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fixed up the code to fit with the style, Also found out that I was calculating my quaternion rotations the opposite way (zyx order instead of xyz order)

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John Choi
2023-12-10 01:16:09 -06:00
parent 036fd4848b
commit 2eb9a67a3a
2 changed files with 375 additions and 368 deletions
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129
include/cglm/euler.h
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@@ -465,21 +465,18 @@ glm_euler_by_order(vec3 angles, glm_euler_seq ord, mat4 dest) {
CGLM_INLINE CGLM_INLINE
void void
glm_euler_xyz_quat(versor q, vec3 angles) { glm_euler_xyz_quat(versor q, vec3 angles) {
float xs = sinf(angles[0] / 2.0f); float xc, yc, zc,
float xc = cosf(angles[0] / 2.0f); xs, ys, zs;
float ys = sinf(angles[1] / 2.0f); xs = sinf(angles[0] * 0.5f); xc = cosf(angles[0] * 0.5f);
float yc = cosf(angles[1] / 2.0f); ys = sinf(angles[1] * 0.5f); yc = cosf(angles[1] * 0.5f);
zs = sinf(angles[2] * 0.5f); zc = cosf(angles[2] * 0.5f);
float zs = sinf(angles[2] / 2.0f); q[0] = xc * ys * zs + xs * yc * zc;
float zc = cosf(angles[2] / 2.0f); q[1] = xc * ys * zc - xs * yc * zs;
q[2] = xc * yc * zs + xs * ys * zc;
q[3] = xc * yc * zc - xs * ys * zs;
glm_quat_init(q,
zc * yc * xs - zs * ys * xc,
zc * ys * xc + zs * yc * xs,
-zc * ys * xs + zs * yc * xc,
zc * yc * xc + zs * ys * xs);
} }
/*! /*!
@@ -492,20 +489,17 @@ glm_euler_xyz_quat(versor q, vec3 angles) {
CGLM_INLINE CGLM_INLINE
void void
glm_euler_xzy_quat(versor q, vec3 angles) { glm_euler_xzy_quat(versor q, vec3 angles) {
float xs = sinf(angles[0] / 2.0f); float xc, yc, zc,
float xc = cosf(angles[0] / 2.0f); xs, ys, zs;
float ys = sinf(angles[1] / 2.0f); xs = sinf(angles[0] * 0.5f); xc = cosf(angles[0] * 0.5f);
float yc = cosf(angles[1] / 2.0f); ys = sinf(angles[1] * 0.5f); yc = cosf(angles[1] * 0.5f);
zs = sinf(angles[2] * 0.5f); zc = cosf(angles[2] * 0.5f);
float zs = sinf(angles[2] / 2.0f); q[0] = -xc * zs * ys + xs * zc * yc;
float zc = cosf(angles[2] / 2.0f); q[1] = xc * zc * ys - xs * zs * yc;
q[2] = xc * zs * yc + xs * zc * ys;
glm_quat_init(q, q[3] = xc * zc * yc + xs * zs * ys;
yc * zc * xs + ys * zs * xc,
yc * zs * xs + ys * zc * xc,
yc * zs * xc - ys * zc * xs,
yc * zc * xc - ys * zs * xs);
} }
@@ -519,20 +513,17 @@ glm_euler_xzy_quat(versor q, vec3 angles) {
CGLM_INLINE CGLM_INLINE
void void
glm_euler_yxz_quat(versor q, vec3 angles) { glm_euler_yxz_quat(versor q, vec3 angles) {
float xs = sinf(angles[0] / 2.0f); float xc, yc, zc,
float xc = cosf(angles[0] / 2.0f); xs, ys, zs;
float ys = sinf(angles[1] / 2.0f); xs = sinf(angles[0] * 0.5f); xc = cosf(angles[0] * 0.5f);
float yc = cosf(angles[1] / 2.0f); ys = sinf(angles[1] * 0.5f); yc = cosf(angles[1] * 0.5f);
zs = sinf(angles[2] * 0.5f); zc = cosf(angles[2] * 0.5f);
float zs = sinf(angles[2] / 2.0f); q[0] = yc * xs * zc + ys * xc * zs;
float zc = cosf(angles[2] / 2.0f); q[1] = -yc * xs * zs + ys * xc * zc;
q[2] = yc * xc * zs - ys * xs * zc;
glm_quat_init(q, q[3] = yc * xc * zc + ys * xs * zs;
zc * xs * yc - zs * xc * ys,
zc * xc * ys + zs * xs * yc,
zc * xs * ys + zs * xc * yc,
zc * xc * yc - zs * xs * ys);
} }
/*! /*!
