Build on Win-MacOS-Ubuntu with Python 3.9-3.11

- better floor angle and axis calculation #236

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Run time

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Job	Run time
build (ubuntu-latest, 3.9)	6m 41s
build (ubuntu-latest, 3.10)	8m 32s
build (ubuntu-latest, 3.11)	6m 56s
build (macos-latest, 3.9)	5m 5s
build (macos-latest, 3.10)	4m 31s
build (macos-latest, 3.11)	4m 36s
build (windows-latest, 3.9)	7m 37s
build (windows-latest, 3.10)	9m 54s
build (windows-latest, 3.11)	7m 31s
build (macos-13, 3.9)	9m 24s
build (macos-13, 3.10)	8m 16s
build (macos-13, 3.11)	10m 38s
	1h 29m 41s