External/cglm
1
0
Fork 0
mirror of https://github.com/recp/cglm.git synced 2025-10-03 16:51:35 +00:00
Code Issues Packages Projects Releases Wiki Activity

made quat struct and also exported it

Browse Source
This commit is contained in:
John Choi
2023-12-08 13:05:53 -06:00
parent 2f7dbad6a8
commit 4ee6aea037
5 changed files with 200 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

24
include/cglm/call/quat.h
View File

@@ -25,6 +25,30 @@ CGLM_EXPORT
void
glmc_quat_init(versor q, float x, float y, float z, float w);
CGLM_EXPORT
void
glmc_euler_xyz_quat(versor q, vec3 angles);
CGLM_EXPORT
void
glmc_euler_xzy_quat(versor q, vec3 angles);
CGLM_EXPORT
void
glmc_euler_yxz_quat(versor q, vec3 angles);
CGLM_EXPORT
void
glmc_euler_yzx_quat(versor q, vec3 angles);
CGLM_EXPORT
void
glmc_euler_zxy_quat(versor q, vec3 angles);
CGLM_EXPORT
void
glmc_euler_zyx_quat(versor q, vec3 angles);
CGLM_EXPORT
void
glmc_quat(versor q, float angle, float x, float y, float z);

8
include/cglm/quat.h
View File

@@ -13,6 +13,12 @@
Functions:
CGLM_INLINE void glm_quat_identity(versor q);
CGLM_INLINE void glm_quat_init(versor q, float x, float y, float z, float w);
CGLM_INLINE void glm_euler_xyz_quat(versor q, vec3 angles);
CGLM_INLINE void glm_euler_xzy_quat(versor q, vec3 angles);
CGLM_INLINE void glm_euler_yxz_quat(versor q, vec3 angles);
CGLM_INLINE void glm_euler_yzx_quat(versor q, vec3 angles);
CGLM_INLINE void glm_euler_zxy_quat(versor q, vec3 angles);
CGLM_INLINE void glm_euler_zyx_quat(versor q, vec3 angles);
CGLM_INLINE void glm_quat(versor q, float angle, float x, float y, float z);
CGLM_INLINE void glm_quatv(versor q, float angle, vec3 axis);
CGLM_INLINE void glm_quat_copy(versor q, versor dest);
@@ -139,8 +145,6 @@ glm_quat_init(versor q, float x, float y, float z, float w) {
q[3] = w;
}
//TODO: telephone001's eulertoquat
/*!
* @brief creates NEW quaternion using rotation angles and does
* rotations in x y z order (roll pitch yaw)

