Merged branch 'dev_native' into lm_sla_supports_auto

Added igl library files

src/igl/normalize_quat.cpp

@@ -0,0 +1,41 @@
+// This file is part of libigl, a simple c++ geometry processing library.
+// 
+// Copyright (C) 2013 Alec Jacobson <alecjacobson@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 "normalize_quat.h"
+
+#include "EPS.h"
+#include <cmath>
+
+template <typename Q_type>
+IGL_INLINE bool igl::normalize_quat(
+  const Q_type *q,
+  Q_type *out)
+{
+  // Get length
+  Q_type len = sqrt(
+    q[0]*q[0]+
+    q[1]*q[1]+
+    q[2]*q[2]+
+    q[3]*q[3]);
+
+  // Noramlize each coordinate
+  out[0] = q[0]/len;
+  out[1] = q[1]/len;
+  out[2] = q[2]/len;
+  out[3] = q[3]/len;
+
+  // Test whether length was below Epsilon
+  return (len > igl::EPS<Q_type>());
+}
+
+#ifdef IGL_STATIC_LIBRARY
+// Explicit template instantiation
+// generated by autoexplicit.sh
+template bool igl::normalize_quat<double>(double const*, double*);
+// generated by autoexplicit.sh
+template bool igl::normalize_quat<float>(float const*, float*);
+#endif