static void mzlook( const double eye[3],
const double target[3],
const double up[3] )
{
{
double R[9] = {0};
aa_tf_rotmat_mzlook(eye,target,up,R);
assert( aa_tf_isrotmat(R) );
}
double g_E_cam[7];
double cam_E_g[7];
aa_tf_qutr_mzlook(eye,target,up,g_E_cam);
aa_tf_qutr_conj(g_E_cam, cam_E_g);
{
double x[3];
aa_tf_qutr_tf(g_E_cam, aa_tf_vec_ident, x);
aveq("mzlook eye 0", 3, eye, x, 1e-6 );
aa_tf_qutr_tf(cam_E_g, eye, x);
aveq("mzlook eye 1", 3, aa_tf_vec_ident, x, 1e-6 );
}
{
double ell[3];
for(size_t i=0; i<3; i++) ell[i] = -(target[i] - eye[i]);
aa_tf_vnormalize(ell);
double z[3];
aa_tf_qrot(cam_E_g, ell, z);
aveq("mzlook rot", 3, z, aa_tf_vec_z, 1e-6 );
}
}
int main(int argc, char *argv[])
{
(void)argc; (void)argv;
SDL_Window* window = NULL;
SDL_GLContext gContext = NULL;
aa_sdl_gl_window( "SDL Test",
SDL_WINDOWPOS_UNDEFINED,
SDL_WINDOWPOS_UNDEFINED,
SCREEN_WIDTH,
SCREEN_HEIGHT,
SDL_WINDOW_SHOWN | SDL_WINDOW_RESIZABLE,
&window, &gContext);
printf("OpenGL Version: %s\n", glGetString(GL_VERSION));
Init();
struct aa_gl_globals *globals = aa_gl_globals_create();
// global camera
{
double world_E_camera_home[7] = AA_TF_QUTR_IDENT_INITIALIZER;
double eye[3] = {1,1,0.5};
double target[3] = {0,0,0};
double up[3] = {0,0,1};
aa_tf_qutr_mzlook( eye, target, up, world_E_camera_home );
aa_gl_globals_set_camera_home( globals, world_E_camera_home );
aa_gl_globals_home_camera( globals );
}
// global lighting
{
double v_light[3] = {.5,1,5};
double ambient[3] = {.1,.1,.1};
aa_gl_globals_set_light_position( globals, v_light );
aa_gl_globals_set_ambient(globals, ambient);
}
aa_sdl_display_loop( window, globals,
display,
globals );
SDL_GL_DeleteContext(gContext);
SDL_DestroyWindow( window );
SDL_Quit();
return 0;
}
