feat(core): math + engine spike (split PR 1)#7
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Extracted from closed PR #6 to reduce scope.\n\nScope\n- rmg-core math modules (Vec3/Mat4/Quat/PRNG) + tests\n- Engine spike: Engine/TxId/Snapshot + demo motion + tests\n\nNotes\n- Intends to document snapshot hash determinism (ordering + byte encoding) in a follow-up commit within this PR.\n- No geometry/docs changes here.\n- CI strict lints remain; we will iterate within this PR to green.\n\nRationale\nSplit along domain seams for focused review and to de-risk determinism changes.