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rotate vector using quaternion

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This commit is contained in:
Recep Aslantas
2018-04-11 00:47:11 +03:00
parent d447876c70
commit 80d255e6d9
4 changed files with 60 additions and 10 deletions
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14
test/src/test_common.c
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@@ -86,9 +86,9 @@ test_assert_mat4_eq2(mat4 m1, mat4 m2, float eps) {
void
test_assert_vec3_eq(vec3 v1, vec3 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[0] - v2[0]) <= 0.000009); /* rounding errors */
assert_true(fabsf(v1[1] - v2[1]) <= 0.000009);
assert_true(fabsf(v1[2] - v2[2]) <= 0.000009);
}
void
@@ -101,9 +101,9 @@ test_assert_quat_eq_abs(versor v1, versor v2) {
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);
assert_true(fabsf(v1[0] - v2[0]) <= 0.000009); /* rounding errors */
assert_true(fabsf(v1[1] - v2[1]) <= 0.000009);
assert_true(fabsf(v1[2] - v2[2]) <= 0.000009);
assert_true(fabsf(v1[3] - v2[3]) <= 0.000009);
}

22
test/src/test_quat.c
View File

@@ -20,7 +20,7 @@ void
test_quat(void **state) {
mat4 inRot, outRot, view1, view2, rot1, rot2;
versor inQuat, outQuat, q3, q4, q5;
vec3 eye, axis, imag;
vec3 eye, axis, imag, v1, v2;
int i;
/* 0. test identiy quat */
@@ -134,7 +134,25 @@ test_quat(void **state) {
imag[1] = -1.0f;
imag[2] = 0.0f;
assert_true(glm_vec_eqv_eps(imag, axis));
test_assert_vec3_eq(imag, axis);
/* 10. test rotate vector using quat */
/* (0,0,-1) around (1,0,0) must give (0,1,0) */
v1[0] = 0.0f; v1[1] = 0.0f; v1[2] = -1.0f;
v2[0] = 0.0f; v2[1] = 0.0f; v2[2] = -1.0f;
glm_vec_rotate(v1, glm_rad(90.0f), (vec3){1.0f, 0.0f, 0.0f});
glm_quatv(q3, glm_rad(90.0f), (vec3){1.0f, 0.0f, 0.0f});
glm_vec4_scale(q3, 1.5, q3);
glm_quat_rotatev(q3, v2, v2);
/* result must be : (0,1,0) */
assert_true(fabsf(v1[0]) <= 0.00009f
&& fabsf(v1[1] - 1.0f) <= 0.00009f
&& fabsf(v1[2]) <= 0.00009f);
test_assert_vec3_eq(v1, v2);
/* TODO: add tests for slerp, lerp */
}