Merge pull request #369 from telephone001/master

euler to quat functions

include/cglm/call/euler.h

@@ -49,6 +49,31 @@ CGLM_EXPORT
 void
 glmc_euler_by_order(vec3 angles, glm_euler_seq axis, mat4 dest);
 
+CGLM_EXPORT
+void
+glmc_euler_xyz_quat(vec3 angles, versor dest);
+
+CGLM_EXPORT
+void
+glmc_euler_xzy_quat(vec3 angles, versor dest);
+
+CGLM_EXPORT
+void
+glmc_euler_yxz_quat(vec3 angles, versor dest);
+
+CGLM_EXPORT
+void
+glmc_euler_yzx_quat(vec3 angles, versor dest);
+
+CGLM_EXPORT
+void
+glmc_euler_zxy_quat(vec3 angles, versor dest);
+
+CGLM_EXPORT
+void
+glmc_euler_zyx_quat(vec3 angles, versor dest);
+
+
 #ifdef __cplusplus
 }
 #endif

include/cglm/euler.h

@@ -30,6 +30,12 @@
    CGLM_INLINE void glm_euler_by_order(vec3         angles,
                                        glm_euler_seq ord,
                                        mat4         dest);
+   CGLM_INLINE void glm_euler_xyz_quat(vec3 angles, versor dest);
+   CGLM_INLINE void glm_euler_xzy_quat(vec3 angles, versor dest);
+   CGLM_INLINE void glm_euler_yxz_quat(vec3 angles, versor dest);
+   CGLM_INLINE void glm_euler_yzx_quat(vec3 angles, versor dest);
+   CGLM_INLINE void glm_euler_zxy_quat(vec3 angles, versor dest);
+   CGLM_INLINE void glm_euler_zyx_quat(vec3 angles, versor dest);
  */
 
 #ifndef cglm_euler_h
@@ -37,6 +43,8 @@
 
 #include "common.h"
 
+#include "handed/euler_to_quat_rh.h"
+
 /*!
  * if you have axis order like vec3 orderVec = [0, 1, 2] or [0, 2, 1]...
  * vector then you can convert it to this enum by doing this:
@@ -188,7 +196,6 @@ glm_euler_xzy(vec3 angles, mat4 dest) {
   dest[3][3] =  1.0f;
 }
 
-
 /*!
  * @brief build rotation matrix from euler angles
  *
@@ -448,4 +455,108 @@ glm_euler_by_order(vec3 angles, glm_euler_seq ord, mat4 dest) {
   dest[3][3] = 1.0f;
 }
 
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in x y z order (roll pitch yaw)
+ * 
+ * @param[out]  q     quaternion
+ * @param[in]   angle angles x y z (radians)
+ */
+CGLM_INLINE
+void
+glm_euler_xyz_quat(vec3 angles, versor dest) {
+#ifdef CGLM_FORCE_LEFT_HANDED
+  glm_euler_xyz_quat_lh(angles, dest);
+#else
+  glm_euler_xyz_quat_rh(angles, dest);
+#endif
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in x z y order (roll yaw pitch)
+ * 
+ * @param[out]  q     quaternion
+ * @param[in]   angle angles x y z (radians)
+ */
+CGLM_INLINE
+void
+glm_euler_xzy_quat(vec3 angles, versor dest) {
+#ifdef CGLM_FORCE_LEFT_HANDED
+  glm_euler_xzy_quat_lh(angles, dest);
+#else
+  glm_euler_xzy_quat_rh(angles, dest);
+#endif
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in y x z order (pitch roll yaw)
+ * 
+ * @param[out]  q     quaternion
+ * @param[in]   angle angles x y z (radians)
+ */
+CGLM_INLINE
+void
+glm_euler_yxz_quat(vec3 angles, versor dest) {
+#ifdef CGLM_FORCE_LEFT_HANDED
+  glm_euler_yxz_quat_lh(angles, dest);
+#else
+  glm_euler_yxz_quat_rh(angles, dest);
+#endif
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in y z x order (pitch yaw roll)
+ * 
+ * @param[out]  q     quaternion
+ * @param[in]   angle angles x y z (radians)
+ */
+CGLM_INLINE
+void
+glm_euler_yzx_quat(vec3 angles, versor dest) {
+#ifdef CGLM_FORCE_LEFT_HANDED
+  glm_euler_yzx_quat_lh(angles, dest);
+#else
+  glm_euler_yzx_quat_rh(angles, dest);
+#endif
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in z x y order (yaw roll pitch)
+ * 
+ * @param[out]  q     quaternion
+ * @param[in]   angle angles x y z (radians)
+ */
+CGLM_INLINE
+void
+glm_euler_zxy_quat(vec3 angles, versor dest) {
+#ifdef CGLM_FORCE_LEFT_HANDED
+  glm_euler_zxy_quat_lh(angles, dest);
+#else
+  glm_euler_zxy_quat_rh(angles, dest);
+#endif
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in z y x order (yaw pitch roll)
+ * 
+ * @param[out]  q     quaternion
+ * @param[in]   angle angles x y z (radians)
+ */
+CGLM_INLINE
+void
+glm_euler_zyx_quat(vec3 angles, versor dest) {
+#ifdef CGLM_FORCE_LEFT_HANDED
+  glm_euler_zyx_quat_lh(angles, dest);
+#else
+  glm_euler_zyx_quat_rh(angles, dest);
+#endif
+}
+
+
 #endif /* cglm_euler_h */

