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// 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 "normalize_quat.h"
#include "EPS.h"
#include <cmath>
template <typename Q_type>
IGL_INLINE bool igl::normalize_quat(
const Q_type *q,
Q_type *out)
{
// Get length
Q_type len = sqrt(
q[0]*q[0]+
q[1]*q[1]+
q[2]*q[2]+
q[3]*q[3]);
// Noramlize each coordinate
out[0] = q[0]/len;
out[1] = q[1]/len;
out[2] = q[2]/len;
out[3] = q[3]/len;
// Test whether length was below Epsilon
return (len > igl::EPS<Q_type>());
}
#ifdef IGL_STATIC_LIBRARY
// Explicit template instantiation
// generated by autoexplicit.sh
template bool igl::normalize_quat<double>(double const*, double*);
// generated by autoexplicit.sh
template bool igl::normalize_quat<float>(float const*, float*);
#endif
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