mirror of
https://github.com/SoftFever/OrcaSlicer.git
synced 2025-11-02 20:51:23 -07:00
42 lines
1.2 KiB
C++
42 lines
1.2 KiB
C++
// 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 "axis_angle_to_quat.h"
|
|
#include "EPS.h"
|
|
#include <cmath>
|
|
|
|
// http://www.antisphere.com/Wiki/tools:anttweakbar
|
|
template <typename Q_type>
|
|
IGL_INLINE void igl::axis_angle_to_quat(
|
|
const Q_type *axis,
|
|
const Q_type angle,
|
|
Q_type *out)
|
|
{
|
|
Q_type n = axis[0]*axis[0] + axis[1]*axis[1] + axis[2]*axis[2];
|
|
if( fabs(n)>igl::EPS<Q_type>())
|
|
{
|
|
Q_type f = 0.5*angle;
|
|
out[3] = cos(f);
|
|
f = sin(f)/sqrt(n);
|
|
out[0] = axis[0]*f;
|
|
out[1] = axis[1]*f;
|
|
out[2] = axis[2]*f;
|
|
}
|
|
else
|
|
{
|
|
out[3] = 1.0;
|
|
out[0] = out[1] = out[2] = 0.0;
|
|
}
|
|
}
|
|
|
|
#ifdef IGL_STATIC_LIBRARY
|
|
// Explicit template instantiation
|
|
// generated by autoexplicit.sh
|
|
template void igl::axis_angle_to_quat<double>(double const*, double, double*);
|
|
// generated by autoexplicit.sh
|
|
template void igl::axis_angle_to_quat<float>(float const*, float, float*);
|
|
#endif
|