43 lines
1.2 KiB
C++
43 lines
1.2 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 "axis_angle_to_quat.h"
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#include "EPS.h"
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#include <cmath>
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// http://www.antisphere.com/Wiki/tools:anttweakbar
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template <typename Q_type>
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IGL_INLINE void igl::axis_angle_to_quat(
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const Q_type *axis,
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const Q_type angle,
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Q_type *out)
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{
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Q_type n = axis[0]*axis[0] + axis[1]*axis[1] + axis[2]*axis[2];
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if( fabs(n)>igl::EPS<Q_type>())
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{
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Q_type f = 0.5*angle;
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out[3] = cos(f);
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f = sin(f)/sqrt(n);
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out[0] = axis[0]*f;
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out[1] = axis[1]*f;
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out[2] = axis[2]*f;
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}
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else
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{
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out[3] = 1.0;
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out[0] = out[1] = out[2] = 0.0;
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}
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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 void igl::axis_angle_to_quat<double>(double const*, double, double*);
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// generated by autoexplicit.sh
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template void igl::axis_angle_to_quat<float>(float const*, float, float*);
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#endif
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