TEST_F(QuaternionTest, creating_matrix_from_quaternion_gives_correct_matrix)
{
const auto quat = create_random_quaternion();
const auto res = quaternion_to_matrix(quat);
const auto correct = make_matrix_from_quaternion(quat);
for (auto i = 0; i < 16; ++i) {
EXPECT_EQ(correct[i], res[i]);
}
}
/*!
Interpolates between camera orientations
\pre p_up2, p_dir2 != NULL; *p_up2 is the target up vector;
*p_dir2 is the target view direction
\arg \c up1 original up vector
\arg \c dir1 original view direction
\arg \c p_up2 pointer to target up vector; is overwritten with
interpolated up vector
\arg \c p_dir2 pointer to target view direction; is overwritten with
interpolated view direction
\arg \c dt time step
\arg \c time_constant interpolation time constant
\return none
\author jfpatry
\date Created: 2000-08-26
\date Modified: 2000-08-26
*/
void interpolate_view_frame( vector_t up1, vector_t dir1,
vector_t *p_up2, vector_t *p_dir2,
scalar_t dt, scalar_t time_constant )
{
quaternion_t q1, q2;
scalar_t alpha;
vector_t x1, y1, z1;
vector_t x2, y2, z2;
matrixgl_t cob_mat1, inv_cob_mat1;
matrixgl_t cob_mat2, inv_cob_mat2;
/* Now interpolate between camera orientations */
z1 = scale_vector( -1.0, dir1 );
normalize_vector( &z1 );
y1 = project_into_plane( z1, up1 );
normalize_vector( &y1 );
x1 = cross_product( y1, z1 );
make_change_of_basis_matrix( cob_mat1, inv_cob_mat1,
x1, y1, z1 );
q1 = make_quaternion_from_matrix( cob_mat1 );
z2 = scale_vector( -1.0, *p_dir2 );
normalize_vector( &z2 );
y2 = project_into_plane( z2, *p_up2 );
normalize_vector( &y2 );
x2 = cross_product( y2, z2 );
make_change_of_basis_matrix( cob_mat2, inv_cob_mat2,
x2, y2, z2 );
q2 = make_quaternion_from_matrix( cob_mat2 );
alpha = min( MAX_INTERPOLATION_VALUE,
1.0 - exp( -dt / time_constant ) );
q2 = interpolate_quaternions( q1, q2, alpha );
make_matrix_from_quaternion( cob_mat2, q2 );
p_up2->x = cob_mat2[1][0];
p_up2->y = cob_mat2[1][1];
p_up2->z = cob_mat2[1][2];
p_dir2->x = -cob_mat2[2][0];
p_dir2->y = -cob_mat2[2][1];
p_dir2->z = -cob_mat2[2][2];
}
