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