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Quat axis and angle tests

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bloeys
2022-01-13 16:22:38 +04:00
parent e4edb7dcec
commit 8bb31393b4
2 changed files with 49 additions and 0 deletions
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48
gglm/quat_test.go
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@ -25,3 +25,51 @@ func TestNewQuatAngleAxis(t *testing.T) {
t.Errorf("Got: %v; Expected: %v", q.String(), ans.String()) t.Errorf("Got: %v; Expected: %v", q.String(), ans.String())
} }
} }
func TestQuatAngle(t *testing.T) {
a := gglm.NewQuatAngleAxis(180*gglm.Deg2Rad, gglm.NewVec3(0, 1, 0)).Angle()
var ans float32 = 180.0 * gglm.Deg2Rad
if !gglm.EqF32(a, ans) {
t.Errorf("Got: %v; Expected: %v", a, ans)
}
a = gglm.NewQuatAngleAxis(90*gglm.Deg2Rad, gglm.NewVec3(1, 1, 0).Normalize()).Angle()
ans = 90 * gglm.Deg2Rad
if !gglm.EqF32(a, ans) {
t.Errorf("Got: %v; Expected: %v", a, ans)
}
a = gglm.NewQuatAngleAxis(125*gglm.Deg2Rad, gglm.NewVec3(1, 1, 0).Normalize()).Angle()
ans = 125 * gglm.Deg2Rad
if !gglm.EqF32(a, ans) {
t.Errorf("Got: %v; Expected: %v", a, ans)
}
}
func TestQuatAxis(t *testing.T) {
a := gglm.NewQuatAngleAxis(1, gglm.NewVec3(0, 1, 0)).Axis()
ans := gglm.NewVec3(0, 1, 0)
if !gglm.EqF32(a.X(), ans.X()) || !gglm.EqF32(a.Y(), ans.Y()) || !gglm.EqF32(a.Z(), ans.Z()) {
t.Errorf("Got: %v; Expected: %v", a.String(), ans.String())
}
a = gglm.NewQuatAngleAxis(1, gglm.NewVec3(1, 1, 0).Normalize()).Axis()
ans = gglm.NewVec3(1, 1, 0).Normalize()
if !gglm.EqF32(a.X(), ans.X()) || !gglm.EqF32(a.Y(), ans.Y()) || !gglm.EqF32(a.Z(), ans.Z()) {
t.Errorf("Got: %v; Expected: %v", a.String(), ans.String())
}
a = gglm.NewQuatAngleAxis(1, gglm.NewVec3(67, 46, 32).Normalize()).Axis()
ans = gglm.NewVec3(67, 46, 32).Normalize()
if !gglm.EqF32(a.X(), ans.X()) || !gglm.EqF32(a.Y(), ans.Y()) || !gglm.EqF32(a.Z(), ans.Z()) {
t.Errorf("Got: %v; Expected: %v", a.String(), ans.String())
}
}

1
gglm/transform.go
View File

@ -27,6 +27,7 @@ func (t *TrMat) Scale(v *Vec3) {
t.Data[2][2] *= v.Data[2] t.Data[2][2] *= v.Data[2]
} }
//Rotate takes a *normalized* axis and angles in radians to rotate around the given axis
func (t *TrMat) Rotate(rads float32, axis *Vec3) { func (t *TrMat) Rotate(rads float32, axis *Vec3) {
s := Sin32(rads) s := Sin32(rads)