Merged branch 'dev_native' into lm_sla_supports_auto

Added igl library files

src/igl/rotate_vectors.cpp

@@ -0,0 +1,37 @@
+// This file is part of libigl, a simple c++ geometry processing library.
+//
+// Copyright (C) 2014 Daniele Panozzo <daniele.panozzo@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 "rotate_vectors.h"
+IGL_INLINE Eigen::MatrixXd igl::rotate_vectors(
+                    const Eigen::MatrixXd& V,
+                    const Eigen::VectorXd& A,
+                    const Eigen::MatrixXd& B1,
+                    const Eigen::MatrixXd& B2)
+{
+  Eigen::MatrixXd RV(V.rows(),V.cols());
+
+  for (unsigned i=0; i<V.rows();++i)
+  {
+    double norm = V.row(i).norm();
+    
+    // project onto the tangent plane and convert to angle
+    double a = atan2(B2.row(i).dot(V.row(i)),B1.row(i).dot(V.row(i)));
+
+    // rotate
+    a += (A.size() == 1) ? A(0) : A(i);
+
+    // move it back to global coordinates
+    RV.row(i) = norm*cos(a) * B1.row(i) + norm*sin(a) * B2.row(i);
+  }
+
+  return RV;
+}
+
+#ifdef IGL_STATIC_LIBRARY
+// Explicit template instantiation
+#endif