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2ae2672ee9
Fixing dep build script on Windows and removing some warnings. Use bundled igl by default. Not building with the dependency scripts if not explicitly stated. This way, it will stay in Fix the libigl patch to include C source files in header only mode.
85 lines
2.3 KiB
C++
85 lines
2.3 KiB
C++
// This file is part of libigl, a simple c++ geometry processing library.
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//
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// Copyright (C) 2015 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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#include "random_quaternion.h"
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#include "PI.h"
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template <typename Scalar>
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IGL_INLINE Eigen::Quaternion<Scalar> igl::random_quaternion()
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{
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const auto & unit_rand = []()->Scalar
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{
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return ((Scalar)rand() / (Scalar)RAND_MAX);
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};
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#ifdef false
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// http://mathproofs.blogspot.com/2005/05/uniformly-distributed-random-unit.html
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const Scalar t0 = 2.*igl::PI*unit_rand();
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const Scalar t1 = acos(1.-2.*unit_rand());
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const Scalar t2 = 0.5*(igl::PI*unit_rand() + acos(unit_rand()));
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return Eigen::Quaternion<Scalar>(
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1.*sin(t0)*sin(t1)*sin(t2),
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1.*cos(t0)*sin(t1)*sin(t2),
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1.*cos(t1)*sin(t2),
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1.*cos(t2));
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#elif false
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// "Uniform Random Rotations" [Shoemake 1992] method 1
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const auto & uurand = [&unit_rand]()->Scalar
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{
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return unit_rand()*2.-1.;
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};
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Scalar x = uurand();
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Scalar y = uurand();
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Scalar z = uurand();
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Scalar w = uurand();
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const auto & hype = [&uurand](Scalar & x, Scalar & y)->Scalar
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{
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Scalar s1;
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while((s1 = x*x + y*y) > 1.0)
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{
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x = uurand();
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y = uurand();
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}
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return s1;
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};
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Scalar s1 = hype(x,y);
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Scalar s2 = hype(z,w);
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Scalar num1 = -2.*log(s1);
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Scalar num2 = -2.*log(s2);
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Scalar r = num1 + num2;
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Scalar root1 = sqrt((num1/s1)/r);
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Scalar root2 = sqrt((num2/s2)/r);
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return Eigen::Quaternion<Scalar>(
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x*root1,
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y*root1,
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z*root2,
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w*root2);
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#else
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// Shoemake method 2
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const Scalar x0 = unit_rand();
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const Scalar x1 = unit_rand();
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const Scalar x2 = unit_rand();
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const Scalar r1 = sqrt(1.0 - x0);
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const Scalar r2 = sqrt(x0);
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const Scalar t1 = 2.*igl::PI*x1;
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const Scalar t2 = 2.*igl::PI*x2;
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const Scalar c1 = cos(t1);
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const Scalar s1 = sin(t1);
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const Scalar c2 = cos(t2);
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const Scalar s2 = sin(t2);
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return Eigen::Quaternion<Scalar>(
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s1*r1,
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c1*r1,
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s2*r2,
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c2*r2);
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#endif
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}
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#ifdef IGL_STATIC_LIBRARY
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// Explicit template instantiation
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template Eigen::Quaternion<double, 0> igl::random_quaternion<double>();
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#endif
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