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