rodrigues.cpp: simplify sincos since we don't pass arguments of magnitude greater than pi/2. Improved accuracy of arccos by using a different strategy and by restricting its range.
rodrigues.cpp: simplify sincos since we don't pass arguments of magnitude greater than pi/2.
Improved accuracy of arccos by using a different strategy and by restricting its range.

bustercopley/polymorph,bustercopley/polymorph