Merge branch 'kschuster' into 'develop'

angle_between fix.

See merge request !36

src/typed-geometry/functions/angle.hh

@@ -15,9 +15,11 @@ namespace tg
 template <int D, class ScalarT>
 TG_NODISCARD constexpr angle_t<fractional_result<ScalarT>> angle_between(vec<D, ScalarT> const& a, vec<D, ScalarT> const& b)
 {
+    constexpr auto lower = decltype(dot(normalize_safe(a), normalize_safe(b)))(-1);
+    constexpr auto upper = decltype(dot(normalize_safe(a), normalize_safe(b)))(1);
     auto a_unit = normalize_safe(a);
     auto b_unit = normalize_safe(b);
-    return acos(saturate(dot(a_unit, b_unit)));
+    return acos(clamp(dot(a_unit, b_unit), lower, upper));
 }
 
 // returns the (smaller) angle between two directions, i.e. the result is in 0..pi (0°..180°)