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dim of rotation matrix set to 4

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matthias.ringwald 2010-06-13 18:53:30 +00:00
parent 4e49a8096b
commit c6d0d63abc
1 changed files with 10 additions and 2 deletions
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12
example/WiiMoteOpenGLDemo/rotation.c
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@ -96,7 +96,7 @@ static void getAccellerometerData(float radrotationAngleX, float radrotationAngl
/****** END OF TEST FUNCTIONS THAT CREATE ACC_DATA ******/ /****** END OF TEST FUNCTIONS THAT CREATE ACC_DATA ******/
void getRotationMatrixFromQuartenion(float q[4], float m[3][3]){ void getRotationMatrixFromQuartenion(float q[4], float m[4][4]){
float w = q[0]; float w = q[0];
float x = q[1]; float x = q[1];
float y = q[2]; float y = q[2];
@ -109,14 +109,22 @@ void getRotationMatrixFromQuartenion(float q[4], float m[3][3]){
m[0][0] = 1-2*y2-2*z2; m[0][0] = 1-2*y2-2*z2;
m[0][1] = 2*x*y-2*w*z; m[0][1] = 2*x*y-2*w*z;
m[0][2] = 2*x*z+2*w*y; m[0][2] = 2*x*z+2*w*y;
m[0][3] = 0;
m[1][0] = 2*x*y+2*w*z; m[1][0] = 2*x*y+2*w*z;
m[1][1] = 1-2*x2-2*z2; m[1][1] = 1-2*x2-2*z2;
m[1][2] = 2*y*z-2*w*x; m[1][2] = 2*y*z-2*w*x;
m[1][3] = 0;
m[2][0] = 2*x*z-2*w*y; m[2][0] = 2*x*z-2*w*y;
m[2][1] = 2*y*z+2*w*x; m[2][1] = 2*y*z+2*w*x;
m[2][2] = 1-2*x2-2*y2; m[2][2] = 1-2*x2-2*y2;
m[2][3] = 0;
m[3][0] = 0;
m[3][1] = 0;
m[3][2] = 0;
m[3][3] = 1;
} }
@ -150,7 +158,7 @@ void getRotationMatrixFromVectors(float vin[3], float vout[3], float matrix[3][3
int main(void) int main(void)
{ {
float accData[3] = {1,0,0}; float accData[3] = {1,0,0};
float rotationMatrix[3][3]; float rotationMatrix[4][4];
normalizeVector(restPosition,3); normalizeVector(restPosition,3);