include/cglm/handed/euler_to_quat_rh.h

@@ -0,0 +1,165 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+/*
+ Functions:
+   CGLM_INLINE void glm_euler_xyz_quat_rh(vec3 angles, versor dest);
+   CGLM_INLINE void glm_euler_xzy_quat_rh(vec3 angles, versor dest);
+   CGLM_INLINE void glm_euler_yxz_quat_rh(vec3 angles, versor dest);
+   CGLM_INLINE void glm_euler_yzx_quat_rh(vec3 angles, versor dest);
+   CGLM_INLINE void glm_euler_zxy_quat_rh(vec3 angles, versor dest);
+   CGLM_INLINE void glm_euler_zyx_quat_rh(vec3 angles, versor dest);
+ */
+
+#ifndef cglm_euler_to_quat_rh_h
+#define cglm_euler_to_quat_rh_h
+
+#include "../common.h"
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in x y z order in right hand (roll pitch yaw)
+ * 
+ * @param[out]  q     quaternion
+ * @param[in]   angle angles x y z (radians)
+ */
+CGLM_INLINE
+void
+glm_euler_xyz_quat_rh(vec3 angles, versor dest) {
+  float xc, yc, zc,
+        xs, ys, zs;
+
+  xs = sinf(angles[0] * 0.5f); xc = cosf(angles[0] * 0.5f);
+  ys = sinf(angles[1] * 0.5f); yc = cosf(angles[1] * 0.5f);
+  zs = sinf(angles[2] * 0.5f); zc = cosf(angles[2] * 0.5f);
+
+  dest[0] = xc * ys * zs + xs * yc * zc;
+  dest[1] = xc * ys * zc - xs * yc * zs;
+  dest[2] = xc * yc * zs + xs * ys * zc;
+  dest[3] = xc * yc * zc - xs * ys * zs;
+
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in x z y order in right hand (roll yaw pitch)
+ * 
+ * @param[out]  q     quaternion
+ * @param[in]   angle angles x y z (radians)
+ */
+CGLM_INLINE
+void
+glm_euler_xzy_quat_rh(vec3 angles, versor dest) {
+  float xc, yc, zc,
+        xs, ys, zs;
+
+  xs = sinf(angles[0] * 0.5f); xc = cosf(angles[0] * 0.5f);
+  ys = sinf(angles[1] * 0.5f); yc = cosf(angles[1] * 0.5f);
+  zs = sinf(angles[2] * 0.5f); zc = cosf(angles[2] * 0.5f);
+
+  dest[0] = -xc * zs * ys + xs * zc * yc;
+  dest[1] =  xc * zc * ys - xs * zs * yc;
+  dest[2] =  xc * zs * yc + xs * zc * ys;
+  dest[3] =  xc * zc * yc + xs * zs * ys;  
+
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in y x z order in right hand (pitch roll yaw)
+ * 
+ * @param[out]  q     quaternion
+ * @param[in]   angle angles x y z (radians)
+ */
+CGLM_INLINE
+void
+glm_euler_yxz_quat_rh(vec3 angles, versor dest) {
+  float xc, yc, zc,
+        xs, ys, zs;
+
+  xs = sinf(angles[0] * 0.5f); xc = cosf(angles[0] * 0.5f);
+  ys = sinf(angles[1] * 0.5f); yc = cosf(angles[1] * 0.5f);
+  zs = sinf(angles[2] * 0.5f); zc = cosf(angles[2] * 0.5f);
+
+  dest[0] =  yc * xs * zc + ys * xc * zs;
+  dest[1] = -yc * xs * zs + ys * xc * zc;
+  dest[2] =  yc * xc * zs - ys * xs * zc;
+  dest[3] =  yc * xc * zc + ys * xs * zs;
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in y z x order in right hand (pitch yaw roll)
+ * 
+ * @param[out]  q     quaternion
+ * @param[in]   angle angles x y z (radians)
+ */
+CGLM_INLINE
+void
+glm_euler_yzx_quat_rh(vec3 angles, versor dest) {
+  float xc, yc, zc,
+        xs, ys, zs;
+
+  xs = sinf(angles[0] * 0.5f); xc = cosf(angles[0] * 0.5f);
+  ys = sinf(angles[1] * 0.5f); yc = cosf(angles[1] * 0.5f);
+  zs = sinf(angles[2] * 0.5f); zc = cosf(angles[2] * 0.5f);
+
+  dest[0] = yc * zc * xs + ys * zs * xc;
+  dest[1] = yc * zs * xs + ys * zc * xc;
+  dest[2] = yc * zs * xc - ys * zc * xs;
+  dest[3] = yc * zc * xc - ys * zs * xs;
+
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in z x y order in right hand (yaw roll pitch)
+ * 
+ * @param[out]  q     quaternion
+ * @param[in]   angle angles x y z (radians)
+ */
+CGLM_INLINE
+void
+glm_euler_zxy_quat_rh(vec3 angles, versor dest) {
+  float xc, yc, zc,
+        xs, ys, zs;
+
+  xs = sinf(angles[0] * 0.5f); xc = cosf(angles[0] * 0.5f);
+  ys = sinf(angles[1] * 0.5f); yc = cosf(angles[1] * 0.5f);
+  zs = sinf(angles[2] * 0.5f); zc = cosf(angles[2] * 0.5f);
+
+  dest[0] = zc * xs * yc - zs * xc * ys;
+  dest[1] = zc * xc * ys + zs * xs * yc;
+  dest[2] = zc * xs * ys + zs * xc * yc;
+  dest[3] = zc * xc * yc - zs * xs * ys;
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in z y x order in right hand (yaw pitch roll)
+ * 
+ * @param[out]  q     quaternion
+ * @param[in]   angle angles x y z (radians)
+ */
+CGLM_INLINE
+void
+glm_euler_zyx_quat_rh(vec3 angles, versor dest) {
+  float xc, yc, zc,
+        xs, ys, zs;
+
+  xs = sinf(angles[0] * 0.5f); xc = cosf(angles[0] * 0.5f);
+  ys = sinf(angles[1] * 0.5f); yc = cosf(angles[1] * 0.5f);
+  zs = sinf(angles[2] * 0.5f); zc = cosf(angles[2] * 0.5f);
+
+  dest[0] =  zc * yc * xs - zs * ys * xc;
+  dest[1] =  zc * ys * xc + zs * yc * xs;
+  dest[2] = -zc * ys * xs + zs * yc * xc;
+  dest[3] =  zc * yc * xc + zs * ys * xs;
+}
+
+
+#endif /*cglm_euler_to_quat_rh_h*/

