mirrors/HandmadeMath
1
0
Fork 0
mirror of https://github.com/HandmadeMath/HandmadeMath.git synced 2026-04-18 22:30:28 +00:00
Code Issues Packages Projects Releases Wiki Activity

Add HMM_Mat4ToQuaternion (#103)

Browse Source 
* Add mat4 to quaternion method

* Capitalize variables
This commit is contained in:
Ben Visness
2019-07-31 16:38:03 -05:00
committed by GitHub
parent 21aa828a08
commit 78e6feea82
4 changed files with 145 additions and 18 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
test/Makefile
View File

@@ -1,8 +1,14 @@
BUILD_DIR=build
BUILD_DIR=./build
CXXFLAGS+=-g -Wall -Wextra -pthread -Wno-missing-braces -Wno-missing-field-initializers
all: c c_no_sse cpp cpp_no_sse
all: build_all
$(BUILD_DIR)/hmm_test_c
$(BUILD_DIR)/hmm_test_c_no_sse
$(BUILD_DIR)/hmm_test_cpp
$(BUILD_DIR)/hmm_test_cpp_no_sse
build_all: c c_no_sse cpp cpp_no_sse
clean:
rm -rf $(BUILD_DIR)

63
test/categories/QuaternionOps.h
View File

@@ -76,7 +76,7 @@ TEST(QuaternionOps, Slerp)
EXPECT_FLOAT_EQ(result.W, 0.86602540f);
}
TEST(QuaternionOps, ToMat4)
TEST(QuaternionOps, QuatToMat4)
{
const float abs_error = 0.0001f;
@@ -105,6 +105,67 @@ TEST(QuaternionOps, ToMat4)
EXPECT_NEAR(result.Elements[3][3], 1.0f, abs_error);
}
TEST(QuaternionOps, Mat4ToQuat)
{
const float abs_error = 0.0001f;
// Rotate 90 degrees on the X axis
{
hmm_mat4 m = HMM_Rotate(90, HMM_Vec3(1, 0, 0));
hmm_quaternion result = HMM_Mat4ToQuaternion(m);
float cosf = 0.707107f; // cos(90/2 degrees)
float sinf = 0.707107f; // sin(90/2 degrees)
EXPECT_NEAR(result.X, sinf, abs_error);
EXPECT_NEAR(result.Y, 0.0f, abs_error);
EXPECT_NEAR(result.Z, 0.0f, abs_error);
EXPECT_NEAR(result.W, cosf, abs_error);
}
// Rotate 90 degrees on the Y axis (axis not normalized, just for fun)
{
hmm_mat4 m = HMM_Rotate(90, HMM_Vec3(0, 2, 0));
hmm_quaternion result = HMM_Mat4ToQuaternion(m);
float cosf = 0.707107f; // cos(90/2 degrees)
float sinf = 0.707107f; // sin(90/2 degrees)
EXPECT_NEAR(result.X, 0.0f, abs_error);
EXPECT_NEAR(result.Y, sinf, abs_error);
EXPECT_NEAR(result.Z, 0.0f, abs_error);
EXPECT_NEAR(result.W, cosf, abs_error);
}
// Rotate 90 degrees on the Z axis
{
hmm_mat4 m = HMM_Rotate(90, HMM_Vec3(0, 0, 1));
hmm_quaternion result = HMM_Mat4ToQuaternion(m);
float cosf = 0.707107f; // cos(90/2 degrees)
float sinf = 0.707107f; // sin(90/2 degrees)
EXPECT_NEAR(result.X, 0.0f, abs_error);
EXPECT_NEAR(result.Y, 0.0f, abs_error);
EXPECT_NEAR(result.Z, sinf, abs_error);
EXPECT_NEAR(result.W, cosf, abs_error);
}
// Rotate 135 degrees on the Y axis (this hits case 4)
{
hmm_mat4 m = HMM_Rotate(135, HMM_Vec3(0, 1, 0));
hmm_quaternion result = HMM_Mat4ToQuaternion(m);
float cosf = 0.3826834324f; // cos(135/2 degrees)
float sinf = 0.9238795325f; // sin(135/2 degrees)
EXPECT_NEAR(result.X, 0.0f, abs_error);
EXPECT_NEAR(result.Y, sinf, abs_error);
EXPECT_NEAR(result.Z, 0.0f, abs_error);
EXPECT_NEAR(result.W, cosf, abs_error);
}
}
TEST(QuaternionOps, FromAxisAngle)
{
hmm_vec3 axis = HMM_Vec3(1.0f, 0.0f, 0.0f);