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First attempt at Mat4 to Quaternion (might have rows and columns swapped?)

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Ben Visness
2018-06-20 12:57:17 +02:00
parent 850efa3606
commit eedda7ca4c
4 changed files with 102 additions and 47 deletions
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38
HandmadeMath.h
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@@ -1245,6 +1245,8 @@ HMM_INLINE hmm_mat4 HMM_DivideMat4f(hmm_mat4 Matrix, float Scalar)
HMM_EXTERN hmm_mat4 HMM_DivideMat4f(hmm_mat4 Matrix, float Scalar);
#endif
HMM_EXTERN hmm_quaternion HMM_Mat4ToQuaternion(hmm_mat4 Matrix);
/*
* Common graphics transformations
@@ -2345,6 +2347,42 @@ hmm_mat4 HMM_DivideMat4f(hmm_mat4 Matrix, float Scalar)
}
#endif
hmm_quaternion HMM_Mat4ToQuaternion(hmm_mat4 m)
{
hmm_quaternion q;
float trace = m.Elements[0][0] + m.Elements[1][1] + m.Elements[2][2];
if (trace > 0) {
float s = 0.5f / HMM_SquareRootF(trace + 1.0f);
q.X = (m.Elements[2][1] - m.Elements[1][2] ) * s;
q.Y = (m.Elements[0][2] - m.Elements[2][0] ) * s;
q.Z = (m.Elements[1][0] - m.Elements[0][1] ) * s;
q.W = 0.25f / s;
} else {
if (m.Elements[0][0] > m.Elements[1][1] && m.Elements[0][0] > m.Elements[2][2]) {
float s = 2.0f * HMM_SquareRootF(1.0f + m.Elements[0][0] - m.Elements[1][1] - m.Elements[2][2]);
q.X = 0.25f * s;
q.Y = (m.Elements[0][1] + m.Elements[1][0] ) / s;
q.Z = (m.Elements[0][2] + m.Elements[2][0] ) / s;
q.W = (m.Elements[2][1] - m.Elements[1][2] ) / s;
} else if (m.Elements[1][1] > m.Elements[2][2]) {
float s = 2.0f * HMM_SquareRootF( 1.0f + m.Elements[1][1] - m.Elements[0][0] - m.Elements[2][2]);
q.X = (m.Elements[0][1] + m.Elements[1][0] ) / s;
q.Y = 0.25f * s;
q.Z = (m.Elements[1][2] + m.Elements[2][1] ) / s;
q.W = (m.Elements[0][2] - m.Elements[2][0] ) / s;
} else {
float s = 2.0f * HMM_SquareRootF( 1.0f + m.Elements[2][2] - m.Elements[0][0] - m.Elements[1][1] );
q.X = (m.Elements[0][2] + m.Elements[2][0] ) / s;
q.Y = (m.Elements[1][2] + m.Elements[2][1] ) / s;
q.Z = 0.25f * s;
q.W = (m.Elements[1][0] - m.Elements[0][1] ) / s;
}
}
return q;
}
hmm_mat4 HMM_Rotate(float Angle, hmm_vec3 Axis)
{
hmm_mat4 Result = HMM_Mat4d(1.0f);

