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made all the functions. I have miscalculated some stuff and am currently trying to test them. I have created all the testing functions as well

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John Choi
2023-12-08 00:26:33 -06:00
parent d67ac97323
commit c5694c5c17
3 changed files with 601 additions and 27 deletions
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144
include/cglm/quat.h
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@@ -142,7 +142,8 @@ glm_quat_init(versor q, float x, float y, float z, float w) {
//TODO: telephone001's eulertoquat
/*!
* @brief creates NEW quaternion using rotation angles and does does rotations in x y z order
* @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)
@@ -159,14 +160,153 @@ glm_euler_xyz_quat(versor q, vec3 angles) {
float zs = sinf(angles[2] / 2.0f);
float zc = cosf(angles[2] / 2.0f);
glm_quat_init(q,
zc * yc * xs - zs * ys * xc,
zc * ys * xc + zs * yc * xs,
-zc * ys * xs + zs * yc * xc,
zc * yc * xc + zs * ys * xs);
}
/*!
* @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
void
glm_euler_xzy_quat(versor q, vec3 angles) {
float xs = sinf(angles[0] / 2.0f);
float xc = cosf(angles[0] / 2.0f);
float ys = sinf(angles[1] / 2.0f);
float yc = cosf(angles[1] / 2.0f);
float zs = sinf(angles[2] / 2.0f);
float zc = cosf(angles[2] / 2.0f);
glm_quat_init(q,
yc * zc * xs + ys * zs * xc,
yc * zs * xs + ys * zc * xc,
yc * zs * xc - ys * zc * xs,
yc * zc * xc - ys * zs * xs);
}
/*!
* @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
void
glm_euler_yxz_quat(versor q, vec3 angles) {
float xs = sinf(angles[0] / 2.0f);
float xc = cosf(angles[0] / 2.0f);
float ys = sinf(angles[1] / 2.0f);
float yc = cosf(angles[1] / 2.0f);
float zs = sinf(angles[2] / 2.0f);
float zc = cosf(angles[2] / 2.0f);
glm_quat_init(q,
zc * xc * ys - zs * xs * yc,
zc * xs * ys + zs * xc * yc,
zc * xs * yc + zs * xc * ys,
zc * xc * yc - zs * xs * ys);
}
/*!
* @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
void
glm_euler_yzx_quat(versor q, vec3 angles) {
float xs = sinf(angles[0] / 2.0f);
float xc = cosf(angles[0] / 2.0f);
float ys = sinf(angles[1] / 2.0f);
float yc = cosf(angles[1] / 2.0f);
float zs = sinf(angles[2] / 2.0f);
float zc = cosf(angles[2] / 2.0f);
glm_quat_init(q,
-xc * zs * ys + xs * zc * yc,
xc * zc * ys - xs * zs * yc,
xc * zs * yc + xs * zc * ys,
xc * zc * yc + xs * zs * ys);
}
/*!
* @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
void
glm_euler_zxy_quat(versor q, vec3 angles) {
float xs = sinf(angles[0] / 2.0f);
float xc = cosf(angles[0] / 2.0f);
float ys = sinf(angles[1] / 2.0f);
float yc = cosf(angles[1] / 2.0f);
float zs = sinf(angles[2] / 2.0f);
float zc = cosf(angles[2] / 2.0f);
glm_quat_init(q,
yc * xs * zc + ys * xc * zs,
yc * xc * zs - ys * xs * zc,
yc * xs * zs + ys * xc * zc,
yc * xc * zc - ys * xs * zs);
}
/*!
* @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
void
glm_euler_zyx_quat(versor q, vec3 angles) {
float xs = sinf(angles[0] / 2.0f);
float xc = cosf(angles[0] / 2.0f);
float ys = sinf(angles[1] / 2.0f);
float yc = cosf(angles[1] / 2.0f);
float zs = sinf(angles[2] / 2.0f);
float zc = cosf(angles[2] / 2.0f);
glm_quat_init(q,
xc * ys * zs + xs * yc * zc,
xc * yc * zs + xs * ys * zc,
-xc * ys * zc + xs * yc * zs,
xc * yc * zc - xs * ys * zs);
}
/*!
* @brief creates NEW quaternion with axis vector
*