diff options
Diffstat (limited to 'redist/lintest.c')
| -rw-r--r-- | redist/lintest.c | 41 |
1 files changed, 41 insertions, 0 deletions
diff --git a/redist/lintest.c b/redist/lintest.c new file mode 100644 index 0000000..0a268ff --- /dev/null +++ b/redist/lintest.c @@ -0,0 +1,41 @@ +#include "linmath.h" +#include <stdio.h> + +int main() +{ + + FLT e[3] = { 1,1,3.14 }; + FLT q[4]; + FLT m[16]; + + quatfromeuler( q, e ); + printf( "%f %f %f %f\n\n", PFFOUR( q ) ); + quattomatrix(m,q); + printf( "%f %f %f %f\n", PFFOUR( &m[0] ) ); + printf( "%f %f %f %f\n", PFFOUR( &m[4] ) ); + printf( "%f %f %f %f\n", PFFOUR( &m[8] ) ); + printf( "%f %f %f %f\n\n", PFFOUR( &m[12] ) ); + quatfrommatrix(q,m ); + printf( "%f %f %f %f\n\n", PFFOUR( q ) ); + quattoeuler( e,q ); + printf( "E: %f %f %f\n", e[0], e[1], e[2] ); + + + FLT p[3] = { 0, 0, 1 }; + printf( "%f %f %f\n", PFTHREE( p ) ); + quatrotatevector( p, q, p ); + printf( "%f %f %f\n", PFTHREE( p ) ); + printf( "Flipping rotation\n" ); + q[0] *= -1; //Wow that was easy. + quatrotatevector( p, q, p ); + printf( "%f %f %f\n", PFTHREE( p ) ); + + + //Try setting up a pose. + FLT mypose[7] = { 0, 0, 10, q[0], q[1], q[2], q[3] ); + ApplyPoseToPoint( FLT * pout, const FLT * pin, const FLT * pose ); +void InvertPose( FLT * poseout, const FLT * pose ); + + +} + |