public static float angle2f(Vector2f a, Vector2f b) {
float dls = Vector2f.dot(a, b) / (a.length() * b.length());
if (dls < -1f) dls = -1f;
else if (dls > 1.0f) dls = 1.0f;
float ang=(float)Math.acos(dls);
if (a.x*b.y-b.x*a.y<0) ang=-ang;
return ang;
}