int main()
{
WFMath::Vector<3> east(1,0,0), north(0,1,0), west(-1,0,0);
WFMath::Vector<3> up(0,0,1), down(0,0,-1);
Quaternion rotation;
// Normal 90 degree rotation
rotation = quaternionFromTo(east, north);
// No rotation to cover special case
rotation = quaternionFromTo(east, east);
// Exact 180 to cover special case
rotation = quaternionFromTo(east, west);
// Exact 180 to cover other part of same case
rotation = quaternionFromTo(up, down);
return 0;
}
static int Quaternion_init(PyQuaternion * self,
PyObject * args, PyObject * kwds)
{
PyObject * clist;
switch (PyTuple_Size(args)) {
case 0:
break;
case 1:
clist = PyTuple_GetItem(args, 0);
if (!PyList_Check(clist) || PyList_Size(clist) != 4) {
PyErr_SetString(PyExc_TypeError, "Quaternion() from single value must a list 4 long");
return -1;
}
{
float quaternion[4];
for(int i = 0; i < 4; i++) {
PyObject * item = PyList_GetItem(clist, i);
if (PyInt_Check(item)) {
quaternion[i] = (WFMath::CoordType)PyInt_AsLong(item);
} else if (PyFloat_Check(item)) {
quaternion[i] = PyFloat_AsDouble(item);
} else {
PyErr_SetString(PyExc_TypeError, "Quaternion() must take list of floats, or ints");
return -1;
}
}
self->rotation = Quaternion(quaternion[3], quaternion[0],
quaternion[1], quaternion[2]);
}
break;
case 2:
{
PyObject * v1 = PyTuple_GetItem(args, 0);
PyObject * v2 = PyTuple_GetItem(args, 1);
if (!PyVector3D_Check(v1)) {
PyErr_SetString(PyExc_TypeError, "Quaternion(a,b) must take a vector");
return -1;
}
PyVector3D * arg1 = (PyVector3D *)v1;
if (PyVector3D_Check(v2)) {
PyVector3D * to = (PyVector3D *)v2;
self->rotation = quaternionFromTo(arg1->coords, to->coords);
} else if (PyFloat_Check(v2)) {
float angle = PyFloat_AsDouble(v2);
self->rotation.rotation(arg1->coords, angle);
} else {
PyErr_SetString(PyExc_TypeError, "Quaternion(a,b) must take a vector");
return -1;
}
}
break;
case 4:
{
float quaternion[4];
for(int i = 0; i < 4; i++) {
PyObject * item = PyTuple_GetItem(args, i);
if (PyInt_Check(item)) {
quaternion[i] = (WFMath::CoordType)PyInt_AsLong(item);
} else if (PyFloat_Check(item)) {
quaternion[i] = PyFloat_AsDouble(item);
} else {
PyErr_SetString(PyExc_TypeError, "Quaternion() must take list of floats, or ints");
return -1;
}
}
self->rotation = Quaternion(quaternion[3], quaternion[0],
quaternion[1], quaternion[2]);
}
break;
default:
PyErr_SetString(PyExc_TypeError, "Quaternion must take list of floats, or ints, 4 ints or 4 floats");
return -1;
break;
}
return 0;
}
