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Style tweaks to RotateV3Q + axis angle variant

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dev_dwarf
2023-10-31 13:09:20 -06:00
parent 8df5da57f5
commit a1c84320f9
2 changed files with 26 additions and 37 deletions
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30
HandmadeMath.h
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@@ -2504,41 +2504,53 @@ static inline HMM_Quat HMM_M4ToQ_LH(HMM_Mat4 M)
COVERAGE(HMM_QFromAxisAngle_RH, 1)
static inline HMM_Quat HMM_QFromAxisAngle_RH(HMM_Vec3 Axis, float AngleOfRotation)
static inline HMM_Quat HMM_QFromAxisAngle_RH(HMM_Vec3 Axis, float Angle)
{
ASSERT_COVERED(HMM_QFromAxisAngle_RH);
HMM_Quat Result;
HMM_Vec3 AxisNormalized = HMM_NormV3(Axis);
float SineOfRotation = HMM_SinF(AngleOfRotation / 2.0f);
float SineOfRotation = HMM_SinF(Angle / 2.0f);
Result.XYZ = HMM_MulV3F(AxisNormalized, SineOfRotation);
Result.W = HMM_CosF(AngleOfRotation / 2.0f);
Result.W = HMM_CosF(Angle / 2.0f);
return Result;
}
COVERAGE(HMM_QFromAxisAngle_LH, 1)
static inline HMM_Quat HMM_QFromAxisAngle_LH(HMM_Vec3 Axis, float AngleOfRotation)
static inline HMM_Quat HMM_QFromAxisAngle_LH(HMM_Vec3 Axis, float Angle)
{
ASSERT_COVERED(HMM_QFromAxisAngle_LH);
return HMM_QFromAxisAngle_RH(Axis, -AngleOfRotation);
return HMM_QFromAxisAngle_RH(Axis, -Angle);
}
// 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)
COVERAGE(HMM_RotateV3Q, 1)
static inline HMM_Vec3 HMM_RotateV3Q(HMM_Vec3 V, HMM_Quat Q)
{
ASSERT_COVERED(HMM_RotateQV3);
ASSERT_COVERED(HMM_RotateV3Q);
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)));
}
COVERAGE(HMM_RotateV3AxisAngle_LH, 1)
static inline HMM_Vec3 HMM_RotateV3AxisAngle_LH(HMM_Vec3 V, HMM_Vec3 Axis, float Angle) {
ASSERT_COVERED(HMM_RotateV3AxisAngle_LH);
return HMM_RotateV3Q(V, HMM_QFromAxisAngle_LH(Axis, Angle));
}
COVERAGE(HMM_RotateV3AxisAngle_RH, 1)
static inline HMM_Vec3 HMM_RotateV3AxisAngle_RH(HMM_Vec3 V, HMM_Vec3 Axis, float Angle) {
ASSERT_COVERED(HMM_RotateV3AxisAngle_RH);
return HMM_RotateV3Q(V, HMM_QFromAxisAngle_RH(Axis, Angle));
}
#ifdef __cplusplus

33
test/categories/QuaternionOps.h
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@@ -254,43 +254,20 @@ TEST(QuaternionOps, Mat4ToQuat)
}
}
TEST(QuaternionOps, FromAxisAngle)
{
HMM_Vec3 axis = HMM_V3(1.0f, 0.0f, 0.0f);
float angle = HMM_PI32 / 2.0f;
{
HMM_Quat result = HMM_QFromAxisAngle_RH(axis, angle);
EXPECT_NEAR(result.X, 0.707107f, 0.001f);
EXPECT_NEAR(result.Y, 0.0f, 0.001f);
EXPECT_NEAR(result.Z, 0.0f, 0.001f);
EXPECT_NEAR(result.W, 0.707107f, 0.001f);
}
{
HMM_Quat result = HMM_QFromAxisAngle_LH(axis, angle);
EXPECT_NEAR(result.X, -0.707107f, 0.001f);
EXPECT_NEAR(result.Y, 0.0f, 0.001f);
EXPECT_NEAR(result.Z, 0.0f, 0.001f);
EXPECT_NEAR(result.W, 0.707107f, 0.001f);
}
}
TEST(QuaternionOps, RotateVector)
TEST(QuaternionOps, RotateVectorAxisAngle)
{
{
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));
float angle = HMM_AngleTurn(1.0/4);
HMM_Vec3 result = HMM_RotateV3AxisAngle_LH(HMM_V3(1.0f, 0.0f, 0.0f), axis, angle);
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));
float angle = HMM_AngleTurn(1.0/8);
HMM_Vec3 result = HMM_RotateV3AxisAngle_RH(HMM_V3(0.0f, 0.0f, 1.0f), axis, angle);
EXPECT_NEAR(result.X, 0.0f, 0.001f);
EXPECT_NEAR(result.Y, -0.707170f, 0.001f);
EXPECT_NEAR(result.Z, 0.707170f, 0.001f);