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Merged branch 'dev_native' into lm_sla_supports_auto

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Added igl library files
This commit is contained in:
Lukas Matena 2018-10-26 15:45:52 +02:00
commit 7681d00ee5
2865 changed files with 142806 additions and 22325 deletions
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src/igl/quat_to_axis_angle.cpp Normal file
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// This file is part of libigl, a simple c++ geometry processing library.
//
// Copyright (C) 2013 Alec Jacobson <alecjacobson@gmail.com>
//
// This Source Code Form is subject to the terms of the Mozilla Public License
// v. 2.0. If a copy of the MPL was not distributed with this file, You can
// obtain one at http://mozilla.org/MPL/2.0/.
#include "quat_to_axis_angle.h"
#include "EPS.h"
#include "PI.h"
#include <cmath>
#include <cstdio>
//
// http://www.antisphere.com/Wiki/tools:anttweakbar
template <typename Q_type>
IGL_INLINE void igl::quat_to_axis_angle(
const Q_type *q,
Q_type *axis,
Q_type & angle)
{
if( fabs(q[3])>(1.0 + igl::EPS<Q_type>()) )
{
//axis[0] = axis[1] = axis[2] = 0; // no, keep the previous value
angle = 0;
}
else
{
double a;
if( q[3]>=1.0f )
a = 0; // and keep V
else if( q[3]<=-1.0f )
a = PI; // and keep V
else if( fabs(q[0]*q[0]+q[1]*q[1]+q[2]*q[2]+q[3]*q[3])<igl::EPS_SQ<Q_type>())
{
a = 0;
}else
{
a = acos(q[3]);
if( a*angle<0 ) // Preserve the sign of angle
a = -a;
double f = 1.0f / sin(a);
axis[0] = q[0] * f;
axis[1] = q[1] * f;
axis[2] = q[2] * f;
}
angle = 2.0*a;
}
// if( angle>FLOAT_PI )
// angle -= 2.0f*FLOAT_PI;
// else if( angle<-FLOAT_PI )
// angle += 2.0f*FLOAT_PI;
//angle = RadToDeg(angle);
if( fabs(angle)<igl::EPS<Q_type>()&& fabs(axis[0]*axis[0]+axis[1]*axis[1]+axis[2]*axis[2])<igl::EPS_SQ<Q_type>())
{
axis[0] = 1.0e-7; // all components cannot be null
}
}
template <typename Q_type>
IGL_INLINE void igl::quat_to_axis_angle_deg(
const Q_type *q,
Q_type *axis,
Q_type & angle)
{
igl::quat_to_axis_angle(q,axis,angle);
angle = angle*(180.0/PI);
}
#ifdef IGL_STATIC_LIBRARY
// Explicit template instantiation
template void igl::quat_to_axis_angle<float>(float const*, float*, float&);
template void igl::quat_to_axis_angle_deg<float>(float const*, float*, float&);
#endif