include/cglm/struct/euler.h

@@ -26,6 +26,12 @@
    CGLM_INLINE mat4s glms_euler_zxy(vec3s angles)
    CGLM_INLINE mat4s glms_euler_zyx(vec3s angles)
    CGLM_INLINE mat4s glms_euler_by_order(vec3s angles, glm_euler_seq ord)
+   CGLM_INLINE versors glms_euler_xyz_quat(vec3s angles)
+   CGLM_INLINE versors glms_euler_xzy_quat(vec3s angles)
+   CGLM_INLINE versors glms_euler_yxz_quat(vec3s angles)
+   CGLM_INLINE versors glms_euler_yzx_quat(vec3s angles)
+   CGLM_INLINE versors glms_euler_zxy_quat(vec3s angles)
+   CGLM_INLINE versors glms_euler_zyx_quat(vec3s angles)
  */
 
 #ifndef cglms_euler_h
@@ -149,4 +155,95 @@ glms_euler_by_order(vec3s angles, glm_euler_seq ord) {
   return dest;
 }
 
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in x y z order (roll pitch yaw)
+ * 
+ * @param[out]  q     quaternion
+ * @param[in]   angle angles x y z (radians)
+ */
+CGLM_INLINE
+versors
+glms_euler_xyz_quat(vec3s angles) {
+  versors dest;
+  glm_euler_xyz_quat(angles.raw, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in x z y order (roll yaw pitch)
+ * 
+ * @param[out]  q     quaternion
+ * @param[in]   angle angles x y z (radians)
+ */
+CGLM_INLINE
+versors
+glms_euler_xzy_quat(vec3s angles) {
+  versors dest;
+  glm_euler_xzy_quat(angles.raw, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in y x z order (pitch roll yaw)
+ * 
+ * @param[out]  q     quaternion
+ * @param[in]   angle angles x y z (radians)
+ */
+CGLM_INLINE
+versors
+glms_euler_yxz_quat(vec3s angles) {
+  versors dest;
+  glm_euler_yxz_quat(angles.raw, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in y z x order (pitch yaw roll)
+ * 
+ * @param[out]  q     quaternion
+ * @param[in]   angle angles x y z (radians)
+ */
+CGLM_INLINE
+versors
+glms_euler_yzx_quat(vec3s angles) {
+  versors dest;
+  glm_euler_yzx_quat(angles.raw, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in z x y order (yaw roll pitch)
+ * 
+ * @param[out]  q     quaternion
+ * @param[in]   angle angles x y z (radians)
+ */
+CGLM_INLINE
+versors
+glms_euler_zxy_quat(vec3s angles) {
+  versors dest;
+  glm_euler_zxy_quat(angles.raw, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in z y x order (yaw pitch roll)
+ * 
+ * @param[out]  q     quaternion
+ * @param[in]   angle angles x y z (radians)
+ */
+CGLM_INLINE
+versors
+glms_euler_zyx_quat(vec3s angles) {
+  versors dest;
+  glm_euler_zyx_quat(angles.raw, dest.raw);
+  return dest;
+}
+
+
 #endif /* cglms_euler_h */

