function angle = planes_imp_angle_3d ( a1, b1, c1, d1, a2, b2, c2, d2 )
%*****************************************************************************80
%
%% planes_imp_angle_3d(): dihedral angle between implicit planes in 3D.
%
% Discussion:
%
% The implicit form of a plane in 3D is:
%
% A * X + B * Y + C * Z + D = 0
%
% If two planes P1 and P2 intersect in a nondegenerate way, then there is a
% line of intersection L0. Consider any plane perpendicular to L0. The
% dihedral angle of P1 and P2 is the angle between the lines L1 and L2, where
% L1 is the intersection of P1 and P0, and L2 is the intersection of P2
% and P0.
%
% The dihedral angle may also be calculated as the angle between the normal
% vectors of the two planes. Note that if the planes are parallel or
% coincide, the normal vectors are identical, and the dihedral angle is 0.
%
% Licensing:
%
% This code is distributed under the MIT license.
%
% Modified:
%
% 12 January 2021
%
% Author:
%
% John Burkardt
%
% Reference:
%
% Daniel Zwillinger, editor,
% CRC Standard Math Tables and Formulae, 30th edition,
% Section 4.13, "Planes",
% CRC Press, 1996, pages 305-306.
%
% Input:
%
% real A1, B1, C1, D1, coefficients that define the
% first plane.
%
% real A2, B2, C2, D2, coefficients that define
% the second plane.
%
% Output:
%
% real ANGLE, the dihedral angle, in radians,
% defined by the two planes. If either plane is degenerate, or they
% do not intersect, or they coincide, then the angle is set to Inf.
% Otherwise, the angle is between 0 and PI.
%
dim_num = 3;
norm1 = sqrt ( a1 * a1 + b1 * b1 + c1 * c1 );
if ( norm1 == 0.0 )
angle = Inf;
return
end
norm2 = sqrt ( a2 * a2 + b2 * b2 + c2 * c2 );
if ( norm2 == 0.0 )
angle = Inf;
return
end
cosine = ( a1 * a2 + b1 * b2 + c1 * c2 ) / ( norm1 * norm2 );
angle = acos ( cosine );
return
end