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#include "linmath.h"
#include <stdio.h>
int main()
{
#if 1
#define NONTRANSPOSED_DAVE
#ifdef NONTRANSPOSED_DAVE
FLT pLH1[3] = {-0.396888, 3.182945, -0.568622};
FLT qLH1[4] = {0.668640, -0.576296, 0.103727, -0.458305};
FLT pNLH1[3] = { 0.113572, 2.791495, -1.495652 }; //1M +x
FLT qNLH1[4] = { 0.807419, 0.372818, -0.451339, 0.073308 };
FLT pLH2[3] = {0.195579, 3.193770, -0.424473};
FLT qLH2[4] = {0.401849, 0.104771, 0.580441, 0.700449};
FLT pNLH2[3] = {-0.183505, 3.356293, 0.695688, };
FLT qNLH2[4] = {-0.237438, 0.405213, 0.270438, 0.840410 };
#else
FLT pLH1[3] = {-0.321299, 3.130532, -0.786460};
FLT qLH1[4] = {0.794180, 0.336117, -0.485668, -0.142934};
FLT pNLH1[3] = { 0.113572, 2.791495, -1.495652 }; //1M +x
FLT qNLH1[4] = { 0.807419, 0.372818, -0.451339, 0.073308 };
FLT pLH2[3] = {0.153580, 3.251673, -0.190491};
FLT qLH2[4] = {0.217017, 0.482214, 0.306568, 0.791448 };
FLT pNLH2[3] = {-0.175330, 3.351943, 0.669623 };
FLT qNLH2[4] = {0.257241, 0.394159, 0.292555, 0.832392 };
#endif
FLT pOut1[3];
FLT pOut2[3];
qLH1[0] *= -1;
qLH2[0] *= -1;
quatrotatevector( pOut1, qLH1, pLH1 );
quatrotatevector( pOut2, qLH2, pLH2 );
printf( "%f %f %f\n", PFTHREE( pOut1 ) );
printf( "%f %f %f\n", PFTHREE( pOut2 ) );
// qLH1[1]*=-1;
// qLH2[0]*=-1;
/*
sub3d( pOut1, pLH1, pNLH1 );
sub3d( pOut2, pLH2, pNLH2 );
printf( "%f %f %f\n", PFTHREE( pOut1 ) );
printf( "%f %f %f\n", PFTHREE( pOut2 ) );
quatrotatevector( pOut1, qLH1, pOut1 );
quatrotatevector( pOut2, qLH2, pOut2 );
printf( "%f %f %f\n", PFTHREE( pOut1 ) );
printf( "%f %f %f\n", PFTHREE( pOut2 ) );
*/
return -1;
#endif
#if 0
FLT e[3] = { 1,1,3.14 };
FLT q[4];
FLT m[16];
FLT pt[3] = { 1, 1, 1 };
q[0] = 0;
q[1] = 0;
q[2] = 0;
q[3] = 1;
quatrotatevector( pt, q, pt );
printf( "%f %f %f\n", PFTHREE( pt ) );
printf( "\n" );
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 pfromlh[3] = { 0, 1, 0 };
FLT p[3] = { 0, 1, 0 };
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 );
#endif
}
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