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41 lines
1.1 KiB
41 lines
1.1 KiB
// 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_QUAT_TO_AXIS_ANGLE_H
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#define IGL_QUAT_TO_AXIS_ANGLE_H
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#include "igl_inline.h"
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namespace igl
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{
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/// Convert quat representation of a rotation to axis angle
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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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///
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/// @param[in] q quaternion
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/// @param[out] axis 3d vector
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/// @param[out] angle scalar in radians
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template <typename Q_type>
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IGL_INLINE void 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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/// \overload
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///
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/// \fileinfo
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template <typename Q_type>
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IGL_INLINE void 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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#ifndef IGL_STATIC_LIBRARY
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# include "quat_to_axis_angle.cpp"
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#endif
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#endif
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