/* Rotation using Quaternion*/
int rotate(GLfloat x, GLfloat y, GLfloat z, GLfloat angle) {
GLfloat pmatrix[16];
Quaternion quaternion;
quaternion.CreateFromAxisAngle(x,y,z,angle);
quaternion.CreateMatrix(pmatrix);
glMultMatrixf(pmatrix);
return 0;
}
void GLEngine::SetPerpective()
{
Quaternion m_qPitch, m_qHeading;
m_qPitch.CreateFromAxisAngle(1.0f, 0.0f, 0.0f, m_camera.pitch);
m_qHeading.CreateFromAxisAngle(0.0f, 1.0f, 0.0f, m_camera.heading);
Quaternion q;
q = m_qPitch * m_qHeading;
float Matrix[16];
q.CreateMatrix(Matrix);
glMultMatrixf(Matrix);
m_qPitch.CreateMatrix(Matrix);
m_camera.diry = Matrix[9];
q = m_qHeading*m_qPitch;
q.CreateMatrix(Matrix);
m_camera.dirx = Matrix[8];
m_camera.dirz = Matrix[10];
m_camera.dirLx = -m_camera.dirz;
m_camera.dirLz = m_camera.dirx;
}