update bundled_deps

2026-02-05 10:21:52 +03:00 · 2024-11-09 14:05:44 +08:00
parent 17c9bfd127
commit cfc606fea9
1662 changed files with 710 additions and 168 deletions
--- a/bundled_deps/libigl/igl/mat_to_quat.cpp
+++ b/bundled_deps/libigl/igl/mat_to_quat.cpp
@@ -0,0 +1,141 @@
+// This file is part of libigl, a simple c++ geometry processing library.
+// 
+// Copyright (C) 2013 Alec Jacobson <alecjacobson@gmail.com>
+// 
+// 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/.
+#include "mat_to_quat.h"
+#include <cmath>
+
+// This could be replaced by something fast
+template <typename Q_type>
+static inline Q_type ReciprocalSqrt( const Q_type x )
+{
+  return 1.0/sqrt(x);
+}
+
+//// Converts row major order matrix to quat
+//// http://software.intel.com/sites/default/files/m/d/4/1/d/8/293748.pdf
+//template <typename Q_type>
+//IGL_INLINE void igl::mat4_to_quat(const Q_type * m, Q_type * q)
+//{
+//  Q_type t = + m[0 * 4 + 0] + m[1 * 4 + 1] + m[2 * 4 + 2] + 1.0f; 
+//  Q_type s = ReciprocalSqrt( t ) * 0.5f;
+//  q[3] = s * t;
+//  q[2] = ( m[0 * 4 + 1] - m[1 * 4 + 0] ) * s; 
+//  q[1] = ( m[2 * 4 + 0] - m[0 * 4 + 2] ) * s; 
+//  q[0] = ( m[1 * 4 + 2] - m[2 * 4 + 1] ) * s;
+//}
+
+// https://bmgame.googlecode.com/svn/idlib/math/Simd_AltiVec.cpp
+template <typename Q_type>
+IGL_INLINE void igl::mat4_to_quat(const Q_type * mat, Q_type * q)
+{
+  Q_type trace;
+  Q_type s;
+  Q_type t;
+  int i;
+  int j;
+  int k;
+  
+  static int next[3] = { 1, 2, 0 };
+
+  trace = mat[0 * 4 + 0] + mat[1 * 4 + 1] + mat[2 * 4 + 2];
+
+  if ( trace > 0.0f ) {
+
+    t = trace + 1.0f;
+    s = ReciprocalSqrt( t ) * 0.5f;
+
+    q[3] = s * t;
+    q[0] = ( mat[1 * 4 + 2] - mat[2 * 4 + 1] ) * s;
+    q[1] = ( mat[2 * 4 + 0] - mat[0 * 4 + 2] ) * s;
+    q[2] = ( mat[0 * 4 + 1] - mat[1 * 4 + 0] ) * s;
+
+  } else {
+
+    i = 0;
+    if ( mat[1 * 4 + 1] > mat[0 * 4 + 0] ) {
+      i = 1;
+    }
+    if ( mat[2 * 4 + 2] > mat[i * 4 + i] ) {
+      i = 2;
+    }
+    j = next[i];
+    k = next[j];
+
+    t = ( mat[i * 4 + i] - ( mat[j * 4 + j] + mat[k * 4 + k] ) ) + 1.0f;
+    s = ReciprocalSqrt( t ) * 0.5f;
+
+    q[i] = s * t;
+    q[3] = ( mat[j * 4 + k] - mat[k * 4 + j] ) * s;
+    q[j] = ( mat[i * 4 + j] + mat[j * 4 + i] ) * s;
+    q[k] = ( mat[i * 4 + k] + mat[k * 4 + i] ) * s;
+  }
+
+  //// Unused translation
+  //jq.t[0] = mat[0 * 4 + 3];
+  //jq.t[1] = mat[1 * 4 + 3];
+  //jq.t[2] = mat[2 * 4 + 3];
+}
+
+template <typename Q_type>
+IGL_INLINE void igl::mat3_to_quat(const Q_type * mat, Q_type * q)
+{
+  Q_type trace;
+  Q_type s;
+  Q_type t;
+  int i;
+  int j;
+  int k;
+  
+  static int next[3] = { 1, 2, 0 };
+
+  trace = mat[0 * 3 + 0] + mat[1 * 3 + 1] + mat[2 * 3 + 2];
+
+  if ( trace > 0.0f ) {
+
+    t = trace + 1.0f;
+    s = ReciprocalSqrt( t ) * 0.5f;
+
+    q[3] = s * t;
+    q[0] = ( mat[1 * 3 + 2] - mat[2 * 3 + 1] ) * s;
+    q[1] = ( mat[2 * 3 + 0] - mat[0 * 3 + 2] ) * s;
+    q[2] = ( mat[0 * 3 + 1] - mat[1 * 3 + 0] ) * s;
+
+  } else {
+
+    i = 0;
+    if ( mat[1 * 3 + 1] > mat[0 * 3 + 0] ) {
+      i = 1;
+    }
+    if ( mat[2 * 3 + 2] > mat[i * 3 + i] ) {
+      i = 2;
+    }
+    j = next[i];
+    k = next[j];
+
+    t = ( mat[i * 3 + i] - ( mat[j * 3 + j] + mat[k * 3 + k] ) ) + 1.0f;
+    s = ReciprocalSqrt( t ) * 0.5f;
+
+    q[i] = s * t;
+    q[3] = ( mat[j * 3 + k] - mat[k * 3 + j] ) * s;
+    q[j] = ( mat[i * 3 + j] + mat[j * 3 + i] ) * s;
+    q[k] = ( mat[i * 3 + k] + mat[k * 3 + i] ) * s;
+  }
+
+  //// Unused translation
+  //jq.t[0] = mat[0 * 4 + 3];
+  //jq.t[1] = mat[1 * 4 + 3];
+  //jq.t[2] = mat[2 * 4 + 3];
+}
+
+
+
+#ifdef IGL_STATIC_LIBRARY
+// Explicit template instantiation
+template void igl::mat4_to_quat<double>(double const*, double*);
+template void igl::mat4_to_quat<float>(float const*, float*);
+template void igl::mat3_to_quat<double>(double const*, double*);
+#endif