97
include/cglm/struct/quat.h
View File

@@ -14,6 +14,12 @@
CGLM_INLINE versors glms_quat_identity(void)
CGLM_INLINE void glms_quat_identity_array(versor *q, size_t count)
CGLM_INLINE versors glms_quat_init(float x, float y, float z, float w)
CGLM_INLINE versors glms_euler_xyz_quat(versors q, vec3s angles)
CGLM_INLINE versors glms_euler_xzy_quat(versors q, vec3s angles)
CGLM_INLINE versors glms_euler_yxz_quat(versors q, vec3s angles)
CGLM_INLINE versors glms_euler_yzx_quat(versors q, vec3s angles)
CGLM_INLINE versors glms_euler_zxy_quat(versors q, vec3s angles)
CGLM_INLINE versors glms_euler_zyx_quat(versors q, vec3s angles)
CGLM_INLINE versors glms_quatv(float angle, vec3s axis)
CGLM_INLINE versors glms_quat(float angle, float x, float y, float z)
CGLM_INLINE versors glms_quat_from_vecs(vec3s a, vec3s b)
@@ -120,6 +126,97 @@ glms_quat_(init)(float x, float y, float z, float w) {
return dest;
}
/*!
* @brief creates NEW quaternion using rotation angles and does
* rotations in x y z order (roll pitch yaw)
*
* @param[out] q quaternion
* @param[in] angle angles x y z (radians)
*/
CGLM_INLINE
versors
glms_euler_xyz_quat(versors q, vec3s angles) {
versors dest;
glm_euler_xyz_quat(dest.raw, angles.raw);
return dest;
}
/*!
* @brief creates NEW quaternion using rotation angles and does
* rotations in x z y order (roll yaw pitch)
*
* @param[out] q quaternion
* @param[in] angle angles x y z (radians)
*/
CGLM_INLINE
versors
glms_euler_xzy_quat(versors q, vec3s angles) {
versors dest;
glm_euler_xzy_quat(dest.raw, angles.raw);
return dest;
}
/*!
* @brief creates NEW quaternion using rotation angles and does
* rotations in y x z order (pitch roll yaw)
*
* @param[out] q quaternion
* @param[in] angle angles x y z (radians)
*/
CGLM_INLINE
versors
glms_euler_yxz_quat(versors q, vec3s angles) {
versors dest;
glm_euler_yxz_quat(dest.raw, angles.raw);
return dest;
}
/*!
* @brief creates NEW quaternion using rotation angles and does
* rotations in y z x order (pitch yaw roll)
*
* @param[out] q quaternion
* @param[in] angle angles x y z (radians)
*/
CGLM_INLINE
versors
glms_euler_yzx_quat(versors q, vec3s angles) {
versors dest;
glm_euler_yzx_quat(dest.raw, angles.raw);
return dest;
}
/*!
* @brief creates NEW quaternion using rotation angles and does
* rotations in z x y order (yaw roll pitch)
*
* @param[out] q quaternion
* @param[in] angle angles x y z (radians)
*/
CGLM_INLINE
versors
glms_euler_zxy_quat(versors q, vec3s angles) {
versors dest;
glm_euler_zxy_quat(dest.raw, angles.raw);
return dest;
}
/*!
* @brief creates NEW quaternion using rotation angles and does
* rotations in z y x order (yaw pitch roll)
*
* @param[out] q quaternion
* @param[in] angle angles x y z (radians)
*/
CGLM_INLINE
versors
glms_euler_zyx_quat(versors q, vec3s angles) {
versors dest;
glm_euler_zyx_quat(dest.raw, angles.raw);
return dest;
}
/*!
* @brief creates NEW quaternion with axis vector
*

36
src/quat.c
View File

@@ -26,6 +26,42 @@ glmc_quat_init(versor q, float x, float y, float z, float w) {
glm_quat_init(q, x, y, z, w);
}
CGLM_EXPORT
void
glmc_euler_xyz_quat(versor q, vec3 angles) {
glm_euler_xyz_quat(q, angles);
}
CGLM_EXPORT
void
glmc_euler_xzy_quat(versor q, vec3 angles) {
glm_euler_xzy_quat(q, angles);
}
CGLM_EXPORT
void
glmc_euler_yxz_quat(versor q, vec3 angles) {
glm_euler_yxz_quat(q, angles);
}
CGLM_EXPORT
void
glmc_euler_yzx_quat(versor q, vec3 angles) {
glm_euler_yzx_quat(q, angles);
}
CGLM_EXPORT
void
glmc_euler_zxy_quat(versor q, vec3 angles) {
glm_euler_zxy_quat(q, angles);
}
CGLM_EXPORT
void
glmc_euler_zyx_quat(versor q, vec3 angles) {
glm_euler_zyx_quat(q, angles);
}
CGLM_EXPORT
void
glmc_quat(versor q, float angle, float x, float y, float z) {

