// This file is part of libigl, a simple c++ geometry processing library. // // Copyright (C) 2013 Alec Jacobson // // 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_QUAT_TO_AXIS_ANGLE_H #define IGL_QUAT_TO_AXIS_ANGLE_H #include "igl_inline.h" namespace igl { /// Convert quat representation of a rotation to axis angle /// A Quaternion, q, is defined here as an arrays of four scalars (x,y,z,w), /// such that q = x*i + y*j + z*k + w /// /// @param[in] q quaternion /// @param[out] axis 3d vector /// @param[out] angle scalar in radians template IGL_INLINE void quat_to_axis_angle( const Q_type *q, Q_type *axis, Q_type & angle); /// \overload /// /// \fileinfo template IGL_INLINE void quat_to_axis_angle_deg( const Q_type *q, Q_type *axis, Q_type & angle); } #ifndef IGL_STATIC_LIBRARY # include "quat_to_axis_angle.cpp" #endif #endif