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/*******************************************************************************************
*
* raylib [core] example - quat conversions
*
* Generally you should really stick to eulers OR quats...
* This tests that various conversions are equivalent.
*
* This example has been created using raylib 3.5 (www.raylib.com)
* raylib is licensed under an unmodified zlib/libpng license (View raylib.h for details)
*
* Example contributed by Chris Camacho (@chriscamacho) and reviewed by Ramon Santamaria (@raysan5)
*
* Copyright (c) 2020-2021 Chris Camacho (@chriscamacho) and Ramon Santamaria (@raysan5)
*
********************************************************************************************/
#include "raylib.h"
#include "raymath.h"
//------------------------------------------------------------------------------------
// Program main entry point
//------------------------------------------------------------------------------------
int main(void)
{
// Initialization
//--------------------------------------------------------------------------------------
const int screenWidth = 800;
const int screenHeight = 450;
InitWindow(screenWidth, screenHeight, "raylib [core] example - quat conversions");
Camera3D camera = { 0 };
camera.position = (Vector3){ 0.0f, 10.0f, 10.0f }; // Camera position
camera.target = (Vector3){ 0.0f, 0.0f, 0.0f }; // Camera looking at point
camera.up = (Vector3){ 0.0f, 1.0f, 0.0f }; // Camera up vector (rotation towards target)
camera.fovy = 45.0f; // Camera field-of-view Y
camera.projection = CAMERA_PERSPECTIVE; // Camera mode type
// Load a cylinder model for testing
Model model = LoadModelFromMesh(GenMeshCylinder(0.2f, 1.0f, 32));
// Generic quaternion for operations
Quaternion q1 = { 0 };
// Transform matrices required to draw 4 cylinders
Matrix m1 = { 0 };
Matrix m2 = { 0 };
Matrix m3 = { 0 };
Matrix m4 = { 0 };
// Generic vectors for rotations
Vector3 v1 = { 0 };
Vector3 v2 = { 0 };
SetTargetFPS(60); // Set our game to run at 60 frames-per-second
//--------------------------------------------------------------------------------------
// Main game loop
while (!WindowShouldClose()) // Detect window close button or ESC key
{
// Update
//--------------------------------------------------------------------------------------
if (v2.x < 0) v2.x += PI*2;
if (v2.y < 0) v2.y += PI*2;
if (v2.z < 0) v2.z += PI*2;
if (!IsKeyDown(KEY_SPACE))
{
v1.x += 0.01f;
v1.y += 0.03f;
v1.z += 0.05f;
}
if (v1.x > PI*2) v1.x -= PI*2;
if (v1.y > PI*2) v1.y -= PI*2;
if (v1.z > PI*2) v1.z -= PI*2;
q1 = QuaternionFromEuler(v1.x, v1.y, v1.z);
m1 = MatrixRotateZYX(v1);
m2 = QuaternionToMatrix(q1);
q1 = QuaternionFromMatrix(m1);
m3 = QuaternionToMatrix(q1);
v2 = QuaternionToEuler(q1); // Angles returned in radians
m4 = MatrixRotateZYX(v2);
//--------------------------------------------------------------------------------------
// Draw
//----------------------------------------------------------------------------------
BeginDrawing();
ClearBackground(RAYWHITE);
BeginMode3D(camera);
model.transform = m1;
DrawModel(model, (Vector3){ -1, 0, 0 }, 1.0f, RED);
model.transform = m2;
DrawModel(model, (Vector3){ 1, 0, 0 }, 1.0f, RED);
model.transform = m3;
DrawModel(model, (Vector3){ 0, 0, 0 }, 1.0f, RED);
model.transform = m4;
DrawModel(model, (Vector3){ 0, 0, -1 }, 1.0f, RED);
DrawGrid(10, 1.0f);
EndMode3D();
DrawText(TextFormat("%2.3f", v1.x), 20, 20, 20, (v1.x == v2.x)? GREEN: BLACK);
DrawText(TextFormat("%2.3f", v1.y), 20, 40, 20, (v1.y == v2.y)? GREEN: BLACK);
DrawText(TextFormat("%2.3f", v1.z), 20, 60, 20, (v1.z == v2.z)? GREEN: BLACK);
DrawText(TextFormat("%2.3f", v2.x), 200, 20, 20, (v1.x == v2.x)? GREEN: BLACK);
DrawText(TextFormat("%2.3f", v2.y), 200, 40, 20, (v1.y == v2.y)? GREEN: BLACK);
DrawText(TextFormat("%2.3f", v2.z), 200, 60, 20, (v1.z == v2.z)? GREEN: BLACK);
EndDrawing();
//----------------------------------------------------------------------------------
}
// De-Initialization
//--------------------------------------------------------------------------------------
UnloadModel(model); // Unload model data (mesh and materials)
CloseWindow(); // Close window and OpenGL context
//--------------------------------------------------------------------------------------
return 0;
}
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