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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.
129 lines
5.9 KiB
C++
129 lines
5.9 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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#ifndef IGL_CANONICAL_QUATERNIONS_H
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#define IGL_CANONICAL_QUATERNIONS_H
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#include "igl_inline.h"
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// Define some canonical quaternions for floats and doubles
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// A Quaternion, q, is defined here as an arrays of four scalars (x,y,z,w),
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// such that q = x*i + y*j + z*k + w
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namespace igl
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{
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// Float versions
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#define SQRT_2_OVER_2 0.707106781f
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// Identity
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const float IDENTITY_QUAT_F[4] = {0,0,0,1};
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// The following match the Matlab canonical views
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// X point right, Y pointing up and Z point out
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const float XY_PLANE_QUAT_F[4] = {0,0,0,1};
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// X points right, Y points *in* and Z points up
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const float XZ_PLANE_QUAT_F[4] = {-SQRT_2_OVER_2,0,0,SQRT_2_OVER_2};
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// X points out, Y points right, and Z points up
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const float YZ_PLANE_QUAT_F[4] = {-0.5,-0.5,-0.5,0.5};
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const float CANONICAL_VIEW_QUAT_F[][4] =
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{
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{ 0, 0, 0, 1}, // 0
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{ 0, 0, SQRT_2_OVER_2, SQRT_2_OVER_2}, // 1
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{ 0, 0, 1, 0}, // 2
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{ 0, 0, SQRT_2_OVER_2,-SQRT_2_OVER_2}, // 3
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{ 0, -1, 0, 0}, // 4
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{-SQRT_2_OVER_2, SQRT_2_OVER_2, 0, 0}, // 5
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{ -1, 0, 0, 0}, // 6
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{-SQRT_2_OVER_2,-SQRT_2_OVER_2, 0, 0}, // 7
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{ -0.5, -0.5, -0.5, 0.5}, // 8
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{ 0,-SQRT_2_OVER_2, 0, SQRT_2_OVER_2}, // 9
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{ 0.5, -0.5, 0.5, 0.5}, // 10
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{ SQRT_2_OVER_2, 0, SQRT_2_OVER_2, 0}, // 11
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{ SQRT_2_OVER_2, 0,-SQRT_2_OVER_2, 0}, // 12
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{ 0.5, 0.5, -0.5, 0.5}, // 13
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{ 0, SQRT_2_OVER_2, 0, SQRT_2_OVER_2}, // 14
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{ -0.5, 0.5, 0.5, 0.5}, // 15
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{ 0, SQRT_2_OVER_2, SQRT_2_OVER_2, 0}, // 16
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{ -0.5, 0.5, 0.5, -0.5}, // 17
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{-SQRT_2_OVER_2, 0, 0,-SQRT_2_OVER_2}, // 18
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{ -0.5, -0.5, -0.5, -0.5}, // 19
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{-SQRT_2_OVER_2, 0, 0, SQRT_2_OVER_2}, // 20
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{ -0.5, -0.5, 0.5, 0.5}, // 21
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{ 0,-SQRT_2_OVER_2, SQRT_2_OVER_2, 0}, // 22
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{ 0.5, -0.5, 0.5, -0.5} // 23
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};
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#undef SQRT_2_OVER_2
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// Double versions
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#define SQRT_2_OVER_2 0.70710678118654757
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// Identity
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const double IDENTITY_QUAT_D[4] = {0,0,0,1};
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// The following match the Matlab canonical views
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// X point right, Y pointing up and Z point out
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const double XY_PLANE_QUAT_D[4] = {0,0,0,1};
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// X points right, Y points *in* and Z points up
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const double XZ_PLANE_QUAT_D[4] = {-SQRT_2_OVER_2,0,0,SQRT_2_OVER_2};
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// X points out, Y points right, and Z points up
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const double YZ_PLANE_QUAT_D[4] = {-0.5,-0.5,-0.5,0.5};
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const double CANONICAL_VIEW_QUAT_D[][4] =
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{
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{ 0, 0, 0, 1},
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{ 0, 0, SQRT_2_OVER_2, SQRT_2_OVER_2},
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{ 0, 0, 1, 0},
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{ 0, 0, SQRT_2_OVER_2,-SQRT_2_OVER_2},
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{ 0, -1, 0, 0},
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{-SQRT_2_OVER_2, SQRT_2_OVER_2, 0, 0},
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{ -1, 0, 0, 0},
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{-SQRT_2_OVER_2,-SQRT_2_OVER_2, 0, 0},
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{ -0.5, -0.5, -0.5, 0.5},
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{ 0,-SQRT_2_OVER_2, 0, SQRT_2_OVER_2},
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{ 0.5, -0.5, 0.5, 0.5},
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{ SQRT_2_OVER_2, 0, SQRT_2_OVER_2, 0},
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{ SQRT_2_OVER_2, 0,-SQRT_2_OVER_2, 0},
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{ 0.5, 0.5, -0.5, 0.5},
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{ 0, SQRT_2_OVER_2, 0, SQRT_2_OVER_2},
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{ -0.5, 0.5, 0.5, 0.5},
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{ 0, SQRT_2_OVER_2, SQRT_2_OVER_2, 0},
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{ -0.5, 0.5, 0.5, -0.5},
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{-SQRT_2_OVER_2, 0, 0,-SQRT_2_OVER_2},
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{ -0.5, -0.5, -0.5, -0.5},
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{-SQRT_2_OVER_2, 0, 0, SQRT_2_OVER_2},
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{ -0.5, -0.5, 0.5, 0.5},
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{ 0,-SQRT_2_OVER_2, SQRT_2_OVER_2, 0},
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{ 0.5, -0.5, 0.5, -0.5}
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};
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#undef SQRT_2_OVER_2
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#define NUM_CANONICAL_VIEW_QUAT 24
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// NOTE: I want to rather be able to return a Q_type[][] but C++ is not
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// making it easy. So instead I've written a per-element accessor
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// Return element [i][j] of the corresponding CANONICAL_VIEW_QUAT_* of the
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// given templated type
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// Inputs:
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// i index of quaternion
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// j index of coordinate in quaternion i
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// Returns values of CANONICAL_VIEW_QUAT_*[i][j]
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template <typename Q_type>
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IGL_INLINE Q_type CANONICAL_VIEW_QUAT(int i, int j);
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// Template specializations for float and double
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template <>
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IGL_INLINE float CANONICAL_VIEW_QUAT<float>(int i, int j);
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template <>
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IGL_INLINE double CANONICAL_VIEW_QUAT<double>(int i, int j);
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}
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#ifndef IGL_STATIC_LIBRARY
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# include "canonical_quaternions.cpp"
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#endif
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#endif
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