);
>     axis.Normalize();
>     +               Real angle=planePt.Length()/radius;
>     +               normal2pt.FromAxisAngle(axis,angle);
>     +       }
Uh, what about the case planePt==Vector3r::ZERO? You should add 
something like:

else { return Quaternionr::IDENTITY; }

(Just from the top of my head, I cannot compile & check the code now.)

Cheers, Vaclav