void rotate(float h, float p)
{
        // Make the Quaternions that will represent our rotations (from angles h,p)
        quaternion qH(h,worldYAxis);
        quaternion qP(p,worldXAxis);
 
        //Combine the pitch and heading rotations (order is important)
        qR = qP * qH;   
 
        //update rotation matrix                
        qR.toMatrix(rotationMatrix);
 
        //get the normalized direction vector (3rd row of resultant rotation matrix)
        direction.x = rotationMatrix[8];
        direction.y = rotationMatrix[9];
        direction.z = rotationMatrix[10];
 
        direction.normalize();
 
        cout << "direction : " << direction.x << "," << direction.y << "," << direction.z << endl << endl;
}

void move(float lr, float fb)
{       
        //update translation matrix
        translationMatrix[12] += fb * direction.x;
        translationMatrix[13] += fb * direction.y;
        translationMatrix[14] += fb * direction.z;
 
        //update position
        position.x = translationMatrix[12];
        position.y = translationMatrix[13];
        position.z = translationMatrix[14];
}

void setView()
{
        //Load Model View Matrix
        glMatrixMode(GL_MODELVIEW);
        glLoadIdentity();
                
        //Apply Rotation 
        glMultMatrixf(rotationMatrix);
 
        //Apply Translation     
        glMultMatrixf(translationMatrix);
}