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Merged branch 'dev_native' into lm_sla_supports_auto

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Added igl library files
This commit is contained in:
Lukas Matena 2018-10-26 15:45:52 +02:00
commit 7681d00ee5
2865 changed files with 142806 additions and 22325 deletions
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src/igl/snap_to_fixed_up.cpp Normal file
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// 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 "snap_to_fixed_up.h"
template <typename Qtype>
IGL_INLINE void igl::snap_to_fixed_up(
const Eigen::Quaternion<Qtype> & q,
Eigen::Quaternion<Qtype> & s)
{
using namespace Eigen;
typedef Eigen::Matrix<Qtype,3,1> Vector3Q;
const Vector3Q up = q.matrix() * Vector3Q(0,1,0);
Vector3Q proj_up(0,up(1),up(2));
if(proj_up.norm() == 0)
{
proj_up = Vector3Q(0,1,0);
}
proj_up.normalize();
Quaternion<Qtype> dq;
dq = Quaternion<Qtype>::FromTwoVectors(up,proj_up);
s = dq * q;
}
#ifdef IGL_STATIC_LIBRARY
// Explicit template instantiations
template void igl::snap_to_fixed_up<float>(Eigen::Quaternion<float, 0> const&, Eigen::Quaternion<float, 0>&);
template void igl::snap_to_fixed_up<double>(Eigen::Quaternion<double, 0> const&, Eigen::Quaternion<double, 0>&);
#endif