External/cglm
1
0
Fork 0
mirror of https://github.com/recp/cglm.git synced 2025-12-24 20:34:58 +00:00
Code Issues Packages Projects Releases Wiki Activity

quaternion multiplication

Browse Source 
* convert quaternion multiplication to xyzw
* previous implementation may be wrong, wikipedia version implemented
* implement SSE version
This commit is contained in:
Recep Aslantas
2018-04-09 23:56:09 +03:00
parent 93a08fce17
commit 6f69da361b
7 changed files with 116 additions and 40 deletions
Download Patch File Download Diff File Expand all files Collapse all files

18
test/src/test_common.c
View File

@@ -92,10 +92,18 @@ test_assert_vec3_eq(vec3 v1, vec3 v2) {
}
void
test_assert_quat_eq(versor v1, versor v2) {
assert_true(fabsf(v1[0] - v2[0]) <= 0.0009); /* rounding errors */
assert_true(fabsf(v1[1] - v2[1]) <= 0.0009);
assert_true(fabsf(v1[2] - v2[2]) <= 0.0009);
assert_true(fabsf(v1[3] - v2[3]) <= 0.0009);
test_assert_quat_eq_abs(versor v1, versor v2) {
assert_true(fabsf(fabsf(v1[0]) - fabsf(v2[0])) <= 0.0009); /* rounding errors */
assert_true(fabsf(fabsf(v1[1]) - fabsf(v2[1])) <= 0.0009);
assert_true(fabsf(fabsf(v1[2]) - fabsf(v2[2])) <= 0.0009);
assert_true(fabsf(fabsf(v1[3]) - fabsf(v2[3])) <= 0.0009);
}
void
test_assert_quat_eq(versor v1, versor v2) {
assert_true(fabsf(v1[0] - v2[0]) <= 0.0000009); /* rounding errors */
assert_true(fabsf(v1[1] - v2[1]) <= 0.0000009);
assert_true(fabsf(v1[2] - v2[2]) <= 0.0000009);
assert_true(fabsf(v1[3] - v2[3]) <= 0.0000009);
}

3
test/src/test_common.h
View File

@@ -37,6 +37,9 @@ test_assert_vec3_eq(vec3 v1, vec3 v2);
void
test_assert_quat_eq(versor v1, versor v2);
void
test_assert_quat_eq_abs(versor v1, versor v2);
void
test_rand_vec3(vec3 dest);

18
test/src/test_quat.c
View File

@@ -7,10 +7,19 @@
#include "test_common.h"
CGLM_INLINE
void
test_quat_mul_raw(versor p, versor q, versor dest) {
dest[0] = p[3] * q[0] + p[0] * q[3] + p[1] * q[2] - p[2] * q[1];
dest[1] = p[3] * q[1] - p[0] * q[2] + p[1] * q[3] + p[2] * q[0];
dest[2] = p[3] * q[2] + p[0] * q[1] - p[1] * q[0] + p[2] * q[3];
dest[3] = p[3] * q[3] - p[0] * q[0] - p[1] * q[1] - p[2] * q[2];
}
void
test_quat(void **state) {
mat4 inRot, outRot;
versor inQuat, outQuat;
versor inQuat, outQuat, q3, q4;
int i;
for (i = 0; i < 1000; i++) {
@@ -18,7 +27,12 @@ test_quat(void **state) {
glmc_quat_mat4(inQuat, inRot);
glmc_mat4_quat(inRot, outQuat);
glmc_quat_mat4(outQuat, outRot);
test_assert_quat_eq(inQuat, outQuat);
test_assert_quat_eq_abs(inQuat, outQuat);
test_assert_mat4_eq2(inRot, outRot, 0.000009); /* almost equal */
test_quat_mul_raw(inQuat, outQuat, q3);
glm_quat_mul_sse2(inQuat, outQuat, q4);
test_assert_quat_eq(q3, q4);
}
}