Use eigen to compute angle between vertex normals to avoid nans #246
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This PR resolves a lingering item with #76 that caused downstream issues in FCL with certain meshes that spewed
eigen: too many iterations in Jacobi transform.As hinted by flexible-collision-library/fcl#190, we tracked this down to nans being introduced due to floating point imprecision in line 551
return std::acos(vec1.dot(vec2) / (vec1_norm * vec2_norm));Rather than introduce guards to sanitize input/output, use eigen to compute the angle directly-in our internal testing the error with FCL no longer appears with this change.
When this is accepted we can incorporate the fix into #240