@@ -545,20 +536,17 @@ glm_euler_yxz_quat(versor q, vec3 angles) {
CGLM_INLINE CGLM_INLINE
void void
glm_euler_yzx_quat(versor q, vec3 angles) { glm_euler_yzx_quat(versor q, vec3 angles) {
float xs = sinf(angles[0] / 2.0f); float xc, yc, zc,
float xc = cosf(angles[0] / 2.0f); xs, ys, zs;
float ys = sinf(angles[1] / 2.0f); xs = sinf(angles[0] * 0.5f); xc = cosf(angles[0] * 0.5f);
float yc = cosf(angles[1] / 2.0f); ys = sinf(angles[1] * 0.5f); yc = cosf(angles[1] * 0.5f);
zs = sinf(angles[2] * 0.5f); zc = cosf(angles[2] * 0.5f);
float zs = sinf(angles[2] / 2.0f); q[0] = yc * zc * xs + ys * zs * xc;
float zc = cosf(angles[2] / 2.0f); q[1] = yc * zs * xs + ys * zc * xc;
q[2] = yc * zs * xc - ys * zc * xs;
glm_quat_init(q, q[3] = yc * zc * xc - ys * zs * xs;
-xc * zs * ys + xs * zc * yc,
xc * zc * ys - xs * zs * yc,
xc * zs * yc + xs * zc * ys,
xc * zc * yc + xs * zs * ys);
} }
@@ -572,22 +560,17 @@ glm_euler_yzx_quat(versor q, vec3 angles) {
CGLM_INLINE CGLM_INLINE
void void
glm_euler_zxy_quat(versor q, vec3 angles) { glm_euler_zxy_quat(versor q, vec3 angles) {
float xs = sinf(angles[0] / 2.0f); float xc, yc, zc,
float xc = cosf(angles[0] / 2.0f); xs, ys, zs;
float ys = sinf(angles[1] / 2.0f);
float yc = cosf(angles[1] / 2.0f);
float zs = sinf(angles[2] / 2.0f);
float zc = cosf(angles[2] / 2.0f);
glm_quat_init(q,
yc * xs * zc + ys * xc * zs,
-yc * xs * zs + ys * xc * zc,
yc * xc * zs - ys * xs * zc,
yc * xc * zc + ys * xs * 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);
q[0] = zc * xs * yc - zs * xc * ys;
q[1] = zc * xc * ys + zs * xs * yc;
q[2] = zc * xs * ys + zs * xc * yc;
q[3] = zc * xc * yc - zs * xs * ys;
} }
/*! /*!
@@ -600,21 +583,17 @@ glm_euler_zxy_quat(versor q, vec3 angles) {
CGLM_INLINE CGLM_INLINE
void void
glm_euler_zyx_quat(versor q, vec3 angles) { glm_euler_zyx_quat(versor q, vec3 angles) {
float xs = sinf(angles[0] / 2.0f); float xc, yc, zc,
float xc = cosf(angles[0] / 2.0f); xs, ys, zs;
float ys = sinf(angles[1] / 2.0f); xs = sinf(angles[0] * 0.5f); xc = cosf(angles[0] * 0.5f);
float yc = cosf(angles[1] / 2.0f); ys = sinf(angles[1] * 0.5f); yc = cosf(angles[1] * 0.5f);
zs = sinf(angles[2] * 0.5f); zc = cosf(angles[2] * 0.5f);
float zs = sinf(angles[2] / 2.0f);
float zc = cosf(angles[2] / 2.0f);
glm_quat_init(q,
xc * ys * zs + xs * yc * zc,
xc * ys * zc - xs * yc * zs,
xc * yc * zs + xs * ys * zc,
xc * yc * zc - xs * ys * zs);
q[0] = zc * yc * xs - zs * ys * xc;
q[1] = zc * ys * xc + zs * yc * xs;
q[2] = -zc * ys * xs + zs * yc * xc;
q[3] = zc * yc * xc + zs * ys * xs;
} }

592
test/src/test_euler.c
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@@ -9,88 +9,94 @@
TEST_IMPL(GLM_PREFIX, euler_xyz_quat) { 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};
/* random angles for testing */
vec3 angles;
/* quaternion representations for rotations */
versor rot_x, rot_y, rot_z;
versor expected;
versor result;
/* 100 randomized tests */
for (int i = 0; i < 100; i++) { for (int i = 0; i < 100; i++) {
/*random angles for testing*/
vec3 angles;
/*quaternion representations for rotations*/
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};
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 expected = {0.0f, 0.0f, 0.0f, 1.0f};
versor result;
test_rand_vec3(angles); test_rand_vec3(angles);
/*create the rotation quaternions using the angles and axises*/ /* create the rotation quaternions using the angles and axises */
glm_quatv(rot_x, angles[0], axis_x); glm_quatv(rot_x, angles[0], axis_x);
glm_quatv(rot_y, angles[1], axis_y); glm_quatv(rot_y, angles[1], axis_y);
glm_quatv(rot_z, angles[2], axis_z); glm_quatv(rot_z, angles[2], axis_z);
/*apply the rotations to a unit quaternion in xyz order*/ /* apply the rotations to a unit quaternion in xyz order */
glm_quat_identity(expected);
versor tmp; versor tmp;
glm_quat_copy(expected, tmp); glm_quat_copy(expected, tmp);
glm_quat_mul(rot_x, tmp, expected); glm_quat_mul(tmp, rot_x, expected);
glm_quat_copy(expected, tmp); glm_quat_copy(expected, tmp);
glm_quat_mul(rot_y, tmp, expected); glm_quat_mul(tmp, rot_y, expected);
glm_quat_copy(expected, tmp); glm_quat_copy(expected, tmp);
