removed RotateUp and uint

include/manifold/manifold.h

@@ -256,6 +256,7 @@ class Manifold {
   Manifold Scale(vec3) const;
   Manifold Rotate(double xDegrees, double yDegrees = 0.0,
                   double zDegrees = 0.0) const;
+  Manifold Rotate(quat quaternion) const;
   Manifold Transform(const mat3x4&) const;
   Manifold Mirror(vec3) const;
   Manifold Warp(std::function<void(vec3&)>) const;

src/csg_tree.cpp

@@ -137,6 +137,11 @@ std::shared_ptr<CsgNode> CsgNode::Rotate(double xDegrees, double yDegrees,
   return Transform(transform);
 }
 
+std::shared_ptr<CsgNode> CsgNode::Rotate(quat q) const {
+  mat3x4 transform(la::qmat(q), vec3());
+  return Transform(transform);
+}
+
 CsgLeafNode::CsgLeafNode() : pImpl_(std::make_shared<Manifold::Impl>()) {}
 
 CsgLeafNode::CsgLeafNode(std::shared_ptr<const Manifold::Impl> pImpl_)

src/csg_tree.h

@@ -36,6 +36,7 @@ class CsgNode : public std::enable_shared_from_this<CsgNode> {
   std::shared_ptr<CsgNode> Scale(const vec3 &s) const;
   std::shared_ptr<CsgNode> Rotate(double xDegrees = 0, double yDegrees = 0,
                                   double zDegrees = 0) const;
+  std::shared_ptr<CsgNode> Rotate(quat q) const;
 };
 
 class CsgLeafNode final : public CsgNode {

src/manifold.cpp

@@ -525,6 +525,10 @@ Manifold Manifold::Rotate(double xDegrees, double yDegrees,
   return Manifold(pNode_->Rotate(xDegrees, yDegrees, zDegrees));
 }
 
+Manifold Manifold::Rotate(quat quaternion) const {
+  return Manifold(pNode_->Rotate(quaternion));
+}
+
 /**
  * Transform this Manifold in space. The first three columns form a 3x3 matrix
  * transform and the last is a translation vector. This operation can be

src/meshIO/meshIO.cpp

@@ -55,7 +55,7 @@ aiScene* CreateScene(const ExportOptions& options) {
 
   scene->mRootNode = new aiNode();
   scene->mRootNode->mNumMeshes = 1;
-  scene->mRootNode->mMeshes = new uint[scene->mRootNode->mNumMeshes];
+  scene->mRootNode->mMeshes = new uint32_t[scene->mRootNode->mNumMeshes];
   scene->mRootNode->mMeshes[0] = 0;
 
   scene->mMeshes[0]->mPrimitiveTypes = aiPrimitiveType_TRIANGLE;
@@ -251,7 +251,7 @@ void ExportMesh(const std::string& filename, const MeshGL& mesh,
   for (size_t i = 0; i < mesh_out->mNumFaces; ++i) {
     aiFace& face = mesh_out->mFaces[i];
     face.mNumIndices = 3;
-    face.mIndices = new uint[face.mNumIndices];
+    face.mIndices = new uint32_t[face.mNumIndices];
     for (int j : {0, 1, 2}) face.mIndices[j] = mesh.triVerts[3 * i + j];
   }
 

src/utils.h

@@ -230,21 +230,6 @@ inline int CCW(vec2 p0, vec2 p1, vec2 p2, double tol) {
     return area > 0 ? 1 : -1;
 }
 
-/**
- * This 4x3 matrix can be used as an input to Manifold.Transform() to turn an
- * object. Turns along the shortest path from given up-vector to (0, 0, 1).
- *
- * @param up The vector to be turned to point upwards. Length does not matter.
- */
-inline mat3x4 RotateUp(vec3 up) {
-  up = la::normalize(up);
-  const vec3 axis = la::cross(up, {0, 0, 1});
-  double angle = la::asin(la::length(axis));
-  if (la::dot(up, {0, 0, 1}) < 0) angle = kPi - angle;
-  const quat q = la::rotation_quat(la::normalize(axis), angle);
-  return mat3x4(la::qmat(q), vec3());
-}
-
 inline mat4 Mat4(mat3x4 a) {
   return mat4({a[0], 0}, {a[1], 0}, {a[2], 0}, {a[3], 1});
 }

test/boolean_complex_test.cpp

@@ -15,7 +15,6 @@
 #ifdef MANIFOLD_CROSS_SECTION
 #include "manifold/cross_section.h"
 #endif
-#include "../src/utils.h"  // For RotateUp
 #include "manifold/manifold.h"
 #include "manifold/polygon.h"
 #include "test.h"
@@ -1084,9 +1083,8 @@ TEST(BooleanComplex, SimpleOffset) {
     if (len < 0.03) continue;
     manifold::Manifold origin_cyl = manifold::Manifold::Cylinder(len, 1, 1, 8);
     vec3 evec(-1 * edge.x, -1 * edge.y, edge.z);
-    manifold::Manifold rotated_cyl =
-        origin_cyl.Transform(manifold::RotateUp(evec));
-    manifold::Manifold right = rotated_cyl.Translate(ev1);
+    quat q = rotation_quat(normalize(evec), vec3(0, 0, 1));
+    manifold::Manifold right = origin_cyl.Rotate(q).Translate(ev1);
     if (!right.NumTri()) continue;
     c += right;
     // See above discussion

test/samples_test.cpp

@@ -17,7 +17,6 @@
 #ifdef MANIFOLD_CROSS_SECTION
 #include "manifold/cross_section.h"
 #endif
-#include "../src/utils.h"
 #include "manifold/polygon.h"
 #include "test.h"
 
@@ -147,7 +146,8 @@ TEST(Samples, TetPuzzle) {
 
   Manifold puzzle2 = puzzle.Rotate(0, 0, 180);
   EXPECT_TRUE((puzzle ^ puzzle2).IsEmpty());
-  puzzle = puzzle.Transform(RotateUp({1, -1, -1}));
+  quat q = rotation_quat(normalize(vec3(1, -1, -1)), vec3(0, 0, 1));
+  puzzle = puzzle.Rotate(q);
 #ifdef MANIFOLD_EXPORT
   if (options.exportModels) ExportMesh("tetPuzzle.glb", puzzle.GetMeshGL(), {});
 #endif

test/smooth_test.cpp

@@ -14,7 +14,6 @@
 
 #include <algorithm>
 
-#include "../src/utils.h"
 #ifdef MANIFOLD_CROSS_SECTION
 #include "manifold/cross_section.h"
 #endif
@@ -325,8 +324,7 @@ TEST(Smooth, Torus) {
         vec3 tan(v.y, -v.x, 0);
         tan *= la::dot(tan, edge) < 0 ? -1.0 : 1.0;
         tangent = CircularTangent(tan, edge);
-      } else if (std::abs(la::determinant(mat2(vec2(v), vec2(edge)))) <
-                 kTolerance) {
+      } else if (std::abs(la::determinant(mat2(vec2(v), vec2(edge)))) < 1e-5) {
         const double theta = std::asin(v.z);
         vec2 xy(v);
         const double r = la::length(xy);