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//
// glutil.c
//
//
// Created by user on 2/4/17.
//
//
#include "glutil.h"
void DrawGrid(
float minX, float maxX,
float minY, float maxY,
float minZ, float maxZ,
float stepX, float stepY, float stepZ)
{
float x,y,z;
glBegin(GL_LINES);
// X grid stripes
for (y=minY; y<maxY; y+=stepY) {
for (z=minZ; z<maxZ; z+=stepZ) {
glVertex3f(minX, y, z);
glVertex3f(maxX, y, z);
}
}
// Y grid stripes
for (x=minX; x<maxX; x+=stepX) {
for (z=minZ; z<maxZ; z+=stepZ) {
glVertex3f(x, minY, z);
glVertex3f(x, maxY, z);
}
}
// Z grid stripes
for (y=minY; y<maxY; y+=stepY) {
for (x=minX; x<maxX; x+=stepX) {
glVertex3f(x, y, minZ);
glVertex3f(x, y, maxZ);
}
}
glEnd();
}
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);
// Draw the coordinate system i red, j green, k blue
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);
glEnd();
}
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