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Merged branch 'dev_native' into lm_sla_supports_auto

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Added igl library files
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Lukas Matena 2018-10-26 15:45:52 +02:00
commit 7681d00ee5
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src/igl/rotation_matrix_from_directions.cpp Normal file
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// 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