From b7ce4ea28975b053f3973da551716c12b75940db Mon Sep 17 00:00:00 2001 From: ultramn Date: Sun, 12 Feb 2017 15:01:53 -0800 Subject: this wasn't committed for some reason --- tools/plot_lighthouse/glutil.c | 31 +++++++++++++++---------------- 1 file changed, 15 insertions(+), 16 deletions(-) (limited to 'tools/plot_lighthouse') diff --git a/tools/plot_lighthouse/glutil.c b/tools/plot_lighthouse/glutil.c index dd022a0..99c15f7 100644 --- a/tools/plot_lighthouse/glutil.c +++ b/tools/plot_lighthouse/glutil.c @@ -50,24 +50,23 @@ void DrawCoordinateSystem( float x, float y, float z, float qx, float qy, float qz, float qr) { - Quaternion i0,j0,k0; - Quaternion i, j, k; - Quaternion q; - - // Calculate the i, j, and k vectors - QuaternionSet(i0, 1, 0, 0, 0); - QuaternionSet(j0, 0, 1, 0, 0); - QuaternionSet(k0, 0, 0, 1, 0); - QuaternionSet(q, qx, qy, qz, qr); - QuaternionRot(i, q, i0); - QuaternionRot(j, q, j0); - QuaternionRot(k, q, k0); + FLT i0[3],j0[3],k0[3]; + FLT i[3],j[3],k[3]; + FLT q[4]; + + i0[0]=1.0; i0[1]=0.0; i0[2]=0.0; + j0[0]=0.0; j0[1]=1.0; j0[2]=0.0; + k0[0]=0.0; k0[1]=0.0; k0[2]=1.0; + q [0]=qr; q [1]=qx; q [2]=qy; q [3]=qz; - // Draw the coordinate system i red, j green, k blue + quatrotatevector(i, q, i0); + quatrotatevector(j, q, j0); + quatrotatevector(k, q, k0); + glBegin(GL_LINES); - glColor3f(1, 0, 0); glVertex3f(x,z,y); glVertex3f(x+i.i,z+i.k,y+i.j); - glColor3f(0, 1, 0); glVertex3f(x,z,y); glVertex3f(x+j.i,z+j.k,y+j.j); - glColor3f(0, 0, 1); glVertex3f(x,z,y); glVertex3f(x+k.i,z+k.k,y+k.j); + glColor3f(1, 0, 0); glVertex3f(x,z,y); glVertex3f(x+i[0],z+i[2],y+i[1]); + glColor3f(0, 1, 0); glVertex3f(x,z,y); glVertex3f(x+j[0],z+j[2],y+j[1]); + glColor3f(0, 0, 1); glVertex3f(x,z,y); glVertex3f(x+k[0],z+k[2],y+k[1]); glEnd(); } -- cgit v1.2.3