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got the euler to quat xyz working and got the tests to pass

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This commit is contained in:
John Choi
2023-12-07 12:21:55 -06:00
parent 05ea35ffec
commit d67ac97323
3 changed files with 32 additions and 19 deletions
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21
include/cglm/quat.h
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@@ -142,7 +142,7 @@ glm_quat_init(versor q, float x, float y, float z, float w) {
//TODO: telephone001's eulertoquat
/*!
* @brief creates a quaternion using rotation angles and does does rotations in x y z order
* @brief creates NEW quaternion using rotation angles and does does rotations in x y z order
*
* @param[out] q quaternion
* @param[in] angle angles x y z (radians)
@@ -150,20 +150,21 @@ glm_quat_init(versor q, float x, float y, float z, float w) {
CGLM_INLINE
void
glm_euler_xyz_quat(versor q, vec3 angles) {
float xs = sinf(angles[0] / 2.0);
float xc = cosf(angles[0] / 2.0);
float xs = sinf(angles[0] / 2.0f);
float xc = cosf(angles[0] / 2.0f);
float ys = sinf(angles[1] / 2.0);
float yc = cosf(angles[1] / 2.0);
float ys = sinf(angles[1] / 2.0f);
float yc = cosf(angles[1] / 2.0f);
float zs = sinf(angles[2] / 2.0);
float zc = cosf(angles[2] / 2.0);
float zs = sinf(angles[2] / 2.0f);
float zc = cosf(angles[2] / 2.0f);
glm_quat_init(q,
zc * yc * xs - zs * ys * xs,
zc * ys * xc - zs * yc * xs,
zs * yc * xc - zs * yc * xs,
zc * yc * xs - zs * ys * xc,
zc * ys * xc + zs * yc * xs,
-zc * ys * xs + zs * yc * xc,
zc * yc * xc + zs * ys * xs);
}
/*!