public static double calcShortestAngleBetween(double angle1, double angle2)
	{
		double shortestAngle = (angle2 - angle1) % (2*Math.PI);
		
		if (shortestAngle < -Math.PI) 
			shortestAngle = shortestAngle + 2*Math.PI;
		else if (shortestAngle > Math.PI) 
			shortestAngle = shortestAngle - 2*Math.PI;
		
		return shortestAngle;
	}