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/*
* 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;
}
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