int main(int argc, char *argv[]) try { std::cout << "TestDQ\n"; Pose camera = { { 0, 0, 8 }, { 0, 0, 0, 1 } }; bool showaxis = true; float3 focuspoint(0, 0, 0); float3 mousevec_prev; float4 model_orientation(0, 0, 0, 1); Pose p0 = { { -3, 0, 0 }, { 0, 0, 0, 1 } }; Pose p1 = { { 3, 0, 0 }, { 0, 0, sqrtf(0.5f),sqrtf(0.5f) } }; float dt = 0.01f, t = 0; Pose *selected = NULL; std::vector<float4> planes = { { 1, 0, 0, 0 }, { 0, 1, 0, 0 }, { 0, 0, 1, 0 }, { -1, 0, 0, 0 }, { 0, -1, 0, 0 }, { 0, 0, -1, 0 } }; for (auto &p : planes) p.w = -0.25f; GLWin glwin("Dual Quaternion Pose Interpolation"); glwin.keyboardfunc = [&](int key, int, int) { showaxis = key == 'a' != showaxis; }; while (glwin.WindowUp()) { t = t + dt; // advance our global time t is in 0..1 if (t > 1.0f) t = 0.0f; Pose pt = dqinterp(p0,p1,t); // And here we show our dual quaterion usage // some extras to help visualize the axis of rotation, not the best math to get the result, but oh well float4 aq = qmul(dot(p0.orientation, p1.orientation) < 0 ? -p1.orientation : p1.orientation, qconj(p0.orientation)); float3 axis = normalize(aq.xyz()*(aq.w < 0 ? -1.0f : 1.0f)); // direction of the axis of rotation float3 axisp = cross(axis, p1.position - p0.position) / 2.0f * sqrtf(1/dot(aq.xyz(),aq.xyz())-1); // origin projected onto the axis of rotation // user interaction: float3 ray = qrot(camera.orientation, normalize(glwin.MouseVector)); // for mouse selection float3 v1 = camera.position + ray*100.0f; if (!glwin.MouseState) // note that we figure out what is being selected only when the mouse is up { selected = NULL; for (Pose *p : { &p0, &p1 }) { if (auto h = ConvexHitCheck(planes, *p, camera.position, v1)) { selected = p; v1 = h.impact; } } } else // if (glwin.MouseState) { if (selected) selected->orientation = qmul(VirtualTrackBall(camera.position, selected->position, qrot(camera.orientation, mousevec_prev), qrot(camera.orientation, glwin.MouseVector)), selected->orientation); else camera.orientation = qmul(camera.orientation, qconj(VirtualTrackBall(float3(0, 0, 1), float3(0, 0, 0), mousevec_prev, glwin.MouseVector))); // equation is non-typical we are orbiting the camera, not rotating the object } camera.position = focuspoint + qzdir(camera.orientation)*magnitude(camera.position - focuspoint); camera.position -= focuspoint; camera.position *= powf(1.1f, (float)glwin.mousewheel); camera.position += focuspoint; mousevec_prev = glwin.MouseVector; // Render the scene glPushAttrib(GL_ALL_ATTRIB_BITS); glViewport(0, 0, glwin.Width, glwin.Height); // Set up the viewport glClearColor(0.1f, 0.1f, 0.15f, 1); glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); glMatrixMode(GL_PROJECTION); glPushMatrix(); glLoadIdentity(); gluPerspective(glwin.ViewAngle, (double)glwin.Width / glwin.Height, 0.25, 250); glMatrixMode(GL_MODELVIEW); glPushMatrix(); glLoadIdentity(); glMultMatrixf(camera.Inverse().Matrix()); glDisable(GL_LIGHTING); glAxis(); glGridxy(4.0f); if (showaxis) { glPushAttrib(GL_ALL_ATTRIB_BITS); glLineWidth(3.0f); glBegin(GL_LINES); glColor3f(1, 1, 1); for (auto p : { p0.position, p1.position, pt.position ,axisp}) glVertex3fv(p - axis*0.5f), glVertex3fv(p + axis*0.5f); // note the comma glEnd(); glPopAttrib(); glColor3f(1, 1, 0); glBegin(GL_LINES); glVertex3fv(axisp + axis*dot(axis, p0.position)), glVertex3fv(axisp + axis*dot(axis, p1.position)); glVertex3fv(axisp + axis*dot(axis, p0.position)), glVertex3fv(p0.position); glVertex3fv(axisp + axis*dot(axis, p1.position)), glVertex3fv(p1.position); glVertex3fv(axisp + axis*dot(axis, pt.position)), glVertex3fv(pt.position); glEnd(); } glEnable(GL_LIGHTING); glEnable(GL_LIGHT0); glEnable(GL_COLOR_MATERIAL); for (auto p : { p0, p1, pt }) glcolorbox(0.25f, p); glPopMatrix(); //should be currently in modelview mode glMatrixMode(GL_PROJECTION); glPopMatrix(); glMatrixMode(GL_MODELVIEW); glPopAttrib();// Restore state glwin.PrintString({ 0, 0 }, "ESC to quit."); glwin.PrintString({ 0, 1 }, "'a' show axis (%s)", showaxis ? "on" : "off"); glwin.PrintString({ 0, 2 }, "%selected: %s", glwin.MouseState?"S":"s", (selected) ? ((selected==&p0)?"box0":"box1") : "none"); glwin.SwapBuffers(); } std::cout << "\n"; return 0; } catch (std::exception e) { std::cerr << e.what() << "\n"; }