21 lines
763 B
C++
21 lines
763 B
C++
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// This file is part of libigl, a simple c++ geometry processing library.
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//
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// Copyright (C) 2013 Alec Jacobson <alecjacobson@gmail.com>
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//
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// This Source Code Form is subject to the terms of the Mozilla Public License
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// v. 2.0. If a copy of the MPL was not distributed with this file, You can
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// obtain one at http://mozilla.org/MPL/2.0/.
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#include "angular_distance.h"
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#include <igl/EPS.h>
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#include <igl/PI.h>
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IGL_INLINE double igl::angular_distance(
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const Eigen::Quaterniond & A,
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const Eigen::Quaterniond & B)
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{
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assert(fabs(A.norm()-1)<FLOAT_EPS && "A should be unit norm");
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assert(fabs(B.norm()-1)<FLOAT_EPS && "B should be unit norm");
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//// acos is always in [0,2*pi)
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//return acos(fabs(A.dot(B)));
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return fmod(2.*acos(A.dot(B)),2.*PI);
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}
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