src/euler.c

@@ -61,3 +61,40 @@ void
 glmc_euler_by_order(vec3 angles, glm_euler_seq axis, mat4 dest) {
   glm_euler_by_order(angles, axis, dest);
 }
+
+CGLM_EXPORT
+void
+glmc_euler_xyz_quat(vec3 angles, versor dest) {
+  glm_euler_xyz_quat(angles, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_euler_xzy_quat(vec3 angles, versor dest) {
+  glm_euler_xzy_quat(angles, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_euler_yxz_quat(vec3 angles, versor dest) {
+  glm_euler_yxz_quat(angles, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_euler_yzx_quat(vec3 angles, versor dest) {
+  glm_euler_yzx_quat(angles, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_euler_zxy_quat(vec3 angles, versor dest) {
+  glm_euler_zxy_quat(angles, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_euler_zyx_quat(vec3 angles, versor dest) {
+  glm_euler_zyx_quat(angles, dest);
+}
+

test/src/test_euler_to_quat_rh.h

@@ -0,0 +1,575 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#include "test_common.h"
+#include "../../include/cglm/handed/euler_to_quat_rh.h"
+
+TEST_IMPL(GLM_PREFIX, euler_xyz_quat_rh) {
+  vec3 axis_x = {1.0f, 0.0f, 0.0f};
+  vec3 axis_y = {0.0f, 1.0f, 0.0f};
+  vec3 axis_z = {0.0f, 0.0f, 1.0f};
+
+  /* random angles for testing */
+  vec3 angles;
+
+  /* quaternion representations for rotations */
+  versor rot_x, rot_y, rot_z;
+
+  versor expected;
+  versor result;
+  versor tmp;
+
+  mat4 expected_mat4;
+
+  /* 100 randomized tests */
+  for (int i = 0; i < 100; i++) {
+    test_rand_vec3(angles);
+
+    /* create the rotation quaternions using the angles and axises */
+    glm_quatv(rot_x, angles[0], axis_x);
+    glm_quatv(rot_y, angles[1], axis_y);
+    glm_quatv(rot_z, angles[2], axis_z);
+
+    /* apply the rotations to a unit quaternion in xyz order */
+    glm_quat_identity(expected);
+
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_x, expected);
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_y, expected);
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_z, expected);
+
+    glm_euler_xyz_quat_rh(angles, result);
+
+    /* verify if the magnitude of the quaternion stays 1 */
+    ASSERT(test_eq(glm_quat_norm(result), 1.0f))
+
+    /* verify that it acts the same as rotating by 3 axis quaternions */
+    ASSERTIFY(test_assert_quat_eq(result, expected))
+
+    /* verify that it acts the same as glm_euler_by_order */
+    glm_euler_by_order(angles, GLM_EULER_XYZ, expected_mat4);
+    glm_mat4_quat(expected_mat4, expected);   
+
+    ASSERTIFY(test_assert_quat_eq_abs(result, expected));
+  }
+  
+
+  /* Start gimbal lock tests */
+  for (float x = -90.0f; x <= 90.0f; x += 90.0f) {
+    for (float y = -90.0f; y <= 90.0f; y += 90.0f) {
+      for (float z = -90.0f; z <= 90.0f; z += 90.0f) {
+        angles[0] = x;
+        angles[1] = y;
+        angles[2] = z;
+        
+        /* create the rotation quaternions using the angles and axises */
+        glm_quatv(rot_x, angles[0], axis_x);
+        glm_quatv(rot_y, angles[1], axis_y);
+        glm_quatv(rot_z, angles[2], axis_z);
+
+        /* apply the rotations to a unit quaternion in xyz order */
+        glm_quat_identity(expected);
+        
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_x, expected);
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_y, expected);
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_z, expected);
+    
+        /* use my function to get the quaternion */
+        glm_euler_xyz_quat_rh(angles, result);
+
+        /* verify if the magnitude of the quaternion stays 1 */
+        ASSERT(test_eq(glm_quat_norm(result), 1.0f))
+
+        ASSERTIFY(test_assert_quat_eq(result, expected))
+
+        /* verify that it acts the same as glm_euler_by_order */
+        glm_euler_by_order(angles, GLM_EULER_XYZ, expected_mat4);
+        glm_mat4_quat(expected_mat4, expected);   
+
+        ASSERTIFY(test_assert_quat_eq_abs(result, expected));
+      }
+    }
+  }
+  TEST_SUCCESS
+}
+
+TEST_IMPL(GLM_PREFIX, euler_xzy_quat_rh) {
+  vec3 axis_x = {1.0f, 0.0f, 0.0f};
+  vec3 axis_y = {0.0f, 1.0f, 0.0f};
+  vec3 axis_z = {0.0f, 0.0f, 1.0f};
+
+  /* random angles for testing */
+  vec3 angles;
+
+  /* quaternion representations for rotations */
+  versor rot_x, rot_y, rot_z;
+
+  versor expected;
+  versor result;
+  versor tmp;
+
+  mat4 expected_mat4;
+
+  /* 100 randomized tests */
+  for (int i = 0; i < 100; i++) {
+    test_rand_vec3(angles);
+
+    /* create the rotation quaternions using the angles and axises */
+    glm_quatv(rot_x, angles[0], axis_x);
+    glm_quatv(rot_y, angles[1], axis_y);