39
test/src/test_quat.h
View File

@@ -121,7 +121,6 @@ TEST_IMPL(GLM_PREFIX, quatv) {
TEST_SUCCESS
}
// telephone001 changes (remove comment when done) TODO
TEST_IMPL(GLM_PREFIX, euler_xyz_quat) {
for (int i = 0; i < 100; i++) {
/*random angles for testing*/
@@ -154,8 +153,12 @@ TEST_IMPL(GLM_PREFIX, euler_xyz_quat) {
/*use my function to get the quaternion*/
glm_euler_xyz_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/
ASSERT(test_eq(glm_quat_norm(result), 1.0f))
ASSERTIFY(test_assert_quat_eq(result, expected))
}
/*Start gimbal lock tests*/
for (float x = -90.0f; x <= 90.0f; x += 90.0f) {
@@ -189,6 +192,9 @@ TEST_IMPL(GLM_PREFIX, euler_xyz_quat) {
/*use my function to get the quaternion*/
glm_euler_xyz_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/
ASSERT(test_eq(glm_quat_norm(result), 1.0f))
ASSERTIFY(test_assert_quat_eq(result, expected))
}
}
@@ -228,6 +234,9 @@ TEST_IMPL(GLM_PREFIX, euler_xzy_quat) {
/*use my function to get the quaternion*/
glm_euler_xzy_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/
ASSERT(test_eq(glm_quat_norm(result), 1.0f))
ASSERTIFY(test_assert_quat_eq(result, expected))
}
@@ -263,6 +272,9 @@ TEST_IMPL(GLM_PREFIX, euler_xzy_quat) {
/*use my function to get the quaternion*/
glm_euler_xzy_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/
ASSERT(test_eq(glm_quat_norm(result), 1.0f))
ASSERTIFY(test_assert_quat_eq(result, expected))
}
}
@@ -303,6 +315,9 @@ TEST_IMPL(GLM_PREFIX, euler_yxz_quat) {
/*use my function to get the quaternion*/
glm_euler_yxz_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/
ASSERT(test_eq(glm_quat_norm(result), 1.0f))
ASSERTIFY(test_assert_quat_eq(result, expected))
}
@@ -338,6 +353,9 @@ TEST_IMPL(GLM_PREFIX, euler_yxz_quat) {
/*use my function to get the quaternion*/
glm_euler_yxz_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/
ASSERT(test_eq(glm_quat_norm(result), 1.0f))
ASSERTIFY(test_assert_quat_eq(result, expected))
}
}
@@ -378,6 +396,9 @@ TEST_IMPL(GLM_PREFIX, euler_yzx_quat) {
/*use my function to get the quaternion*/
glm_euler_yzx_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/
ASSERT(test_eq(glm_quat_norm(result), 1.0f))
ASSERTIFY(test_assert_quat_eq(result, expected))
}
@@ -413,6 +434,9 @@ TEST_IMPL(GLM_PREFIX, euler_yzx_quat) {
/*use my function to get the quaternion*/
glm_euler_yzx_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/
ASSERT(test_eq(glm_quat_norm(result), 1.0f))
ASSERTIFY(test_assert_quat_eq(result, expected))
}
}
@@ -453,6 +477,9 @@ TEST_IMPL(GLM_PREFIX, euler_zxy_quat) {
/*use my function to get the quaternion*/
glm_euler_zxy_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/
ASSERT(test_eq(glm_quat_norm(result), 1.0f))
ASSERTIFY(test_assert_quat_eq(result, expected))
}
@@ -488,6 +515,9 @@ TEST_IMPL(GLM_PREFIX, euler_zxy_quat) {
/*use my function to get the quaternion*/
glm_euler_zxy_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/
ASSERT(test_eq(glm_quat_norm(result), 1.0f))
ASSERTIFY(test_assert_quat_eq(result, expected))
}
}
@@ -528,6 +558,9 @@ TEST_IMPL(GLM_PREFIX, euler_zyx_quat) {
/*use my function to get the quaternion*/
glm_euler_zyx_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/
ASSERT(test_eq(glm_quat_norm(result), 1.0f))
ASSERTIFY(test_assert_quat_eq(result, expected))
}
@@ -564,6 +597,9 @@ TEST_IMPL(GLM_PREFIX, euler_zyx_quat) {
/*use my function to get the quaternion*/
glm_euler_zyx_quat(result, angles);
/*verify if the magnitude of the quaternion stays 1*/
ASSERT(test_eq(glm_quat_norm(result), 1.0f))
ASSERTIFY(test_assert_quat_eq(result, expected))
}
}
@@ -572,7 +608,6 @@ TEST_IMPL(GLM_PREFIX, euler_zyx_quat) {
TEST_SUCCESS
}
TEST_IMPL(GLM_PREFIX, quat) {
versor q1 = {1.0f, 2.0f, 3.0f, 4.0f};
vec3 v1, v2;