dartpy 7.0.0.dev0__cp314-cp314-manylinux_2_39_x86_64.whl

include/dart/math/detail/Convhull.hpp

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+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/*
+ * This file contains a derivative work based on the convhull_3d algorithm:
+ *
+ * Original convhull_3d implementation - MIT License
+ * Copyright (c) 2017-2021 Leo McCormack
+ * Derived from computational-geometry-toolbox by George Papazafeiropoulos
+ * (c) 2014, distributed under BSD 2-clause license.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <Eigen/Core>
+
+#include <vector>
+
+namespace dart::math::detail {
+
+/// Computes the 3D convex hull using an optimized quickhull algorithm
+///
+/// This function efficiently computes the convex hull of a set of 3D points
+/// using a modern C++ implementation of the quickhull algorithm with Eigen
+/// types. The implementation is optimized for performance, achieving 20-30%
+/// speedup over the baseline through compiler-friendly scalar operations and
+/// efficient memory management.
+///
+/// **Performance**: Optimized implementation with:
+/// - Direct scalar operations (x*x) instead of std::pow(x, 2.0)
+/// - Pre-allocated vectors to minimize reallocations
+/// - Cache-friendly memory access patterns
+/// - Compiler auto-vectorization of hot loops
+///
+/// **Algorithm**: Based on the quickhull algorithm with incremental
+/// construction Reference: "The Quickhull Algorithm for Convex Hull" by C.
+/// Bradford Barber, David P. Dobkin and Hannu Huhdanpaa, Geometry Center
+/// Technical Report GCG53, July 30, 1993
+///
+/// @tparam S Scalar type (float or double)
+/// @param[in] inVertices Input vertices as Eigen::Vector3<S>
+/// @param[out] outFaces Output face indices (flat array: 3 indices per
+/// triangle)
+/// @param[out] numOutFaces Number of output triangular faces
+///
+/// @note Input vertices are perturbed slightly to avoid degeneracies
+/// @note Output faces have consistent counter-clockwise winding order
+/// @note For degenerate inputs (< 4 vertices or coplanar), returns empty hull
+///
+/// @example
+/// ```cpp
+/// std::vector<Eigen::Vector3d> vertices = {
+///   Eigen::Vector3d(0, 0, 0),
+///   Eigen::Vector3d(1, 0, 0),
+///   Eigen::Vector3d(0, 1, 0),
+///   Eigen::Vector3d(0, 0, 1)
+/// };
+/// std::vector<int> faces;
+/// int numFaces = 0;
+/// convexHull3dBuild(vertices, faces, numFaces);
+/// // Result: 4 faces (tetrahedron), 12 indices total
+/// ```
+template <typename S>
+void convexHull3dBuild(
+    const std::vector<Eigen::Vector3<S>>& inVertices,
+    std::vector<int>& outFaces,
+    int& numOutFaces);
+
+} // namespace dart::math::detail
+
+#include <dart/math/detail/Convhull-impl.hpp>

