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