External/cglm
1
0
Fork 0
mirror of https://github.com/recp/cglm.git synced 2025-12-24 12:32:40 +00:00
Code Issues Packages Projects Releases Wiki Activity

quat: fix quat_for and quat_forp implementations

Browse Source
This commit is contained in:
Recep Aslantas
2020-02-20 23:37:35 +03:00
parent 5ee9bb88df
commit 2278eba93c
7 changed files with 75 additions and 34 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
include/cglm/call/quat.h
View File

@@ -131,11 +131,11 @@ glmc_quat_look(vec3 eye, versor ori, mat4 dest);
CGLM_EXPORT
void
glmc_quat_for(vec3 dir, vec3 fwd, vec3 up, versor dest);
glmc_quat_for(vec3 dir, vec3 up, versor dest);
CGLM_EXPORT
void
glmc_quat_forp(vec3 from, vec3 to, vec3 fwd, vec3 up, versor dest);
glmc_quat_forp(vec3 from, vec3 to, vec3 up, versor dest);
CGLM_EXPORT
void

5
include/cglm/cam.h
View File

@@ -319,10 +319,7 @@ glm_perspective_resize(float aspect, mat4 proj) {
*/
CGLM_INLINE
void
glm_lookat(vec3 eye,
vec3 center,
vec3 up,
mat4 dest) {
glm_lookat(vec3 eye, vec3 center, vec3 up, mat4 dest) {
CGLM_ALIGN(8) vec3 f, u, s;
glm_vec3_sub(center, eye, f);

31
include/cglm/quat.h
View File

@@ -693,32 +693,23 @@ glm_quat_look(vec3 eye, versor ori, mat4 dest) {
* @brief creates look rotation quaternion
*
* @param[in] dir direction to look
* @param[in] fwd forward vector
* @param[in] up up vector
* @param[out] dest destination quaternion
*/
CGLM_INLINE
void
glm_quat_for(vec3 dir, vec3 fwd, vec3 up, versor dest) {
CGLM_ALIGN(8) vec3 axis;
float dot, angle;
glm_quat_for(vec3 dir, vec3 up, versor dest) {
CGLM_ALIGN_MAT mat3 m;
dot = glm_vec3_dot(dir, fwd);
if (fabsf(dot + 1.0f) < 0.000001f) {
glm_quat_init(dest, up[0], up[1], up[2], GLM_PIf);
return;
}
glm_vec3_normalize_to(dir, m[2]);
if (fabsf(dot - 1.0f) < 0.000001f) {
glm_quat_identity(dest);
return;
}
/* No need to negate in LH, but we use RH here */
glm_vec3_negate(m[2]);
glm_vec3_crossn(up, m[2], m[0]);
glm_vec3_cross(m[2], m[0], m[1]);
angle = acosf(dot);
glm_cross(fwd, dir, axis);
glm_normalize(axis);
glm_quatv(dest, angle, axis);
glm_mat3_quat(m, dest);
}
/*!
@@ -733,10 +724,10 @@ glm_quat_for(vec3 dir, vec3 fwd, vec3 up, versor dest) {
*/
CGLM_INLINE
void
glm_quat_forp(vec3 from, vec3 to, vec3 fwd, vec3 up, versor dest) {
glm_quat_forp(vec3 from, vec3 to, vec3 up, versor dest) {
CGLM_ALIGN(8) vec3 dir;
glm_vec3_sub(to, from, dir);
glm_quat_for(dir, fwd, up, dest);
glm_quat_for(dir, up, dest);
}
/*!

8
include/cglm/struct/quat.h
View File

@@ -443,9 +443,9 @@ glms_quat_look(vec3s eye, versors ori) {
*/
CGLM_INLINE
versors
glms_quat_for(vec3s dir, vec3s fwd, vec3s up) {
glms_quat_for(vec3s dir, vec3s up) {
versors dest;
glm_quat_for(dir.raw, fwd.raw, up.raw, dest.raw);
glm_quat_for(dir.raw, up.raw, dest.raw);
return dest;
}
@@ -461,9 +461,9 @@ glms_quat_for(vec3s dir, vec3s fwd, vec3s up) {
*/
CGLM_INLINE
versors
glms_quat_forp(vec3s from, vec3s to, vec3s fwd, vec3s up) {
glms_quat_forp(vec3s from, vec3s to, vec3s up) {
versors dest;
glm_quat_forp(from.raw, to.raw, fwd.raw, up.raw, dest.raw);
glm_quat_forp(from.raw, to.raw, up.raw, dest.raw);
return dest;
}

