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Diffstat (limited to 'src/test/ao_quaternion_test.c')
| -rw-r--r-- | src/test/ao_quaternion_test.c | 67 |
1 files changed, 67 insertions, 0 deletions
diff --git a/src/test/ao_quaternion_test.c b/src/test/ao_quaternion_test.c new file mode 100644 index 00000000..0e4b5b07 --- /dev/null +++ b/src/test/ao_quaternion_test.c @@ -0,0 +1,67 @@ +/* + * Copyright © 2013 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#define _GNU_SOURCE + +#include <stdint.h> +#include <stdio.h> +#include <stdlib.h> +#include <stddef.h> +#include <string.h> +#include <getopt.h> +#include <math.h> + +#include "ao_quaternion.h" + +static void +print_q(char *name, struct ao_quaternion *q) +{ + printf ("%8.8s: r%8.5f x%8.5f y%8.5f z%8.5f ", name, + q->r, q->x, q->y, q->z); +} + +int main(int argc, char **argv) +{ + struct ao_quaternion position; + struct ao_quaternion rotation; + struct ao_quaternion little_rotation; + int i; + + /* unit x vector */ + ao_quaternion_init_vector(&position, 1, 0, 0); + + /* zero rotation */ + ao_quaternion_init_zero_rotation(&rotation); + + /* π/16 rotation around Z axis */ + ao_quaternion_init_rotation(&little_rotation, 0, 0, 1, + sin((M_PI/16)/2), + cos((M_PI/16)/2)); + for (i = 0; i <= 16; i++) { + struct ao_quaternion rotated; + + ao_quaternion_rotate(&rotated, &position, &rotation); + print_q("position", &position); + print_q("rotated", &rotated); + print_q("rotation", &rotation); + printf ("\n"); + ao_quaternion_multiply(&rotation, &rotation, &little_rotation); + ao_quaternion_normalize(&rotation, &rotation); + } + return 0; +} + |