+    glm_quatv(rot_z, angles[2], axis_z);
+
+    /* apply the rotations to a unit quaternion in xzy order */
+    glm_quat_identity(expected);
+    
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_x, expected);
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_z, expected);
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_y, expected);
+
+    glm_euler_xzy_quat_rh(angles, result);
+
+    /* verify if the magnitude of the quaternion stays 1 */
+    ASSERT(test_eq(glm_quat_norm(result), 1.0f))
+
+    /* verify that it acts the same as rotating by 3 axis quaternions */
+    ASSERTIFY(test_assert_quat_eq(result, expected))
+
+    /* verify that it acts the same as glm_euler_by_order */
+    glm_euler_by_order(angles, GLM_EULER_XZY, expected_mat4);
+    glm_mat4_quat(expected_mat4, expected);   
+
+    ASSERTIFY(test_assert_quat_eq_abs(result, expected));
+  }
+  
+
+  /* Start gimbal lock tests */
+  for (float x = -90.0f; x <= 90.0f; x += 90.0f) {
+    for (float y = -90.0f; y <= 90.0f; y += 90.0f) {
+      for (float z = -90.0f; z <= 90.0f; z += 90.0f) {
+        angles[0] = x;
+        angles[1] = y;
+        angles[2] = z;
+        
+        /* create the rotation quaternions using the angles and axises */
+        glm_quatv(rot_x, angles[0], axis_x);
+        glm_quatv(rot_y, angles[1], axis_y);
+        glm_quatv(rot_z, angles[2], axis_z);
+
+        /* apply the rotations to a unit quaternion in xzy order */
+        glm_quat_identity(expected);
+        
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_x, expected);
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_z, expected);
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_y, expected);
+
+        /* use my function to get the quaternion */
+        glm_euler_xzy_quat_rh(angles, result);
+
+        /* verify if the magnitude of the quaternion stays 1 */
+        ASSERT(test_eq(glm_quat_norm(result), 1.0f))
+
+        ASSERTIFY(test_assert_quat_eq(result, expected))
+
+        /* verify that it acts the same as glm_euler_by_order */
+        glm_euler_by_order(angles, GLM_EULER_XZY, expected_mat4);
+        glm_mat4_quat(expected_mat4, expected);   
+
+        ASSERTIFY(test_assert_quat_eq_abs(result, expected));
+      }
+    }
+  }
+  TEST_SUCCESS
+}
+
+TEST_IMPL(GLM_PREFIX, euler_yxz_quat_rh) {
+  vec3 axis_x = {1.0f, 0.0f, 0.0f};
+  vec3 axis_y = {0.0f, 1.0f, 0.0f};
+  vec3 axis_z = {0.0f, 0.0f, 1.0f};
+
+  /* random angles for testing */
+  vec3 angles;
+
+  /* quaternion representations for rotations */
+  versor rot_x, rot_y, rot_z;
+
+  versor expected;
+  versor result;
+  versor tmp;
+
+  mat4 expected_mat4;
+
+  /* 100 randomized tests */
+  for (int i = 0; i < 100; i++) {
+    test_rand_vec3(angles);
+
+    /* create the rotation quaternions using the angles and axises */
+    glm_quatv(rot_x, angles[0], axis_x);
+    glm_quatv(rot_y, angles[1], axis_y);
+    glm_quatv(rot_z, angles[2], axis_z);
+
+    /* apply the rotations to a unit quaternion in yxz order */
+    glm_quat_identity(expected);
+    
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_y, expected);
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_x, expected);
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_z, expected);
+
+    glm_euler_yxz_quat_rh(angles, result);
+
+    /* verify if the magnitude of the quaternion stays 1 */
+    ASSERT(test_eq(glm_quat_norm(result), 1.0f))
+
+    /* verify that it acts the same as rotating by 3 axis quaternions */
+    ASSERTIFY(test_assert_quat_eq(result, expected))
+
+    /* verify that it acts the same as glm_euler_by_order */
+    glm_euler_by_order(angles, GLM_EULER_YXZ, expected_mat4);
+    glm_mat4_quat(expected_mat4, expected);   
+
+    ASSERTIFY(test_assert_quat_eq_abs(result, expected));
+  }
+  
+
+  /* Start gimbal lock tests */
+  for (float x = -90.0f; x <= 90.0f; x += 90.0f) {
+    for (float y = -90.0f; y <= 90.0f; y += 90.0f) {
+      for (float z = -90.0f; z <= 90.0f; z += 90.0f) {
+        angles[0] = x;
+        angles[1] = y;
+        angles[2] = z;
+        
+        /* create the rotation quaternions using the angles and axises */
+        glm_quatv(rot_x, angles[0], axis_x);
+        glm_quatv(rot_y, angles[1], axis_y);
+        glm_quatv(rot_z, angles[2], axis_z);
+
+        /* apply the rotations to a unit quaternion in yxz order */
+        glm_quat_identity(expected);
+        
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_y, expected);
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_x, expected);
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_z, expected);
+
+        /* use my function to get the quaternion */
