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32 lines
981 B
32 lines
981 B
// 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_ROTATE_BY_QUAT_H
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#define IGL_ROTATE_BY_QUAT_H
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#include "igl_inline.h"
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namespace igl
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{
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/// Compute rotation of a given vector/point by a quaternion
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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] v input 3d point/vector
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/// @param[in] q input quaternion
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/// @param[out] out result of rotation, allowed to be same as v
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template <typename Q_type>
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IGL_INLINE void rotate_by_quat(
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const Q_type *v,
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const Q_type *q,
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Q_type *out);
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};
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#ifndef IGL_STATIC_LIBRARY
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# include "rotate_by_quat.cpp"
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#endif
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#endif
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