56
test/categories/MatrixOps.h Normal file
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@@ -0,0 +1,56 @@
#include "../HandmadeTest.h"
TEST(MatrixOps, Transpose)
{
hmm_mat4 m4 = HMM_Mat4(); // will have 1 - 16
// Fill the matrix
int Counter = 1;
for (int Column = 0; Column < 4; ++Column)
{
for (int Row = 0; Row < 4; ++Row)
{
m4.Elements[Column][Row] = Counter;
++Counter;
}
}
// Test the matrix
hmm_mat4 result = HMM_Transpose(m4);
EXPECT_FLOAT_EQ(result.Elements[0][0], 1.0f);
EXPECT_FLOAT_EQ(result.Elements[0][1], 5.0f);
EXPECT_FLOAT_EQ(result.Elements[0][2], 9.0f);
EXPECT_FLOAT_EQ(result.Elements[0][3], 13.0f);
EXPECT_FLOAT_EQ(result.Elements[1][0], 2.0f);
EXPECT_FLOAT_EQ(result.Elements[1][1], 6.0f);
EXPECT_FLOAT_EQ(result.Elements[1][2], 10.0f);
EXPECT_FLOAT_EQ(result.Elements[1][3], 14.0f);
EXPECT_FLOAT_EQ(result.Elements[2][0], 3.0f);
EXPECT_FLOAT_EQ(result.Elements[2][1], 7.0f);
EXPECT_FLOAT_EQ(result.Elements[2][2], 11.0f);
EXPECT_FLOAT_EQ(result.Elements[2][3], 15.0f);
EXPECT_FLOAT_EQ(result.Elements[3][0], 4.0f);
EXPECT_FLOAT_EQ(result.Elements[3][1], 8.0f);
EXPECT_FLOAT_EQ(result.Elements[3][2], 12.0f);
EXPECT_FLOAT_EQ(result.Elements[3][3], 16.0f);
}
TEST(MatrixOps, ToQuaternion)
{
hmm_mat4 rotateY = {
0.0f, 0.0f, -1.0f, 0.0f, // first column (X)
0.0f, 1.0f, 0.0f, 0.0f, // second column (Y)
1.0f, 0.0f, 0.0f, 0.0f, // third column (Z)
0.0f, 0.0f, 0.0f, 1.0f
};
hmm_quaternion expected = HMM_QuaternionFromAxisAngle(HMM_Vec3(0.0f, 1.0f, 0.0f), HMM_ToRadians(90.0f));
hmm_quaternion actualResult = HMM_Mat4ToQuaternion(rotateY);
printf("%f %f %f %f\n", expected.X, expected.Y, expected.Z, expected.W);
EXPECT_FLOAT_EQ(actualResult.X, expected.X);
EXPECT_FLOAT_EQ(actualResult.Y, expected.Y);
EXPECT_FLOAT_EQ(actualResult.Z, expected.Z);
EXPECT_FLOAT_EQ(actualResult.W, expected.W);
}

40
test/categories/VectorOps.h
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@@ -178,43 +178,3 @@ TEST(VectorOps, DotVec4)
EXPECT_FLOAT_EQ(HMM_Dot(v1, v2), 70.0f);
#endif
}
/*
* MatrixOps tests
*/
TEST(MatrixOps, Transpose)
{
hmm_mat4 m4 = HMM_Mat4(); // will have 1 - 16
// Fill the matrix
int Counter = 1;
for (int Column = 0; Column < 4; ++Column)
{
for (int Row = 0; Row < 4; ++Row)
{
m4.Elements[Column][Row] = Counter;
++Counter;
}
}
// Test the matrix
hmm_mat4 result = HMM_Transpose(m4);
EXPECT_FLOAT_EQ(result.Elements[0][0], 1.0f);
EXPECT_FLOAT_EQ(result.Elements[0][1], 5.0f);
EXPECT_FLOAT_EQ(result.Elements[0][2], 9.0f);
EXPECT_FLOAT_EQ(result.Elements[0][3], 13.0f);
EXPECT_FLOAT_EQ(result.Elements[1][0], 2.0f);
EXPECT_FLOAT_EQ(result.Elements[1][1], 6.0f);
EXPECT_FLOAT_EQ(result.Elements[1][2], 10.0f);
EXPECT_FLOAT_EQ(result.Elements[1][3], 14.0f);
EXPECT_FLOAT_EQ(result.Elements[2][0], 3.0f);
EXPECT_FLOAT_EQ(result.Elements[2][1], 7.0f);
EXPECT_FLOAT_EQ(result.Elements[2][2], 11.0f);
EXPECT_FLOAT_EQ(result.Elements[2][3], 15.0f);
EXPECT_FLOAT_EQ(result.Elements[3][0], 4.0f);
EXPECT_FLOAT_EQ(result.Elements[3][1], 8.0f);
EXPECT_FLOAT_EQ(result.Elements[3][2], 12.0f);
EXPECT_FLOAT_EQ(result.Elements[3][3], 16.0f);
}

15
test/hmm_test.h
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@@ -3,15 +3,16 @@
#include "HandmadeTest.h"
#include "../HandmadeMath.h"
#include "categories/ScalarMath.h"
#include "categories/Initialization.h"
#include "categories/VectorOps.h"
#include "categories/QuaternionOps.h"
#include "categories/Addition.h"
#include "categories/Subtraction.h"
#include "categories/Multiplication.h"
#include "categories/Division.h"
#include "categories/Equality.h"
#include "categories/Initialization.h"
#include "categories/MatrixOps.h"
#include "categories/Multiplication.h"
#include "categories/Projection.h"
#include "categories/Transformation.h"
#include "categories/QuaternionOps.h"
#include "categories/ScalarMath.h"
#include "categories/SSE.h"
#include "categories/Subtraction.h"
#include "categories/Transformation.h"
#include "categories/VectorOps.h"