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Add HMM_RotateQV3(), for rotating a vec3 by a quaternion

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Olivier Perret
2023-10-29 18:32:09 +01:00
parent 98748f702c
commit 149c18d449
2 changed files with 35 additions and 0 deletions
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13
HandmadeMath.h
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@@ -2528,6 +2528,19 @@ static inline HMM_Quat HMM_QFromAxisAngle_LH(HMM_Vec3 Axis, float AngleOfRotatio
}
// implementation from
// https://blog.molecular-matters.com/2013/05/24/a-faster-quaternion-vector-multiplication/
COVERAGE(HMM_RotateQV3, 1)
static inline HMM_Vec3 HMM_RotateQV3(HMM_Quat Q, HMM_Vec3 V)
{
ASSERT_COVERED(HMM_RotateQV3);
HMM_Vec3 t = HMM_MulV3F(HMM_Cross(Q.XYZ, V), 2);
return HMM_AddV3(V, HMM_AddV3(HMM_MulV3F(t, Q.W), HMM_Cross(Q.XYZ, t)));
}
#ifdef __cplusplus
}
#endif

22
test/categories/QuaternionOps.h
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@@ -274,3 +274,25 @@ TEST(QuaternionOps, FromAxisAngle)
EXPECT_NEAR(result.W, 0.707107f, 0.001f);
}
}
TEST(QuaternionOps, RotateVector)
{
{
HMM_Vec3 axis = HMM_V3(0.0f, 1.0f, 0.0f);
float angle = -HMM_PI32 / 2.0f;
HMM_Quat q = HMM_QFromAxisAngle_RH(axis, angle);
HMM_Vec3 result = HMM_RotateQV3(q, HMM_V3(1.0f, 0.0f, 0.0f));
EXPECT_NEAR(result.X, 0.0f, 0.001f);
EXPECT_NEAR(result.Y, 0.0f, 0.001f);
EXPECT_NEAR(result.Z, 1.0f, 0.001f);
}
{
HMM_Vec3 axis = HMM_V3(1.0f, 0.0f, 0.0f);
float angle = HMM_PI32 / 4.0f;
HMM_Quat q = HMM_QFromAxisAngle_RH(axis, angle);
HMM_Vec3 result = HMM_RotateQV3(q, HMM_V3(0.0f, 0.0f, 1.0f));
EXPECT_NEAR(result.X, 0.0f, 0.001f);
EXPECT_NEAR(result.Y, -0.707170f, 0.001f);
EXPECT_NEAR(result.Z, 0.707170f, 0.001f);
}
}