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75 lines
2.1 KiB
C++
75 lines
2.1 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 "quat_to_axis_angle.h"
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#include "EPS.h"
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#include "PI.h"
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#include <cmath>
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#include <cstdio>
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//
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// http://www.antisphere.com/Wiki/tools:anttweakbar
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template <typename Q_type>
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IGL_INLINE void igl::quat_to_axis_angle(
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const Q_type *q,
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Q_type *axis,
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Q_type & angle)
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{
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if( fabs(q[3])>(1.0 + igl::EPS<Q_type>()) )
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{
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//axis[0] = axis[1] = axis[2] = 0; // no, keep the previous value
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angle = 0;
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}
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else
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{
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double a;
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if( q[3]>=1.0f )
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a = 0; // and keep V
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else if( q[3]<=-1.0f )
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a = PI; // and keep V
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else if( fabs(q[0]*q[0]+q[1]*q[1]+q[2]*q[2]+q[3]*q[3])<igl::EPS_SQ<Q_type>())
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{
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a = 0;
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}else
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{
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a = acos(q[3]);
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if( a*angle<0 ) // Preserve the sign of angle
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a = -a;
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double f = 1.0f / sin(a);
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axis[0] = q[0] * f;
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axis[1] = q[1] * f;
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axis[2] = q[2] * f;
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}
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angle = 2.0*a;
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}
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// if( angle>FLOAT_PI )
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// angle -= 2.0f*FLOAT_PI;
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// else if( angle<-FLOAT_PI )
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// angle += 2.0f*FLOAT_PI;
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//angle = RadToDeg(angle);
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if( fabs(angle)<igl::EPS<Q_type>()&& fabs(axis[0]*axis[0]+axis[1]*axis[1]+axis[2]*axis[2])<igl::EPS_SQ<Q_type>())
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{
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axis[0] = 1.0e-7; // all components cannot be null
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}
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}
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template <typename Q_type>
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IGL_INLINE void igl::quat_to_axis_angle_deg(
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const Q_type *q,
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Q_type *axis,
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Q_type & angle)
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{
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igl::quat_to_axis_angle(q,axis,angle);
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angle = angle*(180.0/PI);
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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::quat_to_axis_angle<float>(float const*, float*, float&);
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template void igl::quat_to_axis_angle_deg<float>(float const*, float*, float&);
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#endif
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