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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)
{
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;
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[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();
}
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