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[37] | 1 | // matrix2quat.C by Sean Eron Anderson, 1998 |
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| 2 | // Compile with: CC matrix2quat.C -o matrix2quat -lInventor |
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| 3 | |
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| 4 | #include <Inventor/SbLinear.h> |
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| 5 | #include <iostream.h> |
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| 6 | |
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| 7 | int |
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| 8 | main() |
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| 9 | { |
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| 10 | SbMatrix mat; |
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| 11 | for (int i = 0; i < 4; i++) |
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| 12 | { |
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| 13 | for (int j = 0; j < 4; j++) |
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| 14 | { |
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| 15 | cin >> mat[i][j]; |
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| 16 | } |
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| 17 | } |
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| 18 | if (!cin) |
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| 19 | { |
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| 20 | cerr << "Error: premature end of input.\n" |
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| 21 | << "Input: 4x4 matrix; output: tx ty tz qi qj qk ql\n"; |
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| 22 | return 1; |
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| 23 | } |
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| 24 | |
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| 25 | mat = mat.transpose(); |
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| 26 | |
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| 27 | SbVec3f t, s; |
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| 28 | SbRotation r, so; |
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| 29 | mat.getTransform(t, r, s, so); |
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| 30 | |
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| 31 | cout << t[0] << " " << t[1] << " " << t[2] << " "; |
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| 32 | cout << -r.getValue()[0] << " " << -r.getValue()[1] << " " |
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| 33 | << -r.getValue()[2] << " " << r.getValue()[3] << endl; |
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| 34 | |
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| 35 | return 0; |
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| 36 | } |
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