qmake.c

模型冲突检测

/*****************************************************************************
 *

    qmake.c -  make a quaternion from an axis & angle;  show result as
    	    	quat and matrix
    
    	Session:
	
	    - Enter axis
	    - Enter angle in degrees
	    - Show resulting quat as col matrix and quaternion
	    
    rich holloway,  4/8/91
	    
 *
 *****************************************************************************/



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


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

    q_vec_type	axis;
    double  	angle;

    q_type  	resultQuat;
    
    q_matrix_type   resultMatrix;



/*
 * read in vector and angle
 */
printf("\nEnter vector (x, y, z) followed by angle (in degrees): ");
scanf("%lf %lf %lf %lf", 
    	&axis[0], &axis[1], &axis[2], &angle);

q_make(resultQuat, axis[Q_X], axis[Q_Y], axis[Q_Z], Q_DEG_TO_RAD(angle));

printf("Result quaternion:\n");
q_print(resultQuat);

/*
 * matrix of product quat
 */
q_to_col_matrix(resultMatrix, resultQuat);
printf("Equivalent column matrix:\n");
q_print_matrix(resultMatrix);

return(0);

}	/* main */