Brecht Van Lommel
2bb9d5471e
Using acos(dot(u, v)) to find the angle between two vectors is quite inaccurate, and there's a better way to do it, as explained here: http://www.plunk.org/~hatch/rightway.php Also changed the use of atan for computing roll to atan2 in some places, the latter avoids accuracy and division by zero issues.