const float PI       =  3.14159265358979323846f;		// Pi#define	DEGTORAD(x)	( ((x) * PI) / 180.0 )#define	RADTODEG(x)	( ((x) * 180.0) / PI )void FromEuler(NxQuat *q,float x,float y,float z){	double	ex, ey, ez;		// temp half euler angles	double	cr, cp, cy, sr, sp, sy, cpcy, spsy;		// temp vars in roll,pitch yaw	ex = DEGTORAD(x) / 2.0;	// convert to rads and half them	ey = DEGTORAD(y) / 2.0;	ez = DEGTORAD(z) / 2.0;	cr = cos(ex);	cp = cos(ey);	cy = cos(ez);	sr = sin(ex);	sp = sin(ey);	sy = sin(ez);	cpcy = cp * cy;	spsy = sp * sy;	q->w = float(cr * cpcy + sr * spsy);	q->x = float(sr * cpcy - cr * spsy);	q->y = float(cr * sp * cy + sr * cp * sy);	q->z = float(cr * cp * sy - sr * sp * cy);	q->normalize();}void NxQuatToD3DXQ(NxQuat *q,D3DXQUATERNION *q_r){	q_r->w=q->w;	q_r->x=q->x;	q_r->y=q->y;	q_r->z=q->z;}NxVec3 QMultiplyVEC(NxQuat q,NxVec3 v){	NxVec3 vn(v);	vn.normalize();	NxQuat vq, rq,cq;	vq.x = vn.x;	vq.y = vn.y;	vq.z = vn.z;	vq.w = 0.0f;	q.conjugate();	rq = vq * q;	rq = q * rq;	return (NxVec3(rq.x, rq.y, rq.z));}class TestCam{	D3DXMATRIX CamProj;	D3DXMATRIX CamView;	NxVec3 CamPos;	NxQuat CamRot;public:	TestCam()	{		D3DXMatrixIdentity(&CamProj);		D3DXMatrixIdentity(&CamView);		CamPos=NxVec3(0,0,0);		CamRot.id();	}	void Turn(float Pitch,float Yaw,float Roll)	{		NxQuat temp;		temp.id();		FromEuler(&temp,Pitch,Yaw,Roll);		CamRot = CamRot*temp;	}	void Move(float dx,float dy,float dz)	{		NxQuat resq;		resq.id();		NxVec3 resv=QMultiplyVEC(CamRot,NxVec3(dx,dy,dz));		CamPos += resv * 0.1f;	}	void BuildView()	{		D3DXQUATERNION p;		D3DXMATRIX trans;		NxQuatToD3DXQ(&CamRot,&p);		D3DXMatrixRotationQuaternion(&CamView,&p);		D3DXMatrixTranslation(&trans,-CamPos.x,-CamPos.y,-CamPos.z);		CamView=CamView*trans;        device->SetTransform(D3DTS_VIEW,&CamView);	}	void BuildProjection()	{				D3DXMatrixPerspectiveFovLH( &CamProj, 			D3DXToRadian( 70 ),			(float)(d3dpp.BackBufferWidth / d3dpp.BackBufferHeight), 1,1000 );		device->SetTransform(D3DTS_PROJECTION, &CamProj);	}};