glm_quat_mul(rot_z, tmp, expected); glm_quat_mul(tmp, rot_z, expected);
/*use my function to get the quaternion*/
glm_euler_xyz_quat(result, angles); glm_euler_xyz_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/ /* verify if the magnitude of the quaternion stays 1 */
ASSERT(test_eq(glm_quat_norm(result), 1.0f)) 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)) ASSERTIFY(test_assert_quat_eq(result, expected))
/* verify that it acts the same as glm_euler_by_order */
mat4 expected_mat4;
glm_euler_by_order(angles, GLM_EULER_XYZ, expected_mat4);
glm_mat4_quat(expected_mat4, expected);
} }
/*Start gimbal lock tests*/ /* Start gimbal lock tests */
for (float x = -90.0f; x <= 90.0f; x += 90.0f) { for (float x = -90.0f; x <= 90.0f; x += 90.0f) {
for (float y = -90.0f; y <= 90.0f; y += 90.0f) { for (float y = -90.0f; y <= 90.0f; y += 90.0f) {
for (float z = -90.0f; z <= 90.0f; z += 90.0f) { for (float z = -90.0f; z <= 90.0f; z += 90.0f) {
/* angles that will cause gimbal lock*/ angles[0] = x;
vec3 angles = {x, y, z}; angles[1] = y;
angles[2] = z;
/*quaternion representations for rotations*/ /* create the rotation quaternions using the angles and axises */
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};
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 expected = {0.0f, 0.0f, 0.0f, 1.0f};
versor result;
/*create the rotation quaternions using the angles and axises*/
glm_quatv(rot_x, angles[0], axis_x); glm_quatv(rot_x, angles[0], axis_x);
glm_quatv(rot_y, angles[1], axis_y); glm_quatv(rot_y, angles[1], axis_y);
glm_quatv(rot_z, angles[2], axis_z); glm_quatv(rot_z, angles[2], axis_z);
/*apply the rotations to a unit quaternion in xyz order*/ /* apply the rotations to a unit quaternion in xyz order */
glm_quat_identity(expected);
versor tmp; versor tmp;
glm_quat_copy(expected, tmp); glm_quat_copy(expected, tmp);
glm_quat_mul(rot_x, tmp, expected); glm_quat_mul(tmp, rot_x, expected);
glm_quat_copy(expected, tmp); glm_quat_copy(expected, tmp);
glm_quat_mul(rot_y, tmp, expected); glm_quat_mul(tmp, rot_y, expected);
glm_quat_copy(expected, tmp); glm_quat_copy(expected, tmp);
glm_quat_mul(rot_z, tmp, expected); glm_quat_mul(tmp, rot_z, expected);
/*use my function to get the quaternion*/ /* use my function to get the quaternion */
glm_euler_xyz_quat(result, angles); glm_euler_xyz_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/ /* verify if the magnitude of the quaternion stays 1 */
ASSERT(test_eq(glm_quat_norm(result), 1.0f)) ASSERT(test_eq(glm_quat_norm(result), 1.0f))
ASSERTIFY(test_assert_quat_eq(result, expected)) ASSERTIFY(test_assert_quat_eq(result, expected))
/* verify that it acts the same as glm_euler_by_order */
mat4 expected_mat4;
glm_euler_by_order(angles, GLM_EULER_XYZ, expected_mat4);
glm_mat4_quat(expected_mat4, expected);
fprintf(stderr, "%f %f %f %f vs %f %f %f %f\n",
expected[0], expected[1], expected[2], expected[3],
result[0], result[1], result[2], result[3]);
ASSERTIFY(test_assert_quat_eq(result, expected));
} }
} }
} }
@@ -98,454 +104,476 @@ TEST_IMPL(GLM_PREFIX, euler_xyz_quat) {
} }
TEST_IMPL(GLM_PREFIX, euler_xzy_quat) { TEST_IMPL(GLM_PREFIX, euler_xzy_quat) {
TEST_SUCCESS //TODO REMOVE
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;
/* 100 randomized tests */
for (int i = 0; i < 100; i++) { for (int i = 0; i < 100; i++) {
/*random angles for testing*/
vec3 angles;
/*quaternion representations for rotations*/
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};
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 expected = {0.0f, 0.0f, 0.0f, 1.0f};
versor result;
test_rand_vec3(angles); test_rand_vec3(angles);
/*create the rotation quaternions using the angles and axises*/ /* create the rotation quaternions using the angles and axises */
glm_quatv(rot_x, angles[0], axis_x); glm_quatv(rot_x, angles[0], axis_x);
glm_quatv(rot_y, angles[1], axis_y); glm_quatv(rot_y, angles[1], axis_y);
glm_quatv(rot_z, angles[2], axis_z); glm_quatv(rot_z, angles[2], axis_z);
/*apply the rotations to a unit quaternion in xzy order*/ /* apply the rotations to a unit quaternion in xzy order */
glm_quat_identity(expected);
versor tmp; versor tmp;
