| 244 | } |
| 245 | |
| 246 | void TestRotSplines3() |
| 247 | { |
| 248 | printf("+ RotSpline3\n"); |
| 249 | |
| 250 | const Quatf quats[] = |
| 251 | { |
| 252 | { 1, 0, 0, 0 }, |
| 253 | { 0, 1, 0, 0 }, |
| 254 | { 0, 0, 1, 0 }, |
| 255 | { 0, 0, 0, 1 }, |
| 256 | { 0.7071f, 0.7071f, 0, 0 }, |
| 257 | { 0, 0.7071f, 0.7071f, 0 }, |
| 258 | { 0, 0, 0.7071f, 0.7071f }, |
| 259 | { 0.7071f, 0, 0, 0.7071f }, |
| 260 | }; |
| 261 | const int numQuats = sizeof(quats) / sizeof(quats[0]); |
| 262 | |
| 263 | RotSpline3 splines[numQuats + 1]; |
| 264 | |
| 265 | int numSplines = RotSplinesFromQuats(numQuats, quats, splines); |
| 266 | |
| 267 | printf("\ninterpolation:\n"); |
| 268 | for (int is = 0; is < numSplines; is++) |
| 269 | for (float ts = 0.1f; ts <= 1.0f; ts += 0.2f) |
| 270 | { |
| 271 | Quatf q = Rotation (splines[is], ts); |
| 272 | Vec3f w = RotVelocity(splines[is], ts); |
| 273 | |
| 274 | printf(" i %d, t %0.2f: quat [%6.3f, %6.3f, %6.3f, %6.3f], rot speed %.2f rad/s\n", is, ts, q.x, q.y, q.z, q.w, 2.0f * len(w)); |
| 275 | } |
| 276 | |
| 277 | printf("\n"); |
| 278 | } |
| 279 | |
| 280 | int main(int argc, const char* argv[]) |
| 281 | { |