Constant P_ZUP_TO_YUP 

const P_ZUP_TO_YUP: [[f64; 3]; 3];

Z-up → Y-up basis change (see services::axis::zup_to_yup), as a rotation matrix: P * v = (v.x, v.z, -v.y). Orthogonal, so P^-1 == P^T.