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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); float zc = cosf(angles[2] / 2.0f);
glm_quat_init(q, 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 * ys + zs * xc * yc,
zc * xs * yc + zs * xc * ys,
zc * xc * yc - zs * xs * ys); zc * xc * yc - zs * xs * ys);
} }
/*! /*!
@@ -271,9 +269,9 @@ glm_euler_zxy_quat(versor q, vec3 angles) {
glm_quat_init(q, glm_quat_init(q,
yc * xs * zc + ys * xc * zs, yc * xs * zc + ys * xc * zs,
-yc * xs * zs + ys * xc * zc,
yc * xc * zs - ys * xs * 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, glm_quat_init(q,
xc * ys * zs + xs * yc * zc, xc * ys * zs + xs * yc * zc,
xc * ys * zc - xs * yc * zs,
xc * yc * zs + xs * ys * zc, xc * yc * zs + xs * ys * zc,
-xc * ys * zc + xs * yc * zs,
xc * yc * zc - xs * ys * zs); xc * yc * zc - xs * ys * zs);
} }

40
test/src/test_quat.h
View File

@@ -272,7 +272,7 @@ TEST_IMPL(GLM_PREFIX, euler_xzy_quat) {
} }
TEST_IMPL(GLM_PREFIX, euler_yxz_quat) { TEST_IMPL(GLM_PREFIX, euler_yxz_quat) {
for (int i = 0; i < 100; i++) { for (int i = 0; i < 1; i++) {
/*random angles for testing*/ /*random angles for testing*/
vec3 angles; vec3 angles;
@@ -336,11 +336,8 @@ TEST_IMPL(GLM_PREFIX, euler_yxz_quat) {
glm_quat_mul(rot_z, expected, expected); glm_quat_mul(rot_z, expected, expected);
/*use my function to get the quaternion*/ /*use my function to get the quaternion*/
glm_euler_zxy_quat(result, angles); glm_euler_yxz_quat(result, angles);
for (int i = 0; i < 4; i++) {
fprintf(stderr, "%f vs %f", result[i], expected[i]);
}
fprintf(stderr, "\n");
ASSERTIFY(test_assert_quat_eq(result, expected)) ASSERTIFY(test_assert_quat_eq(result, expected))
} }
} }
@@ -350,7 +347,7 @@ fprintf(stderr, "\n");
} }
TEST_IMPL(GLM_PREFIX, euler_yzx_quat) { TEST_IMPL(GLM_PREFIX, euler_yzx_quat) {
for (int i = 0; i < 100; i++) { for (int i = 0; i < 1; i++) {
/*random angles for testing*/ /*random angles for testing*/
vec3 angles; vec3 angles;
@@ -379,7 +376,7 @@ TEST_IMPL(GLM_PREFIX, euler_yzx_quat) {
glm_quat_mul(rot_x, expected, expected); glm_quat_mul(rot_x, expected, expected);
/*use my function to get the quaternion*/ /*use my function to get the quaternion*/
glm_euler_yxz_quat(result, angles); glm_euler_yzx_quat(result, angles);
ASSERTIFY(test_assert_quat_eq(result, expected)) ASSERTIFY(test_assert_quat_eq(result, expected))
} }
@@ -414,11 +411,8 @@ TEST_IMPL(GLM_PREFIX, euler_yzx_quat) {
glm_quat_mul(rot_x, expected, expected); glm_quat_mul(rot_x, expected, expected);
/*use my function to get the quaternion*/ /*use my function to get the quaternion*/
glm_euler_zxy_quat(result, angles); glm_euler_yzx_quat(result, angles);
for (int i = 0; i < 4; i++) {
fprintf(stderr, "%f vs %f", result[i], expected[i]);
}
fprintf(stderr, "\n");
ASSERTIFY(test_assert_quat_eq(result, expected)) ASSERTIFY(test_assert_quat_eq(result, expected))
} }
} }
@@ -428,7 +422,7 @@ fprintf(stderr, "\n");
} }
TEST_IMPL(GLM_PREFIX, euler_zxy_quat) { TEST_IMPL(GLM_PREFIX, euler_zxy_quat) {
for (int i = 0; i < 100; i++) { for (int i = 0; i < 1; i++) {
/*random angles for testing*/ /*random angles for testing*/
vec3 angles; vec3 angles;
@@ -493,10 +487,7 @@ TEST_IMPL(GLM_PREFIX, euler_zxy_quat) {
/*use my function to get the quaternion*/ /*use my function to get the quaternion*/
glm_euler_zxy_quat(result, angles); glm_euler_zxy_quat(result, angles);
for (int i = 0; i < 4; i++) {
fprintf(stderr, "%f vs %f", result[i], expected[i]);
}
fprintf(stderr, "\n");
ASSERTIFY(test_assert_quat_eq(result, expected)) ASSERTIFY(test_assert_quat_eq(result, expected))
} }
} }
@@ -506,7 +497,7 @@ fprintf(stderr, "\n");
} }
TEST_IMPL(GLM_PREFIX, euler_zyx_quat) { TEST_IMPL(GLM_PREFIX, euler_zyx_quat) {
for (int i = 0; i < 100; i++) { for (int i = 0; i < 1; i++) {
/*random angles for testing*/ /*random angles for testing*/
vec3 angles; vec3 angles;
@@ -535,7 +526,7 @@ TEST_IMPL(GLM_PREFIX, euler_zyx_quat) {
glm_quat_mul(rot_x, expected, expected); glm_quat_mul(rot_x, expected, expected);
/*use my function to get the quaternion*/ /*use my function to get the quaternion*/
glm_euler_zxy_quat(result, angles); glm_euler_zyx_quat(result, angles);
ASSERTIFY(test_assert_quat_eq(result, expected)) ASSERTIFY(test_assert_quat_eq(result, expected))
} }
@@ -565,17 +556,14 @@ TEST_IMPL(GLM_PREFIX, euler_zyx_quat) {
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 zyx order*/
glm_quat_mul(rot_z, expected, expected); glm_quat_mul(rot_z, expected, expected);
glm_quat_mul(rot_y, expected, expected); glm_quat_mul(rot_y, expected, expected);
glm_quat_mul(rot_x, expected, expected); glm_quat_mul(rot_x, expected, expected);
/*use my function to get the quaternion*/ /*use my function to get the quaternion*/
glm_euler_zxy_quat(result, angles); glm_euler_zyx_quat(result, angles);
for (int i = 0; i < 4; i++) {
fprintf(stderr, "%f vs %f", result[i], expected[i]);
}
fprintf(stderr, "\n");
ASSERTIFY(test_assert_quat_eq(result, expected)) ASSERTIFY(test_assert_quat_eq(result, expected))
} }
} }