QuaternionTest.cpp

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#include <SL.h>
#include <SLVec3.h>
#include <SLMat3.h>
#include <SLMat4.h>
#include <SLQuat4.h>
 
int main()
{
    float    angleDEG;
    SLVec3f  axis;
    SLQuat4f q1;
 
    cout << "Quaternion q1: 45deg. around y-axis: ";
    SLMat3f m1(45, 0, 1, 0);
    q1.fromMat3(m1);
    q1.toAngleAxis(angleDEG, axis);
    cout << angleDEG << ", " << axis << endl
         << endl;
 
    cout << "Quaternion q1: 45deg. around y-axis: ";
    q1.fromAngleAxis(45, SLVec3f(0, 1, 0));
    q1.toAngleAxis(angleDEG, axis);
    cout << angleDEG << ", " << axis << endl
         << endl;
 
    cout << "Quaternion to matrix: 45deg. around y-axis: ";
    SLMat3f m2 = q1.toMat3();
    m2.toAngleAxis(angleDEG, axis);
    cout << angleDEG << ", " << axis << endl
         << endl;
 
    cout << "Quaternion q2: 45 deg. around y-axis" << endl;
    cout << "Quaternion q3 = q1 x q2: 90 deg. around y-axis: ";
    SLQuat4f q2(45, SLVec3f(0, 1, 0));
    SLQuat4f q3 = q1.rotated(q2);
    q3.toAngleAxis(angleDEG, axis);
    cout << angleDEG << ", " << axis << endl
         << endl;
 
    float t = 0.1f;
    for (int i = 0; i < 9; ++i)
    {
        cout << "Quaternion q1.slerp(" << t << ", q3): ";
        q1.slerp(q3, t).toAngleAxis(angleDEG, axis);
        cout << angleDEG << ", " << axis << endl;
 
        cout << "Quaternion q1.lerp (" << t << ", q3): ";
        q1.lerp(q3, t).toAngleAxis(angleDEG, axis);
        cout << angleDEG << ", " << axis << endl;
        t += 0.1f;
    }
    cout << endl;
 
    cout << "Quaternion q1: 45deg. around y-axis: " << endl;
    cout << "Quaternion q2 = q1.inverted(): ";
    q1.fromAngleAxis(45, SLVec3f(0, 1, 0));
    q2 = q1.inverted();
    q2.toAngleAxis(angleDEG, axis);
    cout << angleDEG << ", " << axis << endl;
    cout << "Quaternion q3 = q1 * q2: ";
    q3 = q1 * q2;
    q3.toAngleAxis(angleDEG, axis);
    cout << angleDEG << ", " << axis << endl
         << endl;
 
    cout << "Quaternion q1.fromEuler(0,45,0): " << endl;
    q1.fromEuler(0, 45, 0);
    q1.toAngleAxis(angleDEG, axis);
    cout << angleDEG << ", " << axis << endl;
 
    return 0;
}