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9f4c44fe
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Leszek Koltunski
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#include <stdio.h>
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#include <math.h>
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#include <stdlib.h>
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ac940e24
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Leszek Koltunski
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#define PYRA
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9f4c44fe
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Leszek Koltunski
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#define SQ2 1.41421356237f
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#define SQ3 1.73205080757f
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#define PI 3.14159265358f
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#define NUM_QUATS 100
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ee35e63c
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Leszek Koltunski
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#ifdef PYRA
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9f4c44fe
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Leszek Koltunski
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#define NUM_AXIS 4
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#define BASIC_ANGLE 3
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ac940e24
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Leszek Koltunski
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float axis[NUM_AXIS][3] = { { SQ2*SQ3/3, SQ3/3, 0 } ,
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{-SQ2*SQ3/3, SQ3/3, 0 } ,
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{ 0, -SQ3/3, -SQ2*SQ3/3 } ,
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{ 0, -SQ3/3, SQ2*SQ3/3 } };
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9f4c44fe
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Leszek Koltunski
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#endif
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#ifdef CUBE
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418aa554
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Leszek Koltunski
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#define NUM_AXIS 3
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9f4c44fe
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Leszek Koltunski
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#define BASIC_ANGLE 4
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418aa554
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Leszek Koltunski
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ee35e63c
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Leszek Koltunski
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float axis[NUM_AXIS][3] = { { 1,0,0 } ,
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{ 0,1,0 } ,
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{ 0,0,1 } };
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9f4c44fe
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Leszek Koltunski
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#endif
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418aa554
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Leszek Koltunski
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#ifdef DINO
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#define NUM_AXIS 4
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#define BASIC_ANGLE 3
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float axis[NUM_AXIS][3] = { {+SQ3/3,+SQ3/3,+SQ3/3} ,
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{+SQ3/3,+SQ3/3,-SQ3/3} ,
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{+SQ3/3,-SQ3/3,+SQ3/3} ,
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{+SQ3/3,-SQ3/3,-SQ3/3} };
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#endif
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ece1b58d
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Leszek Koltunski
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#ifdef DIAM
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#define NUM_AXIS 4
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#define BASIC_ANGLE 3
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float axis[NUM_AXIS][3] = { {+SQ3*SQ2/3,+SQ3/3, 0} ,
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{-SQ3*SQ2/3,+SQ3/3, 0} ,
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{ 0,+SQ3/3,+SQ3*SQ2/3} ,
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{ 0,+SQ3/3,-SQ3*SQ2/3} };
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#endif
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ee35e63c
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Leszek Koltunski
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#ifdef HELI
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#define NUM_AXIS 6
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#define BASIC_ANGLE 2
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float axis[NUM_AXIS][3] = { { 0, +SQ2/2, -SQ2/2} ,
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{ 0, -SQ2/2, -SQ2/2} ,
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{+SQ2/2, 0, -SQ2/2} ,
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{-SQ2/2, 0, -SQ2/2} ,
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{+SQ2/2, -SQ2/2, 0} ,
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{-SQ2/2, -SQ2/2, 0} };
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#endif
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9f4c44fe
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Leszek Koltunski
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int inserted=0;
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///////////////////////////////////////////////////////////////////
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// q1*q2
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void multiply_quats( float* q1, float* q2, float* output)
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{
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output[0] = q2[3]*q1[0] - q2[2]*q1[1] + q2[1]*q1[2] + q2[0]*q1[3];
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output[1] = q2[3]*q1[1] + q2[2]*q1[0] + q2[1]*q1[3] - q2[0]*q1[2];
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output[2] = q2[3]*q1[2] + q2[2]*q1[3] - q2[1]*q1[0] + q2[0]*q1[1];
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output[3] = q2[3]*q1[3] - q2[2]*q1[2] - q2[1]*q1[1] - q2[0]*q1[0];
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}
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///////////////////////////////////////////////////////////////////
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// sin(A/2)*x, sin(A/2)*y, sin(A/2)*z, cos(A/2)
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void create_quat(float* axis, float angle, float* output)
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{
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float cosAngle = cos(angle/2);
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float sinAngle = sin(angle/2);
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output[0] = sinAngle*axis[0];
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output[1] = sinAngle*axis[1];
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output[2] = sinAngle*axis[2];
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output[3] = cosAngle;
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}
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///////////////////////////////////////////////////////////////////
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// double cover, so q == -q
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int is_the_same(float* q1, float* q2)
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{
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const float MAX = 0.01f;
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float d0 = q1[0]-q2[0];
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float d1 = q1[1]-q2[1];
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float d2 = q1[2]-q2[2];
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float d3 = q1[3]-q2[3];
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if( d0<MAX && d0>-MAX &&
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d1<MAX && d1>-MAX &&
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d2<MAX && d2>-MAX &&
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d3<MAX && d3>-MAX ) return 1;
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d0 = q1[0]+q2[0];
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d1 = q1[1]+q2[1];
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d2 = q1[2]+q2[2];
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d3 = q1[3]+q2[3];
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if( d0<MAX && d0>-MAX &&
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d1<MAX && d1>-MAX &&
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d2<MAX && d2>-MAX &&
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d3<MAX && d3>-MAX ) return 1;
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return 0;
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}
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///////////////////////////////////////////////////////////////////
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void insert(float* quat, float* to)
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{
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for(int i=0; i<inserted; i++)
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{
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if( is_the_same(quat,to+4*i)==1 ) return;
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}
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to[4*inserted+0] = quat[0];
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to[4*inserted+1] = quat[1];
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to[4*inserted+2] = quat[2];
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to[4*inserted+3] = quat[3];
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inserted++;
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}
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///////////////////////////////////////////////////////////////////
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int main(int argc, char** argv)
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{
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float tmp[4];
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ee35e63c
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Leszek Koltunski
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float table[4*NUM_QUATS];
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int num;
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9f4c44fe
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Leszek Koltunski
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tmp[0] = 0.0f; tmp[1] = 0.0f; tmp[2] = 0.0f; tmp[3] = 1.0f;
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ee35e63c
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Leszek Koltunski
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insert(tmp,table);
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9f4c44fe
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Leszek Koltunski
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for(int angle=1; angle<BASIC_ANGLE; angle++)
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for( int ax=0; ax<NUM_AXIS; ax++)
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{
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create_quat(axis[ax], 2*PI*angle/BASIC_ANGLE, tmp);
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ee35e63c
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Leszek Koltunski
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insert(tmp,table);
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9f4c44fe
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Leszek Koltunski
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}
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ee35e63c
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Leszek Koltunski
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do
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{
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num = inserted;
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for(int i=0; i<num; i++)
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for(int j=0; j<num; j++)
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{
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multiply_quats( table+4*i, table+4*j, tmp);
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insert(tmp,table);
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}
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}
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while( num < inserted );
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| 168 |
9f4c44fe
|
Leszek Koltunski
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printf("inserted: %d\n", inserted);
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for(int i=0; i<inserted; i++)
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{
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printf( "%d %7.4f %7.4f %7.4f %7.4f\n", i, table[4*i], table[4*i+1], table[4*i+2], table[4*i+3] );
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}
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return 0;
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}
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