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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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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);
}
}