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