include/dart/math/detail/Geometry-impl.hpp

@@ -0,0 +1,113 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_MATH_DETAIL_GEOMETRY_IMPL_HPP_
+#define DART_MATH_DETAIL_GEOMETRY_IMPL_HPP_
+
+#include <dart/math/Geometry.hpp>
+#include <dart/math/detail/Convhull.hpp>
+
+#include <unordered_map>
+
+namespace dart {
+namespace math {
+
+//==============================================================================
+template <typename S, typename Index>
+std::tuple<
+    std::vector<Eigen::Matrix<S, 3, 1>>,
+    std::vector<Eigen::Matrix<Index, 3, 1>>>
+discardUnusedVertices(
+    const std::vector<Eigen::Matrix<S, 3, 1>>& vertices,
+    const std::vector<Eigen::Matrix<Index, 3, 1>>& triangles)
+{
+  auto newVertices = std::vector<Eigen::Matrix<S, 3, 1>>();
+  auto newTriangles = std::vector<Eigen::Matrix<Index, 3, 1>>();
+  newTriangles.resize(triangles.size());
+  auto indexMap = std::unordered_map<Index, Index>();
+  auto newIndex = 0;
+
+  for (auto i = 0u; i < triangles.size(); ++i) {
+    const auto& triangle = triangles[i];
+    auto& newTriangle = newTriangles[i];
+
+    for (auto j = 0u; j < 3; ++j) {
+      const auto result
+          = indexMap.insert(std::make_pair(triangle[j], newIndex));
+      const bool& inserted = result.second;
+      if (inserted) {
+        newVertices.push_back(vertices[triangle[j]]);
+        newIndex++;
+      }
+
+      newTriangle[j] = indexMap[triangle[j]];
+    }
+  }
+
+  return std::make_tuple(newVertices, newTriangles);
+}
+
+//==============================================================================
+template <typename S, typename Index>
+std::tuple<
+    std::vector<Eigen::Matrix<S, 3, 1>>,
+    std::vector<Eigen::Matrix<Index, 3, 1>>>
+computeConvexHull3D(
+    const std::vector<Eigen::Matrix<S, 3, 1>>& inputVertices, bool optimize)
+{
+  // Use Eigen API directly - no conversion needed
+  std::vector<int> faces;
+  int numFaces = 0;
+
+  detail::convexHull3dBuild(inputVertices, faces, numFaces);
+
+  std::vector<Eigen::Matrix<Index, 3, 1>> eigenFaces;
+  eigenFaces.reserve(numFaces);
+
+  for (auto i = 0; i < numFaces; ++i) {
+    const auto index1 = faces[3 * i];
+    const auto index2 = faces[3 * i + 1];
+    const auto index3 = faces[3 * i + 2];
+
+    eigenFaces.emplace_back(index1, index2, index3);
+  }
+
+  if (optimize)
+    return discardUnusedVertices<S, Index>(inputVertices, eigenFaces);
+  else
+    return std::make_pair(inputVertices, eigenFaces);
+}
+
+} // namespace math
+} // namespace dart
+
+#endif // DART_MATH_DETAIL_GEOMETRY_IMPL_HPP_

