Ok, having just spend 2 hours looking at this function and trying to fix it
pieces I give up. I can't even figure out what this is doing. Can someone
please explain to me what this function is actually supposed to be doing?

The atan2() inverses the rotation direction, I got that far. Then we invert
again by 180 degrees, adding some hard-coded offset when normalizing and
then inverting _again_. I tried writing a test for this and documenting it
but it makes no sense to me whatsoever.

has this ever been tested? what is this supposed to _do_?

Cheers,
  Peter

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