glm_quat_copy(expected, tmp); glm_quat_copy(expected, tmp);
glm_quat_mul(rot_x, tmp, expected); glm_quat_mul(tmp, rot_x, expected);
glm_quat_copy(expected, tmp); glm_quat_copy(expected, tmp);
glm_quat_mul(rot_z, tmp, expected); glm_quat_mul(tmp, rot_z, expected);
glm_quat_copy(expected, tmp); glm_quat_copy(expected, tmp);
glm_quat_mul(rot_y, tmp, expected); glm_quat_mul(tmp, rot_y, expected);
/*use my function to get the quaternion*/
glm_euler_xzy_quat(result, angles); glm_euler_xzy_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/ /* verify if the magnitude of the quaternion stays 1 */
ASSERT(test_eq(glm_quat_norm(result), 1.0f)) 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)) ASSERTIFY(test_assert_quat_eq(result, expected))
/* verify that it acts the same as glm_euler_by_order */
mat4 expected_mat4;
glm_euler_by_order(angles, GLM_EULER_XZY, expected_mat4);
glm_mat4_quat(expected_mat4, expected);
ASSERTIFY(test_assert_quat_eq(result, expected));
} }
/*Start gimbal lock tests*/
/* Start gimbal lock tests */
for (float x = -90.0f; x <= 90.0f; x += 90.0f) { for (float x = -90.0f; x <= 90.0f; x += 90.0f) {
for (float y = -90.0f; y <= 90.0f; y += 90.0f) { for (float y = -90.0f; y <= 90.0f; y += 90.0f) {
for (float z = -90.0f; z <= 90.0f; z += 90.0f) { for (float z = -90.0f; z <= 90.0f; z += 90.0f) {
/* angles that will cause gimbal lock*/ angles[0] = x;
vec3 angles = {x, y, z}; angles[1] = y;
angles[2] = z;
/*quaternion representations for rotations*/ /* create the rotation quaternions using the angles and axises */
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};
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 expected = {0.0f, 0.0f, 0.0f, 1.0f};
versor result;
/*create the rotation quaternions using the angles and axises*/
glm_quatv(rot_x, angles[0], axis_x); glm_quatv(rot_x, angles[0], axis_x);
glm_quatv(rot_y, angles[1], axis_y); glm_quatv(rot_y, angles[1], axis_y);
glm_quatv(rot_z, angles[2], axis_z); glm_quatv(rot_z, angles[2], axis_z);
/*apply the rotations to a unit quaternion in xyz order*/ /* apply the rotations to a unit quaternion in xzy order */
glm_quat_identity(expected);
versor tmp; versor tmp;
glm_quat_copy(expected, tmp); glm_quat_copy(expected, tmp);
glm_quat_mul(rot_x, tmp, expected); glm_quat_mul(tmp, rot_x, expected);
glm_quat_copy(expected, tmp); glm_quat_copy(expected, tmp);
glm_quat_mul(rot_z, tmp, expected); glm_quat_mul(tmp, rot_z, expected);
glm_quat_copy(expected, tmp); glm_quat_copy(expected, tmp);
glm_quat_mul(rot_y, tmp, expected); glm_quat_mul(tmp, rot_y, expected);
/*use my function to get the quaternion*/ /* use my function to get the quaternion */
glm_euler_xzy_quat(result, angles); glm_euler_xyz_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/ /* verify if the magnitude of the quaternion stays 1 */
ASSERT(test_eq(glm_quat_norm(result), 1.0f)) ASSERT(test_eq(glm_quat_norm(result), 1.0f))
ASSERTIFY(test_assert_quat_eq(result, expected)) ASSERTIFY(test_assert_quat_eq(result, expected))
/* verify that it acts the same as glm_euler_by_order */
mat4 expected_mat4;
glm_euler_by_order(angles, GLM_EULER_XZY, expected_mat4);
glm_mat4_quat(expected_mat4, expected);
ASSERTIFY(test_assert_quat_eq(result, expected));
} }
} }
} }
TEST_SUCCESS TEST_SUCCESS
} }
TEST_IMPL(GLM_PREFIX, euler_yxz_quat) { TEST_IMPL(GLM_PREFIX, euler_yxz_quat) {
TEST_SUCCESS //TODO REMOVE
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;
/* 100 randomized tests */
for (int i = 0; i < 100; i++) { for (int i = 0; i < 100; i++) {
/*random angles for testing*/
vec3 angles;
/*quaternion representations for rotations*/
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};
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 expected = {0.0f, 0.0f, 0.0f, 1.0f};
versor result;
test_rand_vec3(angles); test_rand_vec3(angles);
/*create the rotation quaternions using the angles and axises*/ /* create the rotation quaternions using the angles and axises */
glm_quatv(rot_x, angles[0], axis_x); glm_quatv(rot_x, angles[0], axis_x);
glm_quatv(rot_y, angles[1], axis_y); glm_quatv(rot_y, angles[1], axis_y);
glm_quatv(rot_z, angles[2], axis_z); glm_quatv(rot_z, angles[2], axis_z);
