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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"
#if 0
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);
}
#endif
#define STEPS 16
#define DEG (1.0f * 3.1415926535f / 180.0f)
struct ao_rotation {
int steps;
float x, y, z;
};
static struct ao_rotation ao_path[] = {
{ .steps = 45, .x = 2*DEG, .y = 0, .z = 0 },
{ .steps = 45, .x = 0, .y = 2*DEG, .z = 0 },
{ .steps = 45, .x = -2*DEG, .y = 0, .z = 0 },
{ .steps = 45, .x = 0, .y = -2*DEG, .z = 0 },
};
#define NUM_PATH (sizeof ao_path / sizeof ao_path[0])
static int close(float a, float b) {
return fabsf (a - b) < 1e-5;
}
static int check_quaternion(char *where, struct ao_quaternion *got, struct ao_quaternion *expect) {
if (!close (got->r, expect->r) ||
!close (got->x, expect->x) ||
!close (got->y, expect->y) ||
!close (got->z, expect->z))
{
printf ("%s: got r%8.5f x%8.5f y%8.5f z%8.5f expect r%8.5f x%8.5f y%8.5f z%8.5f\n",
where,
got->r, got->x, got->y, got->z,
expect->r, expect->x, expect->y, expect->z);
return 1;
}
return 0;
}
int main(int argc, char **argv)
{
struct ao_quaternion position;
struct ao_quaternion position_expect;
struct ao_quaternion rotation;
struct ao_quaternion rotated;
struct ao_quaternion little_rotation;
int i;
int p;
int ret = 0;
/* vector */
ao_quaternion_init_vector(&position, 1, 1, 1);
ao_quaternion_init_vector(&position_expect, -1, -1, 1);
/* zero rotation */
ao_quaternion_init_zero_rotation(&rotation);
#define dump() do { \
\
ao_quaternion_rotate(&rotated, &position, &rotation); \
print_q("rotated", &rotated); \
print_q("rotation", &rotation); \
printf ("\n"); \
} while (0)
// dump();
for (p = 0; p < NUM_PATH; p++) {
ao_quaternion_init_half_euler(&little_rotation,
ao_path[p].x / 2.0f,
ao_path[p].y / 2.0f,
ao_path[p].z / 2.0f);
// printf ("\t\tx: %8.4f, y: %8.4f, z: %8.4f ", ao_path[p].x, ao_path[p].y, ao_path[p].z);
// print_q("step", &little_rotation);
// printf("\n");
for (i = 0; i < ao_path[p].steps; i++) {
ao_quaternion_multiply(&rotation, &little_rotation, &rotation);
ao_quaternion_normalize(&rotation, &rotation);
// dump();
}
}
ao_quaternion_rotate(&rotated, &position, &rotation);
ret += check_quaternion("rotation", &rotated, &position_expect);
struct ao_quaternion vertical;
struct ao_quaternion angle;
struct ao_quaternion rot;
ao_quaternion_init_vector(&vertical, 0, 0, 1);
ao_quaternion_init_vector(&angle, 0, 0, 1);
ao_quaternion_init_half_euler(&rot,
M_PI * 3.0 / 8.0 , 0, 0);
ao_quaternion_rotate(&angle, &angle, &rot);
struct ao_quaternion rot_compute;
ao_quaternion_vectors_to_rotation(&rot_compute, &vertical, &angle);
ret += check_quaternion("vector rotation", &rot_compute, &rot);
struct ao_quaternion rotd;
ao_quaternion_rotate(&rotd, &vertical, &rot_compute);
ret += check_quaternion("vector rotated", &rotd, &angle);
return ret;
}
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