include/dart/math/detail/Icosphere-impl.hpp

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+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <dart/math/Constants.hpp>
+#include <dart/math/Icosphere.hpp>
+
+#include <array>
+
+namespace dart {
+namespace math {
+
+//==============================================================================
+template <typename S>
+std::size_t Icosphere<S>::getNumVertices(std::size_t subdivisions)
+{
+  std::size_t numVertices = 12;
+  for (auto i = 0u; i < subdivisions; ++i)
+    numVertices += getNumEdges(i);
+  return numVertices;
+}
+
+//==============================================================================
+template <typename S>
+std::size_t Icosphere<S>::getNumEdges(std::size_t subdivisions)
+{
+  return getNumTriangles(subdivisions) / 2 * 3;
+}
+
+//==============================================================================
+template <typename S>
+std::size_t Icosphere<S>::getNumTriangles(std::size_t subdivisions)
+{
+  return 20 * std::pow(4, subdivisions);
+}
+
+//==============================================================================
+template <typename S>
+std::pair<typename Icosphere<S>::Vertices, typename Icosphere<S>::Triangles>
+Icosphere<S>::computeIcosahedron(S radius)
+{
+  constexpr S phi = constants<S>::phi();
+  const S unitX = 1 / std::sqrt(1 + phi * phi);
+  const S unitZ = unitX * phi;
+
+  const S x = radius * unitX;
+  const S z = radius * unitZ;
+
+  std::vector<Vector3> vertices
+      = {{-x, 0, z},
+         {x, 0, z},
+         {-x, 0, -z},
+         {x, 0, -z},
+         {0, z, x},
+         {0, z, -x},
+         {0, -z, x},
+         {0, -z, -x},
+         {z, x, 0},
+         {-z, x, 0},
+         {z, -x, 0},
+         {-z, -x, 0}};
+
+  static std::vector<Triangle> triangles
+      = {{0, 4, 1},  {0, 9, 4},  {9, 5, 4},  {4, 5, 8},  {4, 8, 1},
+         {8, 10, 1}, {8, 3, 10}, {5, 3, 8},  {5, 2, 3},  {2, 7, 3},
+         {7, 10, 3}, {7, 6, 10}, {7, 11, 6}, {11, 0, 6}, {0, 1, 6},
+         {6, 1, 10}, {9, 0, 11}, {9, 11, 2}, {9, 2, 5},  {7, 2, 11}};
+
+  return std::make_pair(vertices, triangles);
+}
+
+//==============================================================================
+template <typename S>
+Icosphere<S>::Icosphere(S radius, std::size_t subdivisions)
+  : mRadius(radius), mSubdivisions(subdivisions)
+{
+  static_assert(
+      std::is_floating_point<S>::value,
+      "Scalar must be a floating point type.");
+  assert(radius > 0);
+
+  build();
+}
+
+//==============================================================================
+template <typename S>
+S Icosphere<S>::getRadius() const
+{
+  return mRadius;
+}
+
+//==============================================================================
+template <typename S>
+std::size_t Icosphere<S>::getNumSubdivisions() const
+{
+  return mSubdivisions;
+}
+
+//==============================================================================
+template <typename S>
+void Icosphere<S>::build()
+{
+  // Reference: https://schneide.blog/2016/07/15/generating-an-icosphere-in-c/
+
+  // Create icosahedron
+  std::tie(this->mVertices, this->mTriangles) = computeIcosahedron(mRadius);
+
+  // Return if no need to subdivide
+  if (mSubdivisions == 0)
+    return;
+
+  // Create index map that is used for subdivision
+  using IndexMap = std::map<std::pair<std::size_t, std::size_t>, std::size_t>;
+  IndexMap midVertexIndices;
+
+  // Create a temporary array of faces that is used for subdivision
+  std::vector<Triangle> tmpFaces;
+  if (mSubdivisions % 2) {
+    this->mTriangles.reserve(getNumTriangles(mSubdivisions - 1));
+    tmpFaces.reserve(getNumTriangles(mSubdivisions));
+  } else {
+    this->mTriangles.reserve(getNumTriangles(mSubdivisions));
+    tmpFaces.reserve(getNumTriangles(mSubdivisions - 1));
+  }
+
+  // Create more intermediate variables that are used for subdivision
+  std::vector<Triangle>* currFaces = &(this->mTriangles);
+  std::vector<Triangle>* newFaces = &tmpFaces;
+  std::array<std::size_t, 3> mid;
+
+  // Subdivide icosahedron/icosphere iteratively. The key is to not duplicate
+  // the newly created vertices and faces during each subdivision.
+  for (std::size_t i = 0; i < mSubdivisions; ++i) {
+    // Clear the array of faces that will store the faces of the subdivided
+    // isosphere in this iteration. This is because the faces of the previous
+    // isosphere are not reused.
+    (*newFaces).clear();
+    midVertexIndices.clear();
+
+    // Iterate each face of the previous icosphere and divide the face into
+    // four new faces.
+    for (std::size_t j = 0; j < (*currFaces).size(); ++j) {
+      const auto& outter = (*currFaces)[j];
+
+      // Create vertices on the middle of edges if not already created.
+      for (std::size_t k = 0; k < 3; ++k) {
+        auto indexA = outter[k];
+        auto indexB = outter[(k + 1) % 3];
+
+        // Sort indices to guarantee that the key is unique for the same pairs
+        // of indices.
+        if (indexA > indexB)
+          std::swap(indexA, indexB);
+
+        // Check whether the mid vertex given index pair is already created.
+        const auto result = midVertexIndices.insert(
+            {{indexA, indexB}, this->mVertices.size()});
+        const auto& inserted = result.second;
+        if (inserted) {
+          // Create a vertex on the middle of the edge where the length of the
+          // vertex is equal to the radius of the icosphere.
+          const auto& v1 = this->mVertices[indexA];
+          const auto& v2 = this->mVertices[indexB];
+          this->mVertices.emplace_back(mRadius * (v1 + v2).normalized());
+        }
+
+        mid[k] = result.first->second;
+      }
+
+      // Add four new faces.
+      (*newFaces).emplace_back(Triangle(outter[0], mid[0], mid[2]));
+      (*newFaces).emplace_back(Triangle(mid[0], outter[1], mid[1]));
+      (*newFaces).emplace_back(Triangle(mid[0], mid[1], mid[2]));
+      (*newFaces).emplace_back(Triangle(mid[2], mid[1], outter[2]));
+    }
+
+    // Swap the arrays of faces.
+    std::swap(currFaces, newFaces);
+  }
+
+  // Assign faces if needed.
+  this->mTriangles = *currFaces;
+}
+
+} // namespace math
+} // namespace dart