/*apply the rotations to a unit quaternion in yxz order*/ /* apply the rotations to a unit quaternion in yxz order */
glm_quat_identity(expected);
versor tmp; versor tmp;
glm_quat_copy(expected, tmp); glm_quat_copy(expected, tmp);
glm_quat_mul(rot_y, tmp, expected); glm_quat_mul(tmp, rot_y, expected);
glm_quat_copy(expected, tmp); glm_quat_copy(expected, tmp);
glm_quat_mul(rot_x, tmp, expected); glm_quat_mul(tmp, rot_x, expected);
glm_quat_copy(expected, tmp); glm_quat_copy(expected, tmp);
glm_quat_mul(rot_z, tmp, expected); glm_quat_mul(tmp, rot_z, expected);
/*use my function to get the quaternion*/ glm_euler_xyz_quat(result, angles);
glm_euler_yxz_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/ /* verify if the magnitude of the quaternion stays 1 */
ASSERT(test_eq(glm_quat_norm(result), 1.0f)) 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)) ASSERTIFY(test_assert_quat_eq(result, expected))
/* verify that it acts the same as glm_euler_by_order */
mat4 expected_mat4;
glm_euler_by_order(angles, GLM_EULER_YXZ, expected_mat4);
glm_mat4_quat(expected_mat4, expected);
ASSERTIFY(test_assert_quat_eq(result, expected));
} }
/*Start gimbal lock tests*/
/* Start gimbal lock tests */
for (float x = -90.0f; x <= 90.0f; x += 90.0f) { for (float x = -90.0f; x <= 90.0f; x += 90.0f) {
for (float y = -90.0f; y <= 90.0f; y += 90.0f) { for (float y = -90.0f; y <= 90.0f; y += 90.0f) {
for (float z = -90.0f; z <= 90.0f; z += 90.0f) { for (float z = -90.0f; z <= 90.0f; z += 90.0f) {
/* angles that will cause gimbal lock*/ angles[0] = x;
vec3 angles = {x, y, z}; angles[1] = y;
angles[2] = z;
/*quaternion representations for rotations*/ /* create the rotation quaternions using the angles and axises */
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};
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 expected = {0.0f, 0.0f, 0.0f, 1.0f};
versor result;
/*create the rotation quaternions using the angles and axises*/
glm_quatv(rot_x, angles[0], axis_x); glm_quatv(rot_x, angles[0], axis_x);
glm_quatv(rot_y, angles[1], axis_y); glm_quatv(rot_y, angles[1], axis_y);
glm_quatv(rot_z, angles[2], axis_z); glm_quatv(rot_z, angles[2], axis_z);
/*apply the rotations to a unit quaternion in yxz order*/ /* apply the rotations to a unit quaternion in yxz order */
glm_quat_identity(expected);
versor tmp; versor tmp;
glm_quat_copy(expected, tmp); glm_quat_copy(expected, tmp);
glm_quat_mul(rot_y, tmp, expected); glm_quat_mul(tmp, rot_y, expected);
glm_quat_copy(expected, tmp); glm_quat_copy(expected, tmp);
glm_quat_mul(rot_x, tmp, expected); glm_quat_mul(tmp, rot_x, expected);
glm_quat_copy(expected, tmp); glm_quat_copy(expected, tmp);
glm_quat_mul(rot_z, tmp, expected); glm_quat_mul(tmp, rot_z, expected);
/*use my function to get the quaternion*/ /* use my function to get the quaternion */
glm_euler_yxz_quat(result, angles); glm_euler_xyz_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/ /* verify if the magnitude of the quaternion stays 1 */
ASSERT(test_eq(glm_quat_norm(result), 1.0f)) ASSERT(test_eq(glm_quat_norm(result), 1.0f))
ASSERTIFY(test_assert_quat_eq(result, expected)) ASSERTIFY(test_assert_quat_eq(result, expected))
/* verify that it acts the same as glm_euler_by_order */
mat4 expected_mat4;
glm_euler_by_order(angles, GLM_EULER_YXZ, expected_mat4);
glm_mat4_quat(expected_mat4, expected);
ASSERTIFY(test_assert_quat_eq(result, expected));
} }
} }
} }
TEST_SUCCESS TEST_SUCCESS
} }
TEST_IMPL(GLM_PREFIX, euler_yzx_quat) { TEST_IMPL(GLM_PREFIX, euler_yzx_quat) {
TEST_SUCCESS //TODO REMOVE
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;
/* 100 randomized tests */
for (int i = 0; i < 100; i++) { for (int i = 0; i < 100; i++) {
/*random angles for testing*/
vec3 angles;
/*quaternion representations for rotations*/
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};
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 expected = {0.0f, 0.0f, 0.0f, 1.0f};
versor result;
test_rand_vec3(angles); test_rand_vec3(angles);
/*create the rotation quaternions using the angles and axises*/ /* create the rotation quaternions using the angles and axises */
