fixed the cube example

git-svn-id: svn+ssh://svn.code.sf.net/p/spacenav/code/trunk/libspnav@81 ef983eb1-d774-4af8-acfd-baaf7b16a646

Author: jtsiomb

examples/cube/cube.c

@@ -258,9 +258,9 @@ int handle_event(XEvent *xev)
 			/* if so deal with motion and button events */
 			if(spev.type == SPNAV_EVENT_MOTION) {
 				/* apply axis/angle rotation to the quaternion */
-				float angle = 0.000005 * sqrt(SQ(spev.motion.rx) + SQ(spev.motion.ry) + SQ(spev.motion.rz));
-				rot = quat_rotate(rot, angle, -spev.motion.rx, -spev.motion.ry, spev.motion.rz);
-				rot = quat_normalize(rot);
+				float axis_len = sqrt(SQ(spev.motion.rx) + SQ(spev.motion.ry) + SQ(spev.motion.rz));
+				rot = quat_rotate(rot, axis_len * 0.001, -spev.motion.rx / axis_len,
+						-spev.motion.ry / axis_len, spev.motion.rz / axis_len);
 
 				/* add translation */
 				pos.x += spev.motion.x * 0.001;

examples/cube/vmath.h

@@ -16,7 +16,6 @@ static inline float v3_dot(vec3_t v1, vec3_t v2);
 static inline quat_t quat_cons(float s, float x, float y, float z);
 static inline vec3_t quat_vec(quat_t q);
 static inline quat_t quat_mul(quat_t q1, quat_t q2);
-static inline quat_t quat_normalize(quat_t q);
 static inline void quat_to_mat(mat4_t res, quat_t q);
 quat_t quat_rotate(quat_t q, float angle, float x, float y, float z);
 

examples/cube/vmath.inl

@@ -46,16 +46,6 @@ static inline quat_t quat_mul(quat_t q1, quat_t q2)
 	return res;
 }
 
-static inline quat_t quat_normalize(quat_t q)
-{
-	float len = sqrt(q.x * q.x + q.y * q.y + q.z * q.z + q.w * q.w);
-	q.x /= len;
-	q.y /= len;
-	q.z /= len;
-	q.w /= len;
-	return q;
-}
-
 static inline void quat_to_mat(mat4_t res, quat_t q)
 {
 	m4_cons(res,	1.0 - 2.0 * q.y*q.y - 2.0 * q.z*q.z,	2.0 * q.x * q.y + 2.0 * q.w * q.z,		2.0 * q.z * q.x - 2.0 * q.w * q.y, 0,