#include "util.h"

AxisAngle AxisAngleIdentity() {
	return (AxisAngle){Vector3Zero(), 0.0};
}

float signum(float n) {
	if (n > 0.0)
		return 1.0;
	else if (n < 0.0)
		return -1.0;
	else
		return 0.0;
}

float closestAngle(float a1, float a2) {
	float a = fmodf(a1, PI);
	float b = fmodf(a2, PI);
	float dir = b - a;

	if (fabsf(dir) > (PI/2))
		dir = -(signum(dir) * PI) + dir;

	return dir;
}