+        glm_euler_yxz_quat_rh(angles, result);
+
+        /* verify if the magnitude of the quaternion stays 1 */
+        ASSERT(test_eq(glm_quat_norm(result), 1.0f))
+
+        ASSERTIFY(test_assert_quat_eq(result, expected))
+
+        /* verify that it acts the same as glm_euler_by_order */
+        glm_euler_by_order(angles, GLM_EULER_YXZ, expected_mat4);
+        glm_mat4_quat(expected_mat4, expected);   
+
+        ASSERTIFY(test_assert_quat_eq_abs(result, expected));
+      }
+    }
+  }
+  TEST_SUCCESS
+}
+
+TEST_IMPL(GLM_PREFIX, euler_yzx_quat_rh) {
+  vec3 axis_x = {1.0f, 0.0f, 0.0f};
+  vec3 axis_y = {0.0f, 1.0f, 0.0f};
+  vec3 axis_z = {0.0f, 0.0f, 1.0f};
+
+  /* random angles for testing */
+  vec3 angles;
+
+  /* quaternion representations for rotations */
+  versor rot_x, rot_y, rot_z;
+
+  versor expected;
+  versor result;
+  versor tmp;
+
+  mat4 expected_mat4;
+
+  /* 100 randomized tests */
+  for (int i = 0; i < 100; i++) {
+    test_rand_vec3(angles);
+
+    /* create the rotation quaternions using the angles and axises */
+    glm_quatv(rot_x, angles[0], axis_x);
+    glm_quatv(rot_y, angles[1], axis_y);
+    glm_quatv(rot_z, angles[2], axis_z);
+
+    /* apply the rotations to a unit quaternion in yzx order */
+    glm_quat_identity(expected);
+    
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_y, expected);
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_z, expected);
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_x, expected);
+
+    glm_euler_yzx_quat_rh(angles, result);
+
+    /* verify if the magnitude of the quaternion stays 1 */
+    ASSERT(test_eq(glm_quat_norm(result), 1.0f))
+
+    /* verify that it acts the same as rotating by 3 axis quaternions */
+    ASSERTIFY(test_assert_quat_eq(result, expected))
+
+    /* verify that it acts the same as glm_euler_by_order */
+    glm_euler_by_order(angles, GLM_EULER_YZX, expected_mat4);
+    glm_mat4_quat(expected_mat4, expected);   
+
+    ASSERTIFY(test_assert_quat_eq_abs(result, expected));
+  }
+  
+
+  /* Start gimbal lock tests */
+  for (float x = -90.0f; x <= 90.0f; x += 90.0f) {
+    for (float y = -90.0f; y <= 90.0f; y += 90.0f) {
+      for (float z = -90.0f; z <= 90.0f; z += 90.0f) {
+        angles[0] = x;
+        angles[1] = y;
+        angles[2] = z;
+        
+        /* create the rotation quaternions using the angles and axises */
+        glm_quatv(rot_x, angles[0], axis_x);
+        glm_quatv(rot_y, angles[1], axis_y);
+        glm_quatv(rot_z, angles[2], axis_z);
+
+        /* apply the rotations to a unit quaternion in yzx order */
+        glm_quat_identity(expected);
+        
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_y, expected);
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_z, expected);
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_x, expected);
+
+        /* use my function to get the quaternion */
+        glm_euler_yzx_quat_rh(angles, result);
+
+        /* verify if the magnitude of the quaternion stays 1 */
+        ASSERT(test_eq(glm_quat_norm(result), 1.0f))
+
+        ASSERTIFY(test_assert_quat_eq(result, expected))
+
+        /* verify that it acts the same as glm_euler_by_order */
+        glm_euler_by_order(angles, GLM_EULER_YZX, expected_mat4);
+        glm_mat4_quat(expected_mat4, expected);   
+
+        ASSERTIFY(test_assert_quat_eq_abs(result, expected));
+      }
+    }
+  }
+  TEST_SUCCESS
+}
+
+TEST_IMPL(GLM_PREFIX, euler_zxy_quat_rh) {
+  vec3 axis_x = {1.0f, 0.0f, 0.0f};
+  vec3 axis_y = {0.0f, 1.0f, 0.0f};
+  vec3 axis_z = {0.0f, 0.0f, 1.0f};
+
+  /* random angles for testing */
+  vec3 angles;
+
+  /* quaternion representations for rotations */
+  versor rot_x, rot_y, rot_z;
+
+  versor expected;
+  versor result;
+  versor tmp;
+
+  mat4 expected_mat4;
+
+  /* 100 randomized tests */
+  for (int i = 0; i < 100; i++) {
+    test_rand_vec3(angles);
+
+    /* create the rotation quaternions using the angles and axises */
+    glm_quatv(rot_x, angles[0], axis_x);
+    glm_quatv(rot_y, angles[1], axis_y);
+    glm_quatv(rot_z, angles[2], axis_z);
+
+    /* apply the rotations to a unit quaternion in zxy order */
+    glm_quat_identity(expected);
+
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_z, expected);
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_x, expected);
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_y, expected);
+
+    glm_euler_zxy_quat_rh(angles, result);
+
+    /* verify if the magnitude of the quaternion stays 1 */
+    ASSERT(test_eq(glm_quat_norm(result), 1.0f))
+
+    /* verify that it acts the same as rotating by 3 axis quaternions */
