code: def angle_v2_rad(vec_a, vec_b):
      
      # cos(x) = A * B / |A| * |B|
      return math.acos(vec_a.dot(vec_b) / (vec_a.length() * vec_b.length()))
docs: Returns angle between vec_a and vec_b in range [0, PI].  This does not
      distinguish if a is left of or right of b.