glm_quatv(rot_x, angles[0], axis_x); glm_quatv(rot_x, angles[0], axis_x);
glm_quatv(rot_y, angles[1], axis_y); glm_quatv(rot_y, angles[1], axis_y);
glm_quatv(rot_z, angles[2], axis_z); glm_quatv(rot_z, angles[2], axis_z);
/*apply the rotations to a unit quaternion in yzx order*/ /* apply the rotations to a unit quaternion in yzx order */
glm_quat_identity(expected);
versor tmp; versor tmp;
glm_quat_copy(expected, tmp); glm_quat_copy(expected, tmp);
glm_quat_mul(rot_y, tmp, expected); glm_quat_mul(tmp, rot_y, expected);
glm_quat_copy(expected, tmp); glm_quat_copy(expected, tmp);
glm_quat_mul(rot_z, tmp, expected); glm_quat_mul(tmp, rot_z, expected);
glm_quat_copy(expected, tmp); glm_quat_copy(expected, tmp);
glm_quat_mul(rot_x, tmp, expected); glm_quat_mul(tmp, rot_x, expected);
/*use my function to get the quaternion*/ glm_euler_xyz_quat(result, angles);
glm_euler_yzx_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/ /* verify if the magnitude of the quaternion stays 1 */
ASSERT(test_eq(glm_quat_norm(result), 1.0f)) 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)) ASSERTIFY(test_assert_quat_eq(result, expected))
/* verify that it acts the same as glm_euler_by_order */
mat4 expected_mat4;
glm_euler_by_order(angles, GLM_EULER_YZX, expected_mat4);
glm_mat4_quat(expected_mat4, expected);
ASSERTIFY(test_assert_quat_eq(result, expected));
} }
/*Start gimbal lock tests*/
/* Start gimbal lock tests */
for (float x = -90.0f; x <= 90.0f; x += 90.0f) { for (float x = -90.0f; x <= 90.0f; x += 90.0f) {
for (float y = -90.0f; y <= 90.0f; y += 90.0f) { for (float y = -90.0f; y <= 90.0f; y += 90.0f) {
for (float z = -90.0f; z <= 90.0f; z += 90.0f) { for (float z = -90.0f; z <= 90.0f; z += 90.0f) {
/* angles that will cause gimbal lock*/ angles[0] = x;
vec3 angles = {x, y, z}; angles[1] = y;
angles[2] = z;
/*quaternion representations for rotations*/ /* create the rotation quaternions using the angles and axises */
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};
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 expected = {0.0f, 0.0f, 0.0f, 1.0f};
versor result;
/*create the rotation quaternions using the angles and axises*/
glm_quatv(rot_x, angles[0], axis_x); glm_quatv(rot_x, angles[0], axis_x);
glm_quatv(rot_y, angles[1], axis_y); glm_quatv(rot_y, angles[1], axis_y);
glm_quatv(rot_z, angles[2], axis_z); glm_quatv(rot_z, angles[2], axis_z);
/*apply the rotations to a unit quaternion in yzx order*/ /* apply the rotations to a unit quaternion in yzx order */
glm_quat_identity(expected);
versor tmp; versor tmp;
glm_quat_copy(expected, tmp); glm_quat_copy(expected, tmp);
glm_quat_mul(rot_y, tmp, expected); glm_quat_mul(tmp, rot_y, expected);
glm_quat_copy(expected, tmp); glm_quat_copy(expected, tmp);
glm_quat_mul(rot_z, tmp, expected); glm_quat_mul(tmp, rot_z, expected);
glm_quat_copy(expected, tmp); glm_quat_copy(expected, tmp);
glm_quat_mul(rot_x, tmp, expected); glm_quat_mul(tmp, rot_x, expected);
/*use my function to get the quaternion*/ /* use my function to get the quaternion */
glm_euler_yzx_quat(result, angles); glm_euler_xyz_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/ /* verify if the magnitude of the quaternion stays 1 */
ASSERT(test_eq(glm_quat_norm(result), 1.0f)) ASSERT(test_eq(glm_quat_norm(result), 1.0f))
ASSERTIFY(test_assert_quat_eq(result, expected)) ASSERTIFY(test_assert_quat_eq(result, expected))
/* verify that it acts the same as glm_euler_by_order */
mat4 expected_mat4;
glm_euler_by_order(angles, GLM_EULER_YZX, expected_mat4);
glm_mat4_quat(expected_mat4, expected);
ASSERTIFY(test_assert_quat_eq(result, expected));
} }
} }
} }
TEST_SUCCESS TEST_SUCCESS
} }
TEST_IMPL(GLM_PREFIX, euler_zxy_quat) { TEST_IMPL(GLM_PREFIX, euler_zxy_quat) {
TEST_SUCCESS //TODO REMOVE
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;
/* 100 randomized tests */
for (int i = 0; i < 100; i++) { for (int i = 0; i < 100; i++) {
/*random angles for testing*/
vec3 angles;
/*quaternion representations for rotations*/
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};
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 expected = {0.0f, 0.0f, 0.0f, 1.0f};
versor result;