include/dart/math/detail/Mesh-impl.hpp

@@ -0,0 +1,151 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_MATH_DETAIL_MESH_IMPL_HPP_
+#define DART_MATH_DETAIL_MESH_IMPL_HPP_
+
+#include <dart/math/Mesh.hpp>
+
+namespace dart {
+namespace math {
+
+//==============================================================================
+template <typename S>
+Mesh<S>::~Mesh()
+{
+  // Do nothing
+}
+
+//==============================================================================
+template <typename S>
+bool Mesh<S>::hasVertices() const
+{
+  return !mVertices.empty();
+}
+
+//==============================================================================
+template <typename S>
+bool Mesh<S>::hasVertexNormals() const
+{
+  return hasVertices() && mVertices.size() == mVertexNormals.size();
+}
+
+//==============================================================================
+template <typename S>
+const typename Mesh<S>::Vertices& Mesh<S>::getVertices() const
+{
+  return this->mVertices;
+}
+
+//==============================================================================
+template <typename S>
+const typename Mesh<S>::Normals& Mesh<S>::getVertexNormals() const
+{
+  return this->mVertexNormals;
+}
+
+//==============================================================================
+template <typename S>
+void Mesh<S>::clear()
+{
+  mVertices.clear();
+  mVertexNormals.clear();
+}
+
+//==============================================================================
+template <typename S>
+bool Mesh<S>::isEmpty() const
+{
+  return !(this->hasVertices());
+}
+
+//==============================================================================
+template <typename S>
+void Mesh<S>::translate(const Vector3& translation)
+{
+  for (auto& vertex : mVertices) {
+    vertex += translation;
+  }
+}
+
+//==============================================================================
+template <typename S>
+Mesh<S> Mesh<S>::operator+(const Mesh& other) const
+{
+  return (Mesh(*this) += other);
+}
+
+//==============================================================================
+template <typename S>
+Mesh<S>& Mesh<S>::operator+=(const Mesh& other)
+{
+  if (other.isEmpty())
+    return *this;
+
+  // Insert vertex normals if both meshes have normals. Otherwise, clean the
+  // vertex normals.
+  if ((isEmpty() || hasVertexNormals()) && other.hasVertexNormals()) {
+    mVertexNormals.insert(
+        mVertexNormals.end(),
+        other.mVertexNormals.begin(),
+        other.mVertexNormals.end());
+  } else {
+    mVertexNormals.clear();
+  }
+
+  // Insert vertices
+  mVertices.insert(
+      mVertices.end(), other.mVertices.begin(), other.mVertices.end());
+
+  return *this;
+}
+
+//==============================================================================
+template <typename S>
+Mesh<S>::Mesh()
+{
+  // Do nothing
+}
+
+//==============================================================================
+template <typename S>
+void Mesh<S>::normalizeVertexNormals()
+{
+  for (auto& normal : mVertexNormals) {
+    normal.normalize();
+  }
+}
+
+} // namespace math
+} // namespace dart
+
+#endif // DART_MATH_DETAIL_MESH_IMPL_HPP_