Quat angle and tests

gglm/geometric.go

@@ -14,6 +14,10 @@ func DotVec4(v1, v2 *Vec4) float32 {
 	return v1.X()*v2.X() + v1.Y()*v2.Y() + v1.Z()*v2.Z() + v1.W()*v2.W()
 }
 
+func DotQuat(q1, q2 *Quat) float32 {
+	return q1.X()*q2.X() + q1.Y()*q2.Y() + q1.Z()*q2.Z() + q1.W()*q2.W()
+}
+
 func Cross(v1, v2 *Vec3) *Vec3 {
 	return &Vec3{
 		Data: [3]float32{
@@ -106,3 +110,8 @@ func ReflectVec3(v, n *Vec3) *Vec3 {
 		},
 	}
 }
+
+//AngleQuat returns the angle between the two quaternions in radians
+func AngleQuat(q1, q2 *Quat) float32 {
+	return Acos32(DotQuat(q1, q2))
+}

gglm/quat.go

@@ -11,6 +11,11 @@ type Quat struct {
 	Vec4
 }
 
+//Eq checks for exact equality
+func (q *Quat) Eq(q2 *Quat) bool {
+	return q.Data == q2.Data
+}
+
 //Euler takes rotations in radians and produces a rotation that
 //rotates around the z-axis, y-axis and lastly x-axis.
 func NewQuatEuler(v *Vec3) *Quat {

gglm/quat_test.go

@@ -0,0 +1,27 @@
+package gglm_test
+
+import (
+	"testing"
+
+	"github.com/bloeys/gglm/gglm"
+)
+
+func TestNewQuatEuler(t *testing.T) {
+
+	q := gglm.NewQuatEuler(gglm.NewVec3(180, 180, 180).AsRad())
+	ans := &gglm.Quat{Vec4: *gglm.NewVec4(0, 0, 0, 1)}
+
+	if !gglm.EqF32(q.X(), ans.X()) || !gglm.EqF32(q.Y(), ans.Y()) || !gglm.EqF32(q.Z(), ans.Z()) || !gglm.EqF32(q.W(), ans.W()) {
+		t.Errorf("Got: %v; Expected: %v", q.String(), ans.String())
+	}
+}
+
+func TestNewQuatAngleAxis(t *testing.T) {
+
+	q := gglm.NewQuatAngleAxis(180*gglm.Deg2Rad, gglm.NewVec3(0, 1, 0))
+	ans := &gglm.Quat{Vec4: *gglm.NewVec4(0, 1, 0, 0)}
+
+	if !gglm.EqF32(q.X(), ans.X()) || !gglm.EqF32(q.Y(), ans.Y()) || !gglm.EqF32(q.Z(), ans.Z()) || !gglm.EqF32(q.W(), ans.W()) {
+		t.Errorf("Got: %v; Expected: %v", q.String(), ans.String())
+	}
+}

gglm/scalar.go

@@ -19,10 +19,18 @@ func Sin32(x float32) float32 {
 	return float32(math.Sin(float64(x)))
 }
 
+func Asin32(x float32) float32 {
+	return float32(math.Asin(float64(x)))
+}
+
 func Cos32(x float32) float32 {
 	return float32(math.Cos(float64(x)))
 }
 
+func Acos32(x float32) float32 {
+	return float32(math.Acos(float64(x)))
+}
+
 func Sincos32(x float32) (sinx, cosx float32) {
 	a, b := math.Sincos(float64(x))
 	return float32(a), float32(b)

gglm/transform.go

@@ -29,6 +29,10 @@ func (t *TrMat) Mul(m *TrMat) *TrMat {
 	return t
 }
 
+func (t *TrMat) Eq(m *TrMat) bool {
+	return t.Data == m.Data
+}
+
 func (t *TrMat) Clone() *TrMat {
 	return &TrMat{
 		Mat4: *t.Mat4.Clone(),
@@ -92,7 +96,7 @@ func NewRotMat(q *Quat) *TrMat {
 	}
 }
 
