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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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4
CREDITS
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@@ -46,3 +46,7 @@ http://old.cescg.org/CESCG-2002/DSykoraJJelinek/
7. Quaternions 7. Quaternions
Initial mat4_quat is borrowed from Apple's simd library Initial mat4_quat is borrowed from Apple's simd library
8. Vector Rotation using Quaternion
https://gamedev.stackexchange.com/questions/28395/rotating-vector3-by-a-quaternion

28
include/cglm/quat.h
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@@ -676,4 +676,32 @@ glm_quat_forp(vec3 from, vec3 to, vec3 fwd, vec3 up, versor dest) {
glm_quat_for(dir, fwd, up, dest); glm_quat_for(dir, fwd, up, dest);
} }
/*!
* @brief rotate existing transform matrix using quaternion
*
* @param[in] q quaternion
* @param[in] v vector to rotate
* @param[out] dest destination vector
*/
CGLM_INLINE
void
glm_quat_rotatev(versor q, vec3 v, vec3 dest) {
versor p;
vec3 u, v1, v2;
float s;
glm_quat_normalize_to(q, p);
glm_quat_imag(p, u);
s = glm_quat_real(p);
glm_vec_scale(u, 2.0f * glm_vec_dot(u, v), v1);
glm_vec_scale(v, s * s - glm_vec_dot(u, u), v2);
glm_vec_add(v1, v2, v1);
glm_vec_cross(u, v, v2);
glm_vec_scale(v2, 2.0f * s, v2);
glm_vec_add(v1, v2, dest);
}
#endif /* cglm_quat_h */ #endif /* cglm_quat_h */

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 void
test_assert_vec3_eq(vec3 v1, vec3 v2) { test_assert_vec3_eq(vec3 v1, vec3 v2) {
assert_true(fabsf(v1[0] - v2[0]) <= 0.0000009); /* rounding errors */ assert_true(fabsf(v1[0] - v2[0]) <= 0.000009); /* rounding errors */
assert_true(fabsf(v1[1] - v2[1]) <= 0.0000009); assert_true(fabsf(v1[1] - v2[1]) <= 0.000009);
assert_true(fabsf(v1[2] - v2[2]) <= 0.0000009); assert_true(fabsf(v1[2] - v2[2]) <= 0.000009);
} }
void void
@@ -101,9 +101,9 @@ test_assert_quat_eq_abs(versor v1, versor v2) {
void void
test_assert_quat_eq(versor v1, versor v2) { test_assert_quat_eq(versor v1, versor v2) {
assert_true(fabsf(v1[0] - v2[0]) <= 0.0000009); /* rounding errors */ assert_true(fabsf(v1[0] - v2[0]) <= 0.000009); /* rounding errors */
assert_true(fabsf(v1[1] - v2[1]) <= 0.0000009); assert_true(fabsf(v1[1] - v2[1]) <= 0.000009);
assert_true(fabsf(v1[2] - v2[2]) <= 0.0000009); assert_true(fabsf(v1[2] - v2[2]) <= 0.000009);
assert_true(fabsf(v1[3] - v2[3]) <= 0.0000009); assert_true(fabsf(v1[3] - v2[3]) <= 0.000009);
} }

22
test/src/test_quat.c
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@@ -20,7 +20,7 @@ void
test_quat(void **state) { test_quat(void **state) {
mat4 inRot, outRot, view1, view2, rot1, rot2; mat4 inRot, outRot, view1, view2, rot1, rot2;
versor inQuat, outQuat, q3, q4, q5; versor inQuat, outQuat, q3, q4, q5;
vec3 eye, axis, imag; vec3 eye, axis, imag, v1, v2;
int i; int i;
/* 0. test identiy quat */ /* 0. test identiy quat */
@@ -134,7 +134,25 @@ test_quat(void **state) {
imag[1] = -1.0f; imag[1] = -1.0f;
imag[2] = 0.0f; 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 */ /* TODO: add tests for slerp, lerp */
} }