41 lines
1.1 KiB
C
41 lines
1.1 KiB
C
|
// 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/.
|
||
|
|
#ifndef IGL_QUAT_TO_AXIS_ANGLE_H
|
||
|
|
#define IGL_QUAT_TO_AXIS_ANGLE_H
|
||
|
|
#include "igl_inline.h"
|
||
|
|
|
||
|
|
namespace igl
|
||
|
|
{
|
||
|
|
// Convert quat representation of a rotation to axis angle
|
||
|
|
// A Quaternion, q, is defined here as an arrays of four scalars (x,y,z,w),
|
||
|
|
// such that q = x*i + y*j + z*k + w
|
||
|
|
// Inputs:
|
||
|
|
// q quaternion
|
||
|
|
// Outputs:
|
||
|
|
// axis 3d vector
|
||
|
|
// angle scalar in radians
|
||
|
|
template <typename Q_type>
|
||
|
|
IGL_INLINE void quat_to_axis_angle(
|
||
|
|
const Q_type *q,
|
||
|
|
Q_type *axis,
|
||
|
|
Q_type & angle);
|
||
|
|
// Wrapper with angle in degrees
|
||
|
|
template <typename Q_type>
|
||
|
|
IGL_INLINE void quat_to_axis_angle_deg(
|
||
|
|
const Q_type *q,
|
||
|
|
Q_type *axis,
|
||
|
|
Q_type & angle);
|
||
|
|
}
|
||
|
|
|
||
|
|
#ifndef IGL_STATIC_LIBRARY
|
||
|
|
# include "quat_to_axis_angle.cpp"
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#endif
|
||
|
|
|