static double angle(const Eigen::Vector3d &v1, const Eigen::Vector3d &v2)
float3 rotate_direction_around_axis(const float3 &direction, const float3 &axis, float angle)
float3 rotate_around_axis(const float3 &vector, const float3 ¢er, const float3 &axis, float angle)
VecBase< float, 3 > float3