Merged branch 'dev_native' into lm_sla_supports_auto

Added igl library files

src/igl/swept_volume_signed_distance.h

@@ -0,0 +1,64 @@
+// This file is part of libigl, a simple c++ geometry processing library.
+// 
+// Copyright (C) 2016 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/.
+#ifndef IGL_SWEPT_VOLUME_SIGNED_DISTANCE_H
+#define IGL_SWEPT_VOLUME_SIGNED_DISTANCE_H
+#include "igl_inline.h"
+#include <Eigen/Core>
+#include <Eigen/Geometry>
+#include <functional>
+namespace igl
+{
+  // Compute the signed distance to a sweep surface of a mesh under-going
+  // an arbitrary motion V(t) discretely sampled at `steps`-many moments in
+  // time at a grid.
+  //
+  // Inputs:
+  //   V  #V by 3 list of mesh positions in reference pose
+  //   F  #F by 3 list of triangle indices [0,n)
+  //   transform  function handle so that transform(t) returns the rigid
+  //     transformation at time t∈[0,1]
+  //   steps  number of time steps: steps=3 --> t∈{0,0.5,1}
+  //   GV  #GV by 3 list of evaluation point grid positions
+  //   res  3-long resolution of GV grid
+  //   h  edge-length of grid
+  //   isolevel  isolevel to "focus" on; grid positions far enough away from
+  //     isolevel (based on h) will get approximate values). Set
+  //     isolevel=infinity to get good values everywhere (slow and
+  //     unnecessary if just trying to extract isolevel-level set).
+  //   S0  #GV initial values (will take minimum with these), can be same
+  //     as S)
+  // Outputs:
+  //   S  #GV list of signed distances
+  IGL_INLINE void swept_volume_signed_distance(
+    const Eigen::MatrixXd & V,
+    const Eigen::MatrixXi & F,
+    const std::function<Eigen::Affine3d(const double t)> & transform,
+    const size_t & steps,
+    const Eigen::MatrixXd & GV,
+    const Eigen::RowVector3i & res,
+    const double h,
+    const double isolevel,
+    const Eigen::VectorXd & S0,
+    Eigen::VectorXd & S);
+  IGL_INLINE void swept_volume_signed_distance(
+    const Eigen::MatrixXd & V,
+    const Eigen::MatrixXi & F,
+    const std::function<Eigen::Affine3d(const double t)> & transform,
+    const size_t & steps,
+    const Eigen::MatrixXd & GV,
+    const Eigen::RowVector3i & res,
+    const double h,
+    const double isolevel,
+    Eigen::VectorXd & S);
+  }
+
+#ifndef IGL_STATIC_LIBRARY
+#  include "swept_volume_signed_distance.cpp"
+#endif 
+
+#endif