test_rand_vec3(angles); test_rand_vec3(angles);
/*create the rotation quaternions using the angles and axises*/ /* create the rotation quaternions using the angles and axises */
glm_quatv(rot_x, angles[0], axis_x); glm_quatv(rot_x, angles[0], axis_x);
glm_quatv(rot_y, angles[1], axis_y); glm_quatv(rot_y, angles[1], axis_y);
glm_quatv(rot_z, angles[2], axis_z); glm_quatv(rot_z, angles[2], axis_z);
/*apply the rotations to a unit quaternion in zxy order*/ /* apply the rotations to a unit quaternion in zxy order */
glm_quat_identity(expected);
versor tmp; versor tmp;
glm_quat_copy(expected, tmp); glm_quat_copy(expected, tmp);
glm_quat_mul(rot_z, tmp, expected); glm_quat_mul(tmp, rot_z, expected);
glm_quat_copy(expected, tmp); glm_quat_copy(expected, tmp);
glm_quat_mul(rot_x, tmp, expected); glm_quat_mul(tmp, rot_x, expected);
glm_quat_copy(expected, tmp); glm_quat_copy(expected, tmp);
glm_quat_mul(rot_y, tmp, expected); glm_quat_mul(tmp, rot_y, expected);
/*use my function to get the quaternion*/ glm_euler_xyz_quat(result, angles);
glm_euler_zxy_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/ /* verify if the magnitude of the quaternion stays 1 */
ASSERT(test_eq(glm_quat_norm(result), 1.0f)) 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)) ASSERTIFY(test_assert_quat_eq(result, expected))
/* verify that it acts the same as glm_euler_by_order */
mat4 expected_mat4;
glm_euler_by_order(angles, GLM_EULER_ZXY, expected_mat4);
glm_mat4_quat(expected_mat4, expected);
ASSERTIFY(test_assert_quat_eq(result, expected));
} }
/*Start gimbal lock tests*/
/* Start gimbal lock tests */
for (float x = -90.0f; x <= 90.0f; x += 90.0f) { for (float x = -90.0f; x <= 90.0f; x += 90.0f) {
for (float y = -90.0f; y <= 90.0f; y += 90.0f) { for (float y = -90.0f; y <= 90.0f; y += 90.0f) {
for (float z = -90.0f; z <= 90.0f; z += 90.0f) { for (float z = -90.0f; z <= 90.0f; z += 90.0f) {
/* angles that will cause gimbal lock*/ angles[0] = x;
vec3 angles = {x, y, z}; angles[1] = y;
angles[2] = z;
/*quaternion representations for rotations*/ /* create the rotation quaternions using the angles and axises */
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};
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 expected = {0.0f, 0.0f, 0.0f, 1.0f};
versor result;
/*create the rotation quaternions using the angles and axises*/
glm_quatv(rot_x, angles[0], axis_x); glm_quatv(rot_x, angles[0], axis_x);
glm_quatv(rot_y, angles[1], axis_y); glm_quatv(rot_y, angles[1], axis_y);
glm_quatv(rot_z, angles[2], axis_z); glm_quatv(rot_z, angles[2], axis_z);
/*apply the rotations to a unit quaternion in zxy order*/ /* apply the rotations to a unit quaternion in zxy order */
glm_quat_identity(expected);
versor tmp; versor tmp;
glm_quat_copy(expected, tmp); glm_quat_copy(expected, tmp);
glm_quat_mul(rot_z, tmp, expected); glm_quat_mul(tmp, rot_z, expected);
glm_quat_copy(expected, tmp); glm_quat_copy(expected, tmp);
glm_quat_mul(rot_x, tmp, expected); glm_quat_mul(tmp, rot_x, expected);
glm_quat_copy(expected, tmp); glm_quat_copy(expected, tmp);
glm_quat_mul(rot_y, tmp, expected); glm_quat_mul(tmp, rot_y, expected);
/* use my function to get the quaternion */
glm_euler_xyz_quat(result, angles);
/*use my function to get the quaternion*/ /* verify if the magnitude of the quaternion stays 1 */
glm_euler_zxy_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/
ASSERT(test_eq(glm_quat_norm(result), 1.0f)) ASSERT(test_eq(glm_quat_norm(result), 1.0f))
ASSERTIFY(test_assert_quat_eq(result, expected)) ASSERTIFY(test_assert_quat_eq(result, expected))
/* verify that it acts the same as glm_euler_by_order */
mat4 expected_mat4;
glm_euler_by_order(angles, GLM_EULER_ZXY, expected_mat4);
glm_mat4_quat(expected_mat4, expected);
ASSERTIFY(test_assert_quat_eq(result, expected));
} }
} }
} }
TEST_SUCCESS TEST_SUCCESS
} }
TEST_IMPL(GLM_PREFIX, euler_zyx_quat) { TEST_IMPL(GLM_PREFIX, euler_zyx_quat) {
TEST_SUCCESS //TODO REMOVE
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;
/* 100 randomized tests */
for (int i = 0; i < 100; i++) { for (int i = 0; i < 100; i++) {
/*random angles for testing*/
vec3 angles;
