42 lines
1.0 KiB
C++
42 lines
1.0 KiB
C++
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// This file is part of libigl, a simple c++ geometry processing library.
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//
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// Copyright (C) 2013 Alec Jacobson <alecjacobson@gmail.com>
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//
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// This Source Code Form is subject to the terms of the Mozilla Public License
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// v. 2.0. If a copy of the MPL was not distributed with this file, You can
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// obtain one at http://mozilla.org/MPL/2.0/.
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#include "normalize_quat.h"
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#include "EPS.h"
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#include <cmath>
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template <typename Q_type>
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IGL_INLINE bool igl::normalize_quat(
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const Q_type *q,
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Q_type *out)
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{
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// Get length
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Q_type len = sqrt(
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q[0]*q[0]+
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q[1]*q[1]+
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q[2]*q[2]+
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q[3]*q[3]);
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// Noramlize each coordinate
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out[0] = q[0]/len;
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out[1] = q[1]/len;
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out[2] = q[2]/len;
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out[3] = q[3]/len;
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// Test whether length was below Epsilon
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return (len > igl::EPS<Q_type>());
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}
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#ifdef IGL_STATIC_LIBRARY
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// Explicit template instantiation
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// generated by autoexplicit.sh
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template bool igl::normalize_quat<double>(double const*, double*);
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// generated by autoexplicit.sh
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template bool igl::normalize_quat<float>(float const*, float*);
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#endif
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