Commit 0ca67272 authored by Daniel Buckmaster's avatar Daniel Buckmaster

Merge pull request #718 from eightyeight/fix-quat-from-euler

Fixed Euler to Quaternion conversion
parents 27df22f1 8b1ff267
......@@ -35,27 +35,27 @@ QuatF& QuatF::set( const EulerF & e )
F32 cx, sx;
F32 cy, sy;
F32 cz, sz;
mSinCos( -e.x * 0.5f, sx, cx );
mSinCos( -e.y * 0.5f, sy, cy );
mSinCos( -e.z * 0.5f, sz, cz );
mSinCos( e.x * 0.5f, sx, cx );
mSinCos( e.y * 0.5f, sy, cy );
mSinCos( e.z * 0.5f, sz, cz );
// Qyaw(z) = [ (0, 0, sin z/2), cos z/2 ]
// Qyaw(z) = [ (0, 0, sin z/2), cos z/2 ]
// Qpitch(x) = [ (sin x/2, 0, 0), cos x/2 ]
// Qroll(y) = [ (0, sin y/2, 0), cos y/2 ]
// this = Qresult = Qyaw*Qpitch*Qroll ZXY
// Qroll(y) = [ (0, sin y/2, 0), cos y/2 ]
// this = Qresult = Qyaw*Qpitch*Qroll ZXY
//
// The code that folows is a simplification of:
// roll*=pitch;
// roll*=yaw;
// *this = roll;
// roll*=pitch;
// roll*=yaw;
// *this = roll;
F32 cycz, sysz, sycz, cysz;
cycz = cy*cz;
sysz = sy*sz;
sycz = sy*cz;
cysz = cy*sz;
w = cycz*cx + sysz*sx;
w = cycz*cx - sysz*sx;
x = cycz*sx + sysz*cx;
y = sycz*cx - cysz*sx;
y = sycz*cx + cysz*sx;
z = cysz*cx - sycz*sx;
return *this;
......
//-----------------------------------------------------------------------------
// Copyright (c) 2014 GarageGames, LLC
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to
// deal in the Software without restriction, including without limitation the
// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
// sell copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
//-----------------------------------------------------------------------------
#ifdef TORQUE_TESTS_ENABLED
#include "testing/unitTesting.h"
#include "math/mQuat.h"
#include "math/mAngAxis.h"
#include "math/mMatrix.h"
/// For testing things that should be close to 0, but accounting for floating-
/// point inaccuracy.
static const F32 epsilon = 1e-3f;
/// Test quaternions for equality by expecting the angle between them to be
/// close to 0.
#define EXPECT_QUAT_EQ(q1, q2) EXPECT_LT(q1.angleBetween(q2), epsilon)
TEST(QuatF, AngleBetween)
{
QuatF p(QuatF::Identity), q(QuatF::Identity);
EXPECT_LT(p.angleBetween(q), epsilon)
<< "Angle between identity quaternions should be ~0.";
p.set(EulerF(0.1, 0.15, -0.2));
q = p;
EXPECT_LT(p.angleBetween(q), epsilon)
<< "Angle between identical quaternions should be ~0.";
}
/// Test conversion from EulerF.
TEST(QuatF, Construction)
{
EulerF eId(0, 0, 0);
EXPECT_QUAT_EQ(QuatF(eId), QuatF::Identity)
<< "Quaternions constructed from identity EulerF and QuatF::Identity not equal.";
EulerF eRot(0.0f, -0.0f, 1.5707963267948966f);
MatrixF mat(eRot);
AngAxisF aaRot(mat);
EXPECT_QUAT_EQ(QuatF(eRot), QuatF(aaRot))
<< "Quaternions constructed from EulerF and AngAxisF not equal.";
}
#endif
\ No newline at end of file
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