+    ASSERTIFY(test_assert_quat_eq(result, expected))
+
+    /* verify that it acts the same as glm_euler_by_order */
+    glm_euler_by_order(angles, GLM_EULER_ZXY, expected_mat4);
+    glm_mat4_quat(expected_mat4, expected);   
+
+    ASSERTIFY(test_assert_quat_eq_abs(result, expected));
+  }
+  
+
+  /* Start gimbal lock tests */
+  for (float x = -90.0f; x <= 90.0f; x += 90.0f) {
+    for (float y = -90.0f; y <= 90.0f; y += 90.0f) {
+      for (float z = -90.0f; z <= 90.0f; z += 90.0f) {
+        angles[0] = x;
+        angles[1] = y;
+        angles[2] = z;
+        
+        /* create the rotation quaternions using the angles and axises */
+        glm_quatv(rot_x, angles[0], axis_x);
+        glm_quatv(rot_y, angles[1], axis_y);
+        glm_quatv(rot_z, angles[2], axis_z);
+
+        /* apply the rotations to a unit quaternion in zxy order */
+        glm_quat_identity(expected);
+
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_z, expected);
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_x, expected);
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_y, expected);
+
+        /* use my function to get the quaternion */
+        glm_euler_zxy_quat_rh(angles, result);
+
+        /* verify if the magnitude of the quaternion stays 1 */
+        ASSERT(test_eq(glm_quat_norm(result), 1.0f))
+
+        ASSERTIFY(test_assert_quat_eq(result, expected))
+
+        /* verify that it acts the same as glm_euler_by_order */
+        glm_euler_by_order(angles, GLM_EULER_ZXY, expected_mat4);
+        glm_mat4_quat(expected_mat4, expected);   
+
+        ASSERTIFY(test_assert_quat_eq_abs(result, expected));
+      }
+    }
+  }
+  TEST_SUCCESS
+}
+
+TEST_IMPL(GLM_PREFIX, euler_zyx_quat_rh) {
+  vec3 axis_x = {1.0f, 0.0f, 0.0f};
+  vec3 axis_y = {0.0f, 1.0f, 0.0f};
+  vec3 axis_z = {0.0f, 0.0f, 1.0f};
+
+  /* random angles for testing */
+  vec3 angles;
+
+  /* quaternion representations for rotations */
+  versor rot_x, rot_y, rot_z;
+
+  versor expected;
+  versor result;
+  versor tmp;
+
+  mat4 expected_mat4;
+
+  /* 100 randomized tests */
+  for (int i = 0; i < 100; i++) {
+    test_rand_vec3(angles);
+
+    /* create the rotation quaternions using the angles and axises */
+    glm_quatv(rot_x, angles[0], axis_x);
+    glm_quatv(rot_y, angles[1], axis_y);
+    glm_quatv(rot_z, angles[2], axis_z);
+
+    /* apply the rotations to a unit quaternion in zyx order */
+    glm_quat_identity(expected);
+
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_z, expected);
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_y, expected);
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_x, expected);
+
+    glm_euler_zyx_quat_rh(angles, result);
+
+    /* verify if the magnitude of the quaternion stays 1 */
+    ASSERT(test_eq(glm_quat_norm(result), 1.0f))
+
+    /* verify that it acts the same as rotating by 3 axis quaternions */
+    ASSERTIFY(test_assert_quat_eq(result, expected))
+
+    /* verify that it acts the same as glm_euler_by_order */
+    glm_euler_by_order(angles, GLM_EULER_ZYX, expected_mat4);
+    glm_mat4_quat(expected_mat4, expected);   
+
+    ASSERTIFY(test_assert_quat_eq_abs(result, expected));
+  }
+  
+
+  /* Start gimbal lock tests */
+  for (float x = -90.0f; x <= 90.0f; x += 90.0f) {
+    for (float y = -90.0f; y <= 90.0f; y += 90.0f) {
+      for (float z = -90.0f; z <= 90.0f; z += 90.0f) {
+        angles[0] = x;
+        angles[1] = y;
+        angles[2] = z;
+        
+        /* create the rotation quaternions using the angles and axises */
+        glm_quatv(rot_x, angles[0], axis_x);
+        glm_quatv(rot_y, angles[1], axis_y);
+        glm_quatv(rot_z, angles[2], axis_z);
+
+        /* apply the rotations to a unit quaternion in xyz order */
+        glm_quat_identity(expected);
+        
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_z, expected);
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_y, expected);
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_x, expected);
+
+        /* use my function to get the quaternion */
+        glm_euler_zyx_quat_rh(angles, result);
+
+        /* verify if the magnitude of the quaternion stays 1 */
+        ASSERT(test_eq(glm_quat_norm(result), 1.0f))
+
+        ASSERTIFY(test_assert_quat_eq(result, expected))
+
+        /* verify that it acts the same as glm_euler_by_order */
+        glm_euler_by_order(angles, GLM_EULER_ZYX, expected_mat4);
+        glm_mat4_quat(expected_mat4, expected);   
+
+        ASSERTIFY(test_assert_quat_eq_abs(result, expected));
+      }
+    }
+  }
+  TEST_SUCCESS
+}
+
+

