64 lines
2.0 KiB
C++
64 lines
2.0 KiB
C++
|
// This file is part of libigl, a simple c++ geometry processing library.
|
||
|
|
//
|
||
|
|
// Copyright (C) 2014 Daniele Panozzo <daniele.panozzo@gmail.com>, Olga Diamanti <olga.diam@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 "rotation_matrix_from_directions.h"
|
||
|
|
#include <Eigen/Geometry>
|
||
|
|
#include <iostream>
|
||
|
|
|
||
|
|
template <typename Scalar>
|
||
|
|
IGL_INLINE Eigen::Matrix<Scalar, 3, 3> igl::rotation_matrix_from_directions(
|
||
|
|
const Eigen::Matrix<Scalar, 3, 1> v0,
|
||
|
|
const Eigen::Matrix<Scalar, 3, 1> v1)
|
||
|
|
{
|
||
|
|
Eigen::Matrix<Scalar, 3, 3> rotM;
|
||
|
|
const double epsilon=1e-8;
|
||
|
|
Scalar dot=v0.normalized().dot(v1.normalized());
|
||
|
|
///control if there is no rotation
|
||
|
|
if ((v0-v1).norm()<epsilon)
|
||
|
|
{
|
||
|
|
rotM = Eigen::Matrix<Scalar, 3, 3>::Identity();
|
||
|
|
return rotM;
|
||
|
|
}
|
||
|
|
if ((v0+v1).norm()<epsilon)
|
||
|
|
{
|
||
|
|
rotM = -Eigen::Matrix<Scalar, 3, 3>::Identity();
|
||
|
|
rotM(0,0) = 1.;
|
||
|
|
std::cerr<<"igl::rotation_matrix_from_directions: rotating around x axis by 180o"<<std::endl;
|
||
|
|
return rotM;
|
||
|
|
}
|
||
|
|
///find the axis of rotation
|
||
|
|
Eigen::Matrix<Scalar, 3, 1> axis;
|
||
|
|
axis=v0.cross(v1);
|
||
|
|
axis.normalize();
|
||
|
|
|
||
|
|
///construct rotation matrix
|
||
|
|
Scalar u=axis(0);
|
||
|
|
Scalar v=axis(1);
|
||
|
|
Scalar w=axis(2);
|
||
|
|
Scalar phi=acos(dot);
|
||
|
|
Scalar rcos = cos(phi);
|
||
|
|
Scalar rsin = sin(phi);
|
||
|
|
|
||
|
|
rotM(0,0) = rcos + u*u*(1-rcos);
|
||
|
|
rotM(1,0) = w * rsin + v*u*(1-rcos);
|
||
|
|
rotM(2,0) = -v * rsin + w*u*(1-rcos);
|
||
|
|
rotM(0,1) = -w * rsin + u*v*(1-rcos);
|
||
|
|
rotM(1,1) = rcos + v*v*(1-rcos);
|
||
|
|
rotM(2,1) = u * rsin + w*v*(1-rcos);
|
||
|
|
rotM(0,2) = v * rsin + u*w*(1-rcos);
|
||
|
|
rotM(1,2) = -u * rsin + v*w*(1-rcos);
|
||
|
|
rotM(2,2) = rcos + w*w*(1-rcos);
|
||
|
|
|
||
|
|
return rotM;
|
||
|
|
}
|
||
|
|
|
||
|
|
#ifdef IGL_STATIC_LIBRARY
|
||
|
|
// Explicit template instantiation
|
||
|
|
template Eigen::Matrix<double, 3, 3, 0, 3, 3> igl::rotation_matrix_from_directions<double>(const Eigen::Matrix<double, 3, 1, 0, 3, 1>, const Eigen::Matrix<double, 3, 1, 0, 3, 1>);
|
||
|
|
#endif
|