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   1 /*
   2  * Copyright © 2013 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * This program is distributed in the hope that it will be useful, but
  10  * WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  12  * General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License along
  15  * with this program; if not, write to the Free Software Foundation, Inc.,
  16  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  17  */
  18
  19 #define _GNU_SOURCE
  20
  21 #include <stdint.h>
  22 #include <stdio.h>
  23 #include <stdlib.h>
  24 #include <stddef.h>
  25 #include <string.h>
  26 #include <getopt.h>
  27 #include <math.h>
  28
  29 #include "ao_quaternion.h"
  30
  31 #if 0
  32 static void
  33 print_q(char *name, struct ao_quaternion *q)
  34 {
  35         printf ("%8.8s: r%8.5f x%8.5f y%8.5f z%8.5f ", name,
  36                 q->r, q->x, q->y, q->z);
  37 }
  38 #endif
  39
  40 #define STEPS   16
  41
  42 #define DEG     (1.0f * 3.1415926535f / 180.0f)
  43
  44 struct ao_rotation {
  45         int     steps;
  46         float   x, y, z;
  47 };
  48
  49 static struct ao_rotation ao_path[] = {
  50         { .steps = 45, .x =  2*DEG, .y = 0, .z = 0 },
  51
  52         { .steps = 45, .x = 0, .y = 2*DEG, .z = 0 },
  53
  54         { .steps = 45, .x = -2*DEG, .y = 0, .z = 0 },
  55
  56         { .steps = 45, .x = 0, .y = -2*DEG, .z = 0 },
  57 };
  58
  59 #define NUM_PATH        (sizeof ao_path / sizeof ao_path[0])
  60
  61 static int close(float a, float b) {
  62         return fabsf (a - b) < 1e-5;
  63 }
  64
  65 static int check_quaternion(char *where, struct ao_quaternion *got, struct ao_quaternion *expect) {
  66         if (!close (got->r, expect->r) ||
  67             !close (got->x, expect->x) ||
  68             !close (got->y, expect->y) ||
  69             !close (got->z, expect->z))
  70         {
  71                 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",
  72                         where,
  73                         got->r, got->x, got->y, got->z,
  74                         expect->r, expect->x, expect->y, expect->z);
  75                 return 1;
  76         }
  77         return 0;
  78 }
  79
  80 int main(int argc, char **argv)
  81 {
  82         struct ao_quaternion    position;
  83         struct ao_quaternion    position_expect;
  84         struct ao_quaternion    rotation;
  85         struct ao_quaternion    rotated;
  86         struct ao_quaternion    little_rotation;
  87         int                     i;
  88         int                     p;
  89         int                     ret = 0;
  90
  91         /* vector */
  92         ao_quaternion_init_vector(&position, 1, 1, 1);
  93         ao_quaternion_init_vector(&position_expect, -1, -1, 1);
  94
  95         /* zero rotation */
  96         ao_quaternion_init_zero_rotation(&rotation);
  97
  98 #define dump() do {                                                     \
  99                                                                         \
 100                 ao_quaternion_rotate(&rotated, &position, &rotation);   \
 101                 print_q("rotated", &rotated);                           \
 102                 print_q("rotation", &rotation);                         \
 103                 printf ("\n");                                          \
 104         } while (0)
 105
 106 //      dump();
 107
 108         for (p = 0; p < NUM_PATH; p++) {
 109                 ao_quaternion_init_half_euler(&little_rotation,
 110                                               ao_path[p].x / 2.0f,
 111                                               ao_path[p].y / 2.0f,
 112                                               ao_path[p].z / 2.0f);
 113 //              printf ("\t\tx: %8.4f, y: %8.4f, z: %8.4f ", ao_path[p].x, ao_path[p].y, ao_path[p].z);
 114 //              print_q("step", &little_rotation);
 115 //              printf("\n");
 116                 for (i = 0; i < ao_path[p].steps; i++) {
 117                         ao_quaternion_multiply(&rotation, &little_rotation, &rotation);
 118
 119                         ao_quaternion_normalize(&rotation, &rotation);
 120
 121 //                      dump();
 122                 }
 123         }
 124
 125         ao_quaternion_rotate(&rotated, &position, &rotation);
 126
 127         ret += check_quaternion("rotation", &rotated, &position_expect);
 128
 129         struct ao_quaternion    vertical;
 130         struct ao_quaternion    angle;
 131         struct ao_quaternion    rot;
 132
 133         ao_quaternion_init_vector(&vertical, 0, 0, 1);
 134         ao_quaternion_init_vector(&angle, 0, 0, 1);
 135
 136         ao_quaternion_init_half_euler(&rot,
 137                                       M_PI * 3.0 / 8.0 , 0, 0);
 138
 139         ao_quaternion_rotate(&angle, &angle, &rot);
 140
 141         struct ao_quaternion    rot_compute;
 142
 143         ao_quaternion_vectors_to_rotation(&rot_compute, &vertical, &angle);
 144
 145         ret += check_quaternion("vector rotation", &rot_compute, &rot);
 146
 147         struct ao_quaternion    rotd;
 148
 149         ao_quaternion_rotate(&rotd, &vertical, &rot_compute);
 150
 151         ret += check_quaternion("vector rotated", &rotd, &angle);
 152
 153         return ret;
 154 }
 155