test/src/tests.c

@@ -39,6 +39,7 @@
 #include "test_cam_lh_zo.h"
 #include "test_cam_rh_no.h"
 #include "test_cam_rh_zo.h"
+#include "test_euler_to_quat_rh.h"
 
 #undef GLM
 #undef GLM_PREFIX
@@ -76,6 +77,7 @@
 #include "test_cam_lh_zo.h"
 #include "test_cam_rh_no.h"
 #include "test_cam_rh_zo.h"
+#include "test_euler_to_quat_rh.h"
 
 #undef GLM
 #undef GLM_PREFIX

test/tests.h

@@ -360,6 +360,12 @@ TEST_DECLARE(glmc_plane_normalize)
 TEST_DECLARE(clamp)
 
 /* euler */
+TEST_DECLARE(glm_euler_xyz_quat_rh) 
+TEST_DECLARE(glm_euler_xzy_quat_rh) 
+TEST_DECLARE(glm_euler_yxz_quat_rh)
+TEST_DECLARE(glm_euler_yzx_quat_rh)  
+TEST_DECLARE(glm_euler_zxy_quat_rh)
+TEST_DECLARE(glm_euler_zyx_quat_rh)
 TEST_DECLARE(euler)
 
 /* ray */
@@ -1469,6 +1475,12 @@ TEST_LIST {
   TEST_ENTRY(clamp)
 
   /* euler */
+  TEST_ENTRY(glm_euler_xyz_quat_rh) 
+  TEST_ENTRY(glm_euler_xzy_quat_rh) 
+  TEST_ENTRY(glm_euler_yxz_quat_rh)
+  TEST_ENTRY(glm_euler_yzx_quat_rh)  
+  TEST_ENTRY(glm_euler_zxy_quat_rh)
+  TEST_ENTRY(glm_euler_zyx_quat_rh)
   TEST_ENTRY(euler)
   
   /* ray */