void quats2matrices( int n ){
float d = 1.0f/n;
glBegin ( GL_POINTS );
glColor3f ( 0.0f, 0.0f, 0.0f );
for( int ix=-n; ix<n; ix++ ){
float x = (ix+0.5f) * d;
for( int iy=-n; iy<n; iy++ ){
float y = (iy+0.5f) * d;
for( int iz=-n; iz<n; iz++ ){
float z = (iz+0.5f) * d;
float r2 = x*x + y*y + z*z;
if( r2 < 1.0f ){
Quat4f q;
Mat3f M;
q.set( x, y, z, sqrt(1.0f - r2) );
q.toMatrix( M );
glColor3f ( M.a.x, M.a.y, M.a.z );
glVertex3f( (float)M.a.x, (float)M.a.y, (float)M.a.z );
//glVertex3f( (float)M.b.x, (float)M.b.y, (float)M.b.z );
//glVertex3f( (float)M.c.x, (float)M.c.y, (float)M.c.z );
}
}
}
}
glEnd();
}
