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Test quaternion rotations. 

Former-commit-id: 0faf558ea640fa9dc100280cfc677e9795a0c413
This commit is contained in:
Marek Nečada 2019-03-11 19:29:46 +00:00
parent 99db225b02
commit 7126bb9584
1 changed files with 25 additions and 0 deletions
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tests/quaternion_O3.c Normal file
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#include <qpms/wigner.h>
#include <stdio.h>
int main() {
cart3_t v = {1, 2, 3};
qpms_quat4d_t q4[4] = {
{1, 0, 0, 0},
{0, 1, 0, 0},
{0, 0, 1, 0},
{0, 0, 0, 1},
};
printf("original: (%g, %g, %g)\n", v.x, v.y, v.z);
for(int i = 0; i < 4; ++i) {
for (int det = -1; det < 2; det += 2) {
const qpms_quat4d_t qr = q4[i];
const qpms_quat_t qc = qpms_quat_2c_from_4d(qr);
const qpms_irot3_t r = {qc, det};
const cart3_t w = qpms_irot3_apply_cart3(r, v);
printf("[%+g %+g %+g %+g] -> [%+g%+gj %+g%+g] *%+d: ==> (%g, %g, %g)\n",
qr.c1, qr.ci, qr.cj, qr.ck, creal(qc.a), cimag(qc.a), creal(qc.b), cimag(qc.b),
det, w.x, w.y, w.z);
}
}
return 0;
}