New Processing example (quaternions to Euler rotation of a 3D shape)

examples/processing/quaternions_to_rotate/quaternions_to_rotate.pde

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+// 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(width*.5f, height*.5f);
+  rotate(angle, -vecX, vecY, -vecZ); // The rotation directions for X and Z have to be inverted
+  fill(255);
+  scale(height*.05);
+  box(4, 2, 10);
+  popMatrix();
+
+}
+
+