-func NewTransformMatId() *TrMat {
+func NewTrMatId() *TrMat {
 	return &TrMat{
 		Mat4: *NewMat4Id(),
 	}

gglm/transform_test.go

@@ -0,0 +1,83 @@
+package gglm_test
+
+import (
+	"testing"
+
+	"github.com/bloeys/gglm/gglm"
+)
+
+func TestNewTrMatId(t *testing.T) {
+
+	m := gglm.NewTrMatId()
+	ans := &gglm.TrMat{
+		Mat4: gglm.Mat4{
+			Data: [16]float32{
+				1, 0, 0, 0,
+				0, 1, 0, 0,
+				0, 0, 1, 0,
+				0, 0, 0, 1,
+			},
+		},
+	}
+
+	if !m.Eq(ans) {
+		t.Errorf("Got: %v; Expected: %v", m.String(), ans.String())
+	}
+}
+
+func TestNewTranslationMat(t *testing.T) {
+
+	m := gglm.NewTranslationMat(gglm.NewVec3(1, 2, 3))
+	ans := &gglm.TrMat{
+		Mat4: gglm.Mat4{
+			Data: [16]float32{
+				1, 0, 0, 1,
+				0, 1, 0, 2,
+				0, 0, 1, 3,
+				0, 0, 0, 1,
+			},
+		},
+	}
+
+	if !m.Eq(ans) {
+		t.Errorf("Got: %v; Expected: %v", m.String(), ans.String())
+	}
+}
+
+func TestNewScaleMat(t *testing.T) {
+
+	m := gglm.NewScaleMat(gglm.NewVec3(1, 2, 3))
+	ans := &gglm.TrMat{
+		Mat4: gglm.Mat4{
+			Data: [16]float32{
+				1, 0, 0, 0,
+				0, 2, 0, 0,
+				0, 0, 3, 0,
+				0, 0, 0, 1,
+			},
+		},
+	}
+
+	if !m.Eq(ans) {
+		t.Errorf("Got: %v; Expected: %v", m.String(), ans.String())
+	}
+}
+
+func TestNewRotMat(t *testing.T) {
+
+	m := gglm.NewRotMat(gglm.NewQuatId())
+	ans := &gglm.TrMat{
+		Mat4: gglm.Mat4{
+			Data: [16]float32{
+				1, 0, 0, 0,
+				0, 1, 0, 0,
+				0, 0, 1, 0,
+				0, 0, 0, 1,
+			},
+		},
+	}
+
+	if !m.Eq(ans) {
+		t.Errorf("Got: %v; Expected: %v", m.String(), ans.String())
+	}
+}

main.go

@@ -142,7 +142,7 @@ func main() {
 	rotMat := gglm.NewRotMat(gglm.NewQuatEuler(gglm.NewVec3(60, 30, 20).AsRad()))
 	scaleMat := gglm.NewScaleMat(gglm.NewVec3(1, 1, 1))
 
-	modelMat := gglm.NewTransformMatId()
+	modelMat := gglm.NewTrMatId()
 	modelMat.Mul(translationMat.Mul(rotMat.Mul(scaleMat)))
 
 	println("\n\n\n", modelMat.String())
@@ -159,4 +159,9 @@ func main() {
 	trMatClone.Scale(gglm.NewVec3(2, 2, 2))
 	trMatClone.Translate(gglm.NewVec3(9, 0, 0))
 	println("\n\n", trMatOrig.String(), "; ", trMatClone.String())
+
+	//Quat geo
+	q1 := gglm.NewQuatEuler(gglm.NewVec3(180, 0, 0).AsRad())
+	q2 := gglm.NewQuatEuler(gglm.NewVec3(0, 180, 0).AsRad())
+	println(gglm.AngleQuat(q1, q2) * gglm.Rad2Deg)
 }