/*quaternion representations for rotations*/
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};
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 expected = {0.0f, 0.0f, 0.0f, 1.0f};
versor result;
test_rand_vec3(angles); test_rand_vec3(angles);
/*create the rotation quaternions using the angles and axises*/ /* create the rotation quaternions using the angles and axises */
glm_quatv(rot_x, angles[0], axis_x); glm_quatv(rot_x, angles[0], axis_x);
glm_quatv(rot_y, angles[1], axis_y); glm_quatv(rot_y, angles[1], axis_y);
glm_quatv(rot_z, angles[2], axis_z); glm_quatv(rot_z, angles[2], axis_z);
/*apply the rotations to a unit quaternion in zyx order*/ /* apply the rotations to a unit quaternion in zyx order */
glm_quat_identity(expected);
versor tmp; versor tmp;
glm_quat_copy(expected, tmp); glm_quat_copy(expected, tmp);
glm_quat_mul(rot_z, tmp, expected); glm_quat_mul(tmp, rot_z, expected);
glm_quat_copy(expected, tmp); glm_quat_copy(expected, tmp);
glm_quat_mul(rot_y, tmp, expected); glm_quat_mul(tmp, rot_y, expected);
glm_quat_copy(expected, tmp); glm_quat_copy(expected, tmp);
glm_quat_mul(rot_x, tmp, expected); glm_quat_mul(tmp, rot_x, expected);
glm_euler_xyz_quat(result, angles);
/*use my function to get the quaternion*/ /* verify if the magnitude of the quaternion stays 1 */
glm_euler_zyx_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/
ASSERT(test_eq(glm_quat_norm(result), 1.0f)) 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)) ASSERTIFY(test_assert_quat_eq(result, expected))
/* verify that it acts the same as glm_euler_by_order */
mat4 expected_mat4;
glm_euler_by_order(angles, GLM_EULER_ZYX, expected_mat4);
glm_mat4_quat(expected_mat4, expected);
ASSERTIFY(test_assert_quat_eq(result, expected));
} }
/*Start gimbal lock tests*/
/* Start gimbal lock tests */
for (float x = -90.0f; x <= 90.0f; x += 90.0f) { for (float x = -90.0f; x <= 90.0f; x += 90.0f) {
for (float y = -90.0f; y <= 90.0f; y += 90.0f) { for (float y = -90.0f; y <= 90.0f; y += 90.0f) {
for (float z = -90.0f; z <= 90.0f; z += 90.0f) { for (float z = -90.0f; z <= 90.0f; z += 90.0f) {
angles[0] = x;
angles[1] = y;
angles[2] = z;
/* angles that will cause gimbal lock*/ /* create the rotation quaternions using the angles and axises */
vec3 angles = {x, y, z};
/*quaternion representations for rotations*/
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};
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 expected = {0.0f, 0.0f, 0.0f, 1.0f};
versor result;
/*create the rotation quaternions using the angles and axises*/
glm_quatv(rot_x, angles[0], axis_x); glm_quatv(rot_x, angles[0], axis_x);
glm_quatv(rot_y, angles[1], axis_y); glm_quatv(rot_y, angles[1], axis_y);
glm_quatv(rot_z, angles[2], axis_z); glm_quatv(rot_z, angles[2], axis_z);
/*apply the rotations to a unit quaternion in zyx order*/ /* apply the rotations to a unit quaternion in xyz order */
glm_quat_identity(expected);
versor tmp; versor tmp;
glm_quat_copy(expected, tmp); glm_quat_copy(expected, tmp);
glm_quat_mul(rot_z, tmp, expected); glm_quat_mul(tmp, rot_z, expected);
glm_quat_copy(expected, tmp); glm_quat_copy(expected, tmp);
glm_quat_mul(rot_y, tmp, expected); glm_quat_mul(tmp, rot_y, expected);
glm_quat_copy(expected, tmp); glm_quat_copy(expected, tmp);
glm_quat_mul(rot_x, tmp, expected); glm_quat_mul(tmp, rot_x, expected);
/* use my function to get the quaternion */
glm_euler_xyz_quat(result, angles);
/*use my function to get the quaternion*/ /* verify if the magnitude of the quaternion stays 1 */
glm_euler_zyx_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/
ASSERT(test_eq(glm_quat_norm(result), 1.0f)) ASSERT(test_eq(glm_quat_norm(result), 1.0f))
ASSERTIFY(test_assert_quat_eq(result, expected)) ASSERTIFY(test_assert_quat_eq(result, expected))
/* verify that it acts the same as glm_euler_by_order */
mat4 expected_mat4;
glm_euler_by_order(angles, GLM_EULER_ZYX, expected_mat4);
glm_mat4_quat(expected_mat4, expected);
ASSERTIFY(test_assert_quat_eq(result, expected));
} }
} }
} }
TEST_SUCCESS TEST_SUCCESS
} }
TEST_IMPL(euler) { TEST_IMPL(euler) {
mat4 rot1, rot2; mat4 rot1, rot2;
vec3 inAngles, outAngles; vec3 inAngles, outAngles;