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made euler to quat xyz. Now I'm trying to test if it works or not

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This commit is contained in:
John Choi
2023-12-07 10:29:07 -06:00
parent abb71a8e32
commit 05ea35ffec
2 changed files with 57 additions and 0 deletions
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27
include/cglm/quat.h
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@@ -139,6 +139,33 @@ glm_quat_init(versor q, float x, float y, float z, float w) {
q[3] = w; q[3] = w;
} }
//TODO: telephone001's eulertoquat
/*!
* @brief creates a quaternion using rotation angles and does does rotations in x y z order
*
* @param[out] q quaternion
* @param[in] angle angles x y z (radians)
*/
CGLM_INLINE
void
glm_euler_xyz_quat(versor q, vec3 angles) {
float xs = sinf(angles[0] / 2.0);
float xc = cosf(angles[0] / 2.0);
float ys = sinf(angles[1] / 2.0);
float yc = cosf(angles[1] / 2.0);
float zs = sinf(angles[2] / 2.0);
float zc = cosf(angles[2] / 2.0);
glm_quat_init(q,
zc * yc * xs - zs * ys * xs,
zc * ys * xc - zs * yc * xs,
zs * yc * xc - zs * yc * xs,
zc * yc * xc + zs * ys * xs);
}
/*! /*!
* @brief creates NEW quaternion with axis vector * @brief creates NEW quaternion with axis vector
* *

30
test/src/test_quat.h
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@@ -121,6 +121,36 @@ TEST_IMPL(GLM_PREFIX, quatv) {
TEST_SUCCESS TEST_SUCCESS
} }
// telephone001 changes (remove comment when done) TODO
TEST_IMPL(GLM_PREFIX, euler_xyz_quat) {
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};
versor rot_x = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_y = {0.0f, 0.0f, 0.0f, 1.0f};
versor rot_z = {0.0f, 0.0f, 0.0f, 1.0f};
//random angles for testing
vec3 angles = {glm_rad(30.0f), glm_rad(60.0f), glm_rad(90.0f)};
glm_quatv(rot_x, angles[0], axis_x);
glm_quatv(rot_y, angles[1], axis_y);
glm_quatv(rot_z, angles[2], axis_z);
versor expected = {0.0f, 0.0f, 0.0f, 1.0f};
glm_quat_mul(rot_x, expected, expected);
glm_quat_mul(rot_y, expected, expected);
glm_quat_mul(rot_z, expected, expected);
versor result;
glm_euler_xyz_quat(angles, result);
ASSERTIFY(test_assert_vec3_eq(result, expected))
TEST_SUCCESS
}
TEST_IMPL(GLM_PREFIX, quat) { TEST_IMPL(GLM_PREFIX, quat) {
versor q1 = {1.0f, 2.0f, 3.0f, 4.0f}; versor q1 = {1.0f, 2.0f, 3.0f, 4.0f};
vec3 v1, v2; vec3 v1, v2;