From e87920c7a395b702ad458e636303340aed0f8e0c Mon Sep 17 00:00:00 2001
From: sableRaf <groupes.raphael@gmail.com>
Date: Thu, 14 Feb 2013 22:59:26 +0100
Subject: [PATCH 1/3] New Processing example (quaternions to Euler rotation)

Uses Toxiclib's Quaternion class.
---
 .../quaternions_to_rotate.pde                 | 69 +++++++++++++++++++
 1 file changed, 69 insertions(+)
 create mode 100644 examples/processing/quaternions_to_rotate/quaternions_to_rotate.pde

diff --git a/examples/processing/quaternions_to_rotate/quaternions_to_rotate.pde b/examples/processing/quaternions_to_rotate/quaternions_to_rotate.pde
new file mode 100644
index 00000000..d0afa904
--- /dev/null
+++ b/examples/processing/quaternions_to_rotate/quaternions_to_rotate.pde
@@ -0,0 +1,69 @@
+// Import the Quaternion class from Toxiclib
+// Get the lib at: http://toxiclibs.org/downloads/
+import toxi.geom.Quaternion;
+
+// Import the PS Move API Package
+import io.thp.psmove.*;
+
+
+PSMove move;
+
+Quaternion orientation;
+
+void setup() {
+  size(200, 200, P3D);
+  
+  orientation = new Quaternion(); // With a little help from Toxiclib
+  
+  move = new PSMove(0);
+  move.enable_orientation(1); // We need to tell the PSMove object to activate sensor fusion
+  move.reset_orientation(); // Set the values of the quaternions to their start values [1, 0, 0, 0] 
+}
+
+void draw() {
+  background(155);
+  
+  float [] quat0 = {0.f}, quat1 = {0.f}, quat2 = {0.f}, quat3 = {0.f};
+
+  while (move.poll() != 0) {}
+  
+  move.get_orientation(quat0, quat1, quat2, quat3);
+  
+  // Get the individual values
+  float w = quat0[0];
+  float x = quat1[0];
+  float y = quat2[0];
+  float z = quat3[0];
+
+  orientation.set(w,x,y,z);
+  //println("quatW = "+w+" | quatX = "+x+" | quatY = "+y+" | quatZ = "+z);
+  
+  // Converts the quaternion into a float array consisting of: rotation angle in radians, rotation axis x,y,z
+  float[] axisAngle = orientation.toAxisAngle();
+  
+  float angle = axisAngle[0];
+  float vecX = axisAngle[1];
+  float vecY = axisAngle[2];
+  float vecZ = axisAngle[3];
+
+  long [] pressed = {0};  // Button press events
+  long [] released = {0}; // Button release events
+  
+  // Reset the values of the quaternions to [1, 0, 0, 0] when the MOVE button is pressed
+  move.get_button_events(pressed, released);
+  if ((pressed[0] & Button.Btn_MOVE.swigValue()) != 0) {
+    move.reset_orientation();
+    println("Orientation reset");
+  }
+
+  lights();
+  pushMatrix();
+  translate(height*.5f, width*.5f);
+  rotate(angle, vecX, vecY, vecZ); // The rotation directions are not accurate right now
+  fill(255);
+  box(40, 20, 100);
+  popMatrix();
+  
+}
+
+

From b56675afb71a417fbdbc1600be5f1210ca98afa4 Mon Sep 17 00:00:00 2001
From: sableRaf <groupes.raphael@gmail.com>
Date: Thu, 14 Feb 2013 23:05:17 +0100
Subject: [PATCH 2/3] Corrected rotation directions

---
 .../processing/quaternions_to_rotate/quaternions_to_rotate.pde  | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/processing/quaternions_to_rotate/quaternions_to_rotate.pde b/examples/processing/quaternions_to_rotate/quaternions_to_rotate.pde
index d0afa904..f62253ac 100644
--- a/examples/processing/quaternions_to_rotate/quaternions_to_rotate.pde
+++ b/examples/processing/quaternions_to_rotate/quaternions_to_rotate.pde
@@ -59,7 +59,7 @@ void draw() {
   lights();
   pushMatrix();
   translate(height*.5f, width*.5f);
-  rotate(angle, vecX, vecY, vecZ); // The rotation directions are not accurate right now
+  rotate(angle, -vecX, vecY, -vecZ); // The rotation directions for X and Z have to be inverted
   fill(255);
   box(40, 20, 100);
   popMatrix();

From 3cdd7706e2142c5d504b5271834fa4f06649ac46 Mon Sep 17 00:00:00 2001
From: sableRaf <groupes.raphael@gmail.com>
Date: Thu, 14 Feb 2013 23:17:04 +0100
Subject: [PATCH 3/3] Corrected translate values and box scale

---
 .../quaternions_to_rotate/quaternions_to_rotate.pde          | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/examples/processing/quaternions_to_rotate/quaternions_to_rotate.pde b/examples/processing/quaternions_to_rotate/quaternions_to_rotate.pde
index f62253ac..e5849344 100644
--- a/examples/processing/quaternions_to_rotate/quaternions_to_rotate.pde
+++ b/examples/processing/quaternions_to_rotate/quaternions_to_rotate.pde
@@ -58,10 +58,11 @@ void draw() {
 
   lights();
   pushMatrix();
-  translate(height*.5f, width*.5f);
+  translate(width*.5f, height*.5f);
   rotate(angle, -vecX, vecY, -vecZ); // The rotation directions for X and Z have to be inverted
   fill(255);
-  box(40, 20, 100);
+  scale(height*.05);
+  box(4, 2, 10);
   popMatrix();
   
 }