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/*
 * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
 *                                                                     *
 * The ACME project                                                    *
 *                                                                     *
 * Copyright (c) 2020, Davide Stocco and Enrico Bertolazzi.            *
 *                                                                     *
 * The ACME project and its components are supplied under the terms of *
 * the open source BSD 2-Clause License. The contents of the ACME      *
 * project and its components may not be copied or disclosed except in *
 * accordance with the terms of the BSD 2-Clause License.              *
 *                                                                     *
 * URL: https://opensource.org/licenses/BSD-2-Clause                   *
 *                                                                     *
 *    Davide Stocco                                                    *
 *    Department of Industrial Engineering                             *
 *    University of Trento                                             *
 *    e-mail: davide.stocco@unitn.it                                   *
 *                                                                     *
 *    Enrico Bertolazzi                                                *
 *    Department of Industrial Engineering                             *
 *    University of Trento                                             *
 *    e-mail: enrico.bertolazzi@unitn.it                               *
 *                                                                     *
 * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
*/


#ifndef DOXYGEN_SHOULD_SKIP_THIS

#include "acme.hh"

namespace acme
{

  /*\
   |   __  __       _   _
   |  |  \/  | __ _| |_| |__
   |  | |\/| |/ _` | __| '_ \
   |  | |  | | (_| | |_| | | |
   |  |_|  |_|\__,_|\__|_| |_|
   |
  \*/

  // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

  bool
  IsApprox(
    real value0_in,
    real value1_in,
    real tolerance)
  {
    return std::abs(value0_in-value1_in) < tolerance;
  }

  // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

  void
  Transform(
    vec3         & vector,
    affine const & matrix)
  {
    vector = matrix.linear() * vector;
  }

  // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

  real
  Angle(
    vec3 const & vector0_in,
    vec3 const & vector1_in
  )
  {
    return std::acos(vector0_in.dot(vector1_in)/(vector0_in.norm()*vector1_in.norm()));
  }

  // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

} // namespace acme

#endif