8
src/quat.c
View File

@@ -184,14 +184,14 @@ glmc_quat_look(vec3 eye, versor ori, mat4 dest) {
CGLM_EXPORT
void
glmc_quat_for(vec3 dir, vec3 fwd, vec3 up, versor dest) {
glm_quat_for(dir, fwd, up, dest);
glmc_quat_for(vec3 dir, vec3 up, versor dest) {
glm_quat_for(dir, up, dest);
}
CGLM_EXPORT
void
glmc_quat_forp(vec3 from, vec3 to, vec3 fwd, vec3 up, versor dest) {
glm_quat_forp(from, to, fwd, up, dest);
glmc_quat_forp(vec3 from, vec3 to, vec3 up, versor dest) {
glm_quat_forp(from, to, up, dest);
}
CGLM_EXPORT

45
test/src/test_quat.h
View File

@@ -760,3 +760,48 @@ TEST_IMPL(GLM_PREFIX, quat_look) {
TEST_SUCCESS
}
TEST_IMPL(GLM_PREFIX, quat_for) {
versor q1, q2;
glm_quat(q1, glm_rad(90.0f), 0.0f, 1.0f, 0.0f);
GLM(quat_for)((vec3){-1.0f, 0.0f, 0.0f}, (vec3){0.0f, 1.0f, 0.0f}, q2);
ASSERTIFY(test_assert_quat_eq(q1, q2));
glm_quat(q2, glm_rad(90.0f), 1.0f, 0.0f, 0.0f);
GLM(quat_for)((vec3){0.0f, 1.0f, 0.0f}, (vec3){0.0f, 0.0f, 1.0f}, q1);
ASSERTIFY(test_assert_quat_eq(q1, q2));
glm_quat(q2, glm_rad(180.0f), 1.0f, 0.0f, 0.0f);
GLM(quat_for)((vec3){0.0f, 0.0f, 1.0f}, (vec3){0.0f, -1.0f, 0.0f}, q1);
ASSERTIFY(test_assert_quat_eq(q1, q2));
TEST_SUCCESS
}
TEST_IMPL(GLM_PREFIX, quat_forp) {
versor q1, q2;
glm_quat(q1, glm_rad(90.0f), 0.0f, 1.0f, 0.0f);
GLM(quat_forp)((vec3){2.0f, 0.0f, 0.0f},
(vec3){1.0f, 0.0f, 0.0f},
(vec3){0.0f, 1.0f, 0.0f},
q2);
ASSERTIFY(test_assert_quat_eq(q1, q2));
glm_quat(q2, glm_rad(90.0f), 1.0f, 0.0f, 0.0f);
GLM(quat_forp)((vec3){0.0f, 1.0f, 0.0f},
(vec3){0.0f, 2.0f, 0.0f},
(vec3){0.0f, 0.0f, 1.0f},
q1);
ASSERTIFY(test_assert_quat_eq(q1, q2));
glm_quat(q2, glm_rad(180.0f), 1.0f, 0.0f, 0.0f);
GLM(quat_forp)((vec3){0.0f, 1.0f, 1.0f},
(vec3){0.0f, 1.0f, 2.0f},
(vec3){0.0f, -1.0f, 0.0f},
q1);
ASSERTIFY(test_assert_quat_eq(q1, q2));
TEST_SUCCESS
}

8
test/tests.h
View File

@@ -163,6 +163,8 @@ TEST_DECLARE(glm_quat_lerp)
TEST_DECLARE(glm_quat_lerpc)
TEST_DECLARE(glm_quat_slerp)
TEST_DECLARE(glm_quat_look)
TEST_DECLARE(glm_quat_for)
TEST_DECLARE(glm_quat_forp)
TEST_DECLARE(glmc_quat_identity)
TEST_DECLARE(glmc_quat_identity_array)
@@ -193,6 +195,8 @@ TEST_DECLARE(glmc_quat_lerp)
TEST_DECLARE(glmc_quat_lerpc)
TEST_DECLARE(glmc_quat_slerp)
TEST_DECLARE(glmc_quat_look)
TEST_DECLARE(glmc_quat_for)
TEST_DECLARE(glmc_quat_forp)
/* bezier */
TEST_DECLARE(bezier)
@@ -671,6 +675,8 @@ TEST_LIST {
TEST_ENTRY(glm_quat_lerpc)
TEST_ENTRY(glm_quat_slerp)
TEST_ENTRY(glm_quat_look)
TEST_ENTRY(glm_quat_for)
TEST_ENTRY(glm_quat_forp)
TEST_ENTRY(glmc_quat_identity)
TEST_ENTRY(glmc_quat_identity_array)
@@ -701,6 +707,8 @@ TEST_LIST {
TEST_ENTRY(glmc_quat_lerpc)
TEST_ENTRY(glmc_quat_slerp)
TEST_ENTRY(glmc_quat_look)
TEST_ENTRY(glmc_quat_for)
TEST_ENTRY(glmc_quat_forp)
/* bezier */
TEST_ENTRY(bezier)