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https://github.com/SoftFever/OrcaSlicer.git
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2ae2672ee9
Fixing dep build script on Windows and removing some warnings. Use bundled igl by default. Not building with the dependency scripts if not explicitly stated. This way, it will stay in Fix the libigl patch to include C source files in header only mode.
141 lines
3.5 KiB
C++
141 lines
3.5 KiB
C++
// This file is part of libigl, a simple c++ geometry processing library.
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//
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// Copyright (C) 2013 Alec Jacobson <alecjacobson@gmail.com>
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//
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// This Source Code Form is subject to the terms of the Mozilla Public License
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// v. 2.0. If a copy of the MPL was not distributed with this file, You can
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// obtain one at http://mozilla.org/MPL/2.0/.
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#include "mat_to_quat.h"
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#include <cmath>
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// This could be replaced by something fast
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template <typename Q_type>
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static inline Q_type ReciprocalSqrt( const Q_type x )
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{
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return 1.0/sqrt(x);
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}
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//// Converts row major order matrix to quat
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//// http://software.intel.com/sites/default/files/m/d/4/1/d/8/293748.pdf
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//template <typename Q_type>
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//IGL_INLINE void igl::mat4_to_quat(const Q_type * m, Q_type * q)
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//{
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// Q_type t = + m[0 * 4 + 0] + m[1 * 4 + 1] + m[2 * 4 + 2] + 1.0f;
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// Q_type s = ReciprocalSqrt( t ) * 0.5f;
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// q[3] = s * t;
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// q[2] = ( m[0 * 4 + 1] - m[1 * 4 + 0] ) * s;
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// q[1] = ( m[2 * 4 + 0] - m[0 * 4 + 2] ) * s;
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// q[0] = ( m[1 * 4 + 2] - m[2 * 4 + 1] ) * s;
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//}
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// https://bmgame.googlecode.com/svn/idlib/math/Simd_AltiVec.cpp
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template <typename Q_type>
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IGL_INLINE void igl::mat4_to_quat(const Q_type * mat, Q_type * q)
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{
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Q_type trace;
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Q_type s;
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Q_type t;
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int i;
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int j;
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int k;
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static int next[3] = { 1, 2, 0 };
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trace = mat[0 * 4 + 0] + mat[1 * 4 + 1] + mat[2 * 4 + 2];
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if ( trace > 0.0f ) {
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t = trace + 1.0f;
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s = ReciprocalSqrt( t ) * 0.5f;
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q[3] = s * t;
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q[0] = ( mat[1 * 4 + 2] - mat[2 * 4 + 1] ) * s;
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q[1] = ( mat[2 * 4 + 0] - mat[0 * 4 + 2] ) * s;
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q[2] = ( mat[0 * 4 + 1] - mat[1 * 4 + 0] ) * s;
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} else {
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i = 0;
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if ( mat[1 * 4 + 1] > mat[0 * 4 + 0] ) {
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i = 1;
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}
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if ( mat[2 * 4 + 2] > mat[i * 4 + i] ) {
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i = 2;
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}
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j = next[i];
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k = next[j];
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t = ( mat[i * 4 + i] - ( mat[j * 4 + j] + mat[k * 4 + k] ) ) + 1.0f;
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s = ReciprocalSqrt( t ) * 0.5f;
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q[i] = s * t;
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q[3] = ( mat[j * 4 + k] - mat[k * 4 + j] ) * s;
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q[j] = ( mat[i * 4 + j] + mat[j * 4 + i] ) * s;
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q[k] = ( mat[i * 4 + k] + mat[k * 4 + i] ) * s;
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}
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//// Unused translation
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//jq.t[0] = mat[0 * 4 + 3];
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//jq.t[1] = mat[1 * 4 + 3];
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//jq.t[2] = mat[2 * 4 + 3];
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}
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template <typename Q_type>
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IGL_INLINE void igl::mat3_to_quat(const Q_type * mat, Q_type * q)
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{
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Q_type trace;
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Q_type s;
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Q_type t;
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int i;
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int j;
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int k;
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static int next[3] = { 1, 2, 0 };
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trace = mat[0 * 3 + 0] + mat[1 * 3 + 1] + mat[2 * 3 + 2];
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if ( trace > 0.0f ) {
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t = trace + 1.0f;
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s = ReciprocalSqrt( t ) * 0.5f;
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q[3] = s * t;
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q[0] = ( mat[1 * 3 + 2] - mat[2 * 3 + 1] ) * s;
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q[1] = ( mat[2 * 3 + 0] - mat[0 * 3 + 2] ) * s;
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q[2] = ( mat[0 * 3 + 1] - mat[1 * 3 + 0] ) * s;
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} else {
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i = 0;
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if ( mat[1 * 3 + 1] > mat[0 * 3 + 0] ) {
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i = 1;
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}
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if ( mat[2 * 3 + 2] > mat[i * 3 + i] ) {
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i = 2;
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}
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j = next[i];
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k = next[j];
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t = ( mat[i * 3 + i] - ( mat[j * 3 + j] + mat[k * 3 + k] ) ) + 1.0f;
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s = ReciprocalSqrt( t ) * 0.5f;
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q[i] = s * t;
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q[3] = ( mat[j * 3 + k] - mat[k * 3 + j] ) * s;
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q[j] = ( mat[i * 3 + j] + mat[j * 3 + i] ) * s;
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q[k] = ( mat[i * 3 + k] + mat[k * 3 + i] ) * s;
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}
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//// Unused translation
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//jq.t[0] = mat[0 * 4 + 3];
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//jq.t[1] = mat[1 * 4 + 3];
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//jq.t[2] = mat[2 * 4 + 3];
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}
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#ifdef IGL_STATIC_LIBRARY
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// Explicit template instantiation
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template void igl::mat4_to_quat<double>(double const*, double*);
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template void igl::mat4_to_quat<float>(float const*, float*);
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template void igl::mat3_to_quat<double>(double const*, double*);
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#endif
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