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