四元数实现插值动画

/*
 * Quaternion slerp animation
 * dizuo
 */
#include <gtl\quat.hpp>
#include <windows.h>
#include <GL\gl.h>
#include <GL\glu.h>
#include <GL\glut.h>

#include <cstdio>
#include <cstdlib>
#include <cmath>

float rotVerticesBuf[] = {0,0,0, 1,0,0};
gtl::Quatf begQuat( gtl::Vec3f(1,0,0), gtl::Vec3f(1,1,0) );		// 开始状态
gtl::Quatf endQuat( gtl::Vec3f(1,0,0), gtl::Vec3f(-1,1,0) );	// 结束状态

static float yAngle = 0.0f;
int frameIdx = 0;
int frameNum = 100;

float			g_fWidth = 512;			// 窗体的宽度
float			g_fHeight = 392;		// 窗体的高度

void	init(void);			// 初始化opengl的环境
void	reshape(int w,int h);	// 该函数当窗体改变以后响应，重新设置视口
void	display(void);			// 渲染opengl内容
void	keyboard(unsigned char, int, int);	// 响应鼠标事件

int main(int argc, char** argv)
{
	glutInit(&argc, argv);
	glutInitDisplayMode (GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH); 
	glutInitWindowSize (g_fWidth, g_fHeight);
	glutInitWindowPosition (0, 0);
	glutCreateWindow("ModelRotate");
	init ();
	glutReshapeFunc(reshape);
	glutDisplayFunc(display);
	glutKeyboardFunc( keyboard );
	glutMainLoop();
	return 0;
}


void init (void)
{ 
	glClearColor (0.0, 0.0, 0.0, 0.0);
	glClearDepth(1);
	glShadeModel(GL_SMOOTH);

	glEnable(GL_DEPTH_TEST);
	glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST);
}

/* Rotate about x-axis when "x" typed; rotate about y-axis
   when "y" typed; "i" returns torus to original view */
void keyboard(unsigned char key, int x, int y)
{
	switch (key) 
	{
	case 27:
		exit(0);
		break;

	case 'y':
		yAngle += 10.0f;
		break;
	}
	
	glutPostRedisplay();
}

void reshape(int w, int h)
{
	g_fWidth = w;
	g_fHeight = h;

	glViewport(0, 0, (GLsizei) w, (GLsizei) h);

	glMatrixMode (GL_PROJECTION);       //回复原有的设置  
    glLoadIdentity ();  
	gluPerspective(30, g_fWidth/g_fHeight, 0.001, 100.0);

	glMatrixMode(GL_MODELVIEW);
	glLoadIdentity ();             
	gluLookAt(0, 0, 5, 0, 0, 0, 0, 1, 0);
}
void display(void)
{
	glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
    glColor3f (1.0, 1.0, 1.0);  // 清屏幕颜色

	glPushMatrix();

	float lineVerticesBuf[] = {0,0,0, 1,1,0, 0,0,0, -1,1,0};

	glEnableClientState(GL_VERTEX_ARRAY);
	glDisableClientState(GL_TEXTURE_COORD_ARRAY);
	glDisableClientState(GL_COLOR_ARRAY);

	glVertexPointer(3, GL_FLOAT, 0, lineVerticesBuf);
	glDrawArrays(GL_LINES, 0, 4);

	frameIdx = (frameIdx+1) % frameNum;

	glBegin(GL_LINES);
	for (int k=0; k<2; k++)
	{
		gtl::Quatf rotQuat = gtl::Quatf::slerp(begQuat, endQuat, frameIdx*1.0/frameNum);

		gtl::Vec3f src(rotVerticesBuf + 3*k);
		gtl::Vec3f dst;
		rotQuat.getMatrix().multVecMatrix(src, dst);

		glVertex3fv(dst.getValue());
	}
	glEnd();

	glPopMatrix();

	// glutSolidCube(1);

	glutSwapBuffers();	// 防止刷屏，采用双缓冲机制

	// glutPostRedisplay(); // 重复调用自身
}

四元数插值：从向量(1,1,0) 旋转到(-1,1,0)，

gtl库见blog：http://blog.csdn.net/dizuo/article/details/2491400