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finally done with tests and all euler to quaternion functions

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This commit is contained in:
John Choi
2023-12-08 12:19:09 -06:00
parent c5694c5c17
commit 2f7dbad6a8
2 changed files with 19 additions and 33 deletions
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12
include/cglm/quat.h
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@@ -215,12 +215,10 @@ glm_euler_yxz_quat(versor q, vec3 angles) {
float zc = cosf(angles[2] / 2.0f);
glm_quat_init(q,
zc * xc * ys - zs * xs * yc,
zc * xs * yc - zs * xc * ys,
zc * xc * ys + zs * xs * yc,
zc * xs * ys + zs * xc * yc,
zc * xs * yc + zs * xc * ys,
zc * xc * yc - zs * xs * ys);
}
/*!
@@ -271,9 +269,9 @@ glm_euler_zxy_quat(versor q, vec3 angles) {
glm_quat_init(q,
yc * xs * zc + ys * xc * zs,
-yc * xs * zs + ys * xc * zc,
yc * xc * zs - ys * xs * zc,
yc * xs * zs + ys * xc * zc,
yc * xc * zc - ys * xs * zs);
yc * xc * zc + ys * xs * zs);
}
@@ -299,8 +297,8 @@ glm_euler_zyx_quat(versor q, vec3 angles) {
glm_quat_init(q,
xc * ys * zs + xs * yc * zc,
xc * ys * zc - xs * yc * zs,
xc * yc * zs + xs * ys * zc,
-xc * ys * zc + xs * yc * zs,
xc * yc * zc - xs * ys * zs);
}