34 lines
943 B
C
34 lines
943 B
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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#ifndef IGL_AXIS_ANGLE_TO_QUAT_H
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#define IGL_AXIS_ANGLE_TO_QUAT_H
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#include "igl_inline.h"
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namespace igl
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{
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// Convert axis angle representation of a rotation to a quaternion
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// A Quaternion, q, is defined here as an arrays of four scalars (x,y,z,w),
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// such that q = x*i + y*j + z*k + w
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// Inputs:
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// axis 3d vector
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// angle scalar
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// Outputs:
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// quaternion
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template <typename Q_type>
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IGL_INLINE void 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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#ifndef IGL_STATIC_LIBRARY
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# include "axis_angle_to_quat.cpp"
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#endif
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#endif
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