qxform.c

模型冲突检测

/*****************************************************************************
 *
    qxform.c - does xform of a vector
    
    	Session:
	
	    - Enter quaternion [(x, y, z), w] (no punctuation)
	    - Enter vector to be xformed
	    - Show quat as col matrix
	    - Xform vector and print result
	    
    rich holloway,  9/25/90
	    
 *
 *****************************************************************************/



#include <stdio.h>
#include "quat.h"


int
main(int argc, char *argv[])
{

    q_type	multQuat;
    q_type 	xformedPoint;
    q_type  	point;
    
    double  	matrix[4][4];




/*
 * read in, echo, and normalize 2 quaternions
 */
printf("\nEnter xform quaternion: (vec, s) ");
scanf("%lf %lf %lf %lf", 
    	&multQuat[0], &multQuat[1], &multQuat[2], &multQuat[3]);

printf("\nEnter point: (x y z) ");
scanf("%lf %lf %lf", 
    	&point[Q_X], &point[Q_Y], &point[Q_Z]);
point[Q_W] = 0.0;

/*
 * matrix of product quat
 */
q_to_col_matrix(matrix, multQuat);
printf("Transformation (column) matrix:\n");
q_print_matrix(matrix);

/* 
 * xformedPoint = (multQuat * candQuat) * invertedQuat	
 */
q_xform(xformedPoint, multQuat, point);

printf("Xform Result:\n");
q_print(xformedPoint);

return(0);

}	/* main */