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quaternion multiplication

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* 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
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18
test/src/test_quat.c
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@@ -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);
}
}