angular_delta()

float MayaFlux::Kinesis::angular_delta ( float  to, float  from  )

inlinenoexcept

Shortest signed angular difference between two headings.

Parameters

to	Target angle in radians
from	Source angle in radians

Returns

Signed difference in (-pi, pi], wrapped correctly across the seam

Plain subtraction (to - from) is wrong whenever the pair straddles the -pi/pi boundary, e.g. from = 3.0, to = -3.0 is a small turn, not a turn of nearly 2*pi. This wraps into the shortest equivalent angle first.

Definition at line 353 of file Differential.hpp.

{
    float delta = to - from;
    const float two_pi = 2.0F * std::numbers::pi_v<float>;
    delta = std::fmod(delta + std::numbers::pi_v<float>, two_pi);
    if (delta < 0.0F)
        delta += two_pi;
    return delta - std::numbers::pi_v<float>;
}

Referenced by angular_velocity(), and total_turning().

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