85 lines
1.6 KiB
C
85 lines
1.6 KiB
C
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#ifdef HAVE_CONFIG_H
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# include "config.h"
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#endif
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#include "QF/mathlib.h"
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//PITCH YAW ROLL
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static vec3_t test_angles[] = {
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{ 0, 0, 0},
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{ 0, 0, 0},
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{45, 0, 0},
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{45, 0, 0},
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{ 0, 45, 0},
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{ 0, 45, 0},
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{ 0, 0, 45},
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{ 0, 0, 45},
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{45, 45, 0},
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{45, 45, 0},
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{ 0, 45, 45},
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{ 0, 45, 45},
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{45, 0, 45},
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{45, 0, 45},
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{45, 45, 45},
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{45, 45, 45},
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{0, 180, 180},
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{180, 0, 180},
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{180, 180, 0},
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};
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#define num_angle_tests \
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(sizeof (test_angles) / sizeof (test_angles[0]))
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// return true if a and b are close enough (yay, floats)
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static int
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compare (vec_t a, vec_t b)
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{
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vec_t diff = a - b;
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return diff * diff < 0.001;
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}
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static int
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test_angle (const vec3_t angles)
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{
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int i;
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quat_t rotation, r;
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vec3_t scale, shear, trans;
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mat4_t mat;
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AngleQuat (angles, rotation);
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QuatToMatrix (rotation, mat, 1, 1);
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Mat4Decompose (mat, r, scale, shear, trans);
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for (i = 0; i < 4; i++)
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if (!compare (rotation[i], r[i]))
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goto negate;
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return 1;
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negate:
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// Mat4Decompose always sets the rotation quaternion's scalar to +ve
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// but AngleQuat might produce a -ve scalar.
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QuatNegate (r, r);
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for (i = 0; i < 4; i++)
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if (!compare (rotation[i], r[i]))
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goto fail;
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return 1;
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fail:
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printf ("\n\n(%g %g %g)\n", VectorExpand (angles));
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printf (" [%g %g %g %g]\n", QuatExpand (rotation));
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printf (" [%g %g %g %g] [%g %g %g] [%g %g %g] [%g %g %g]\n",
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QuatExpand (r), VectorExpand (scale), VectorExpand (shear),
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VectorExpand (trans));
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return 0;
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}
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int
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main (int argc, const char **argv)
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{
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int res = 0;
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size_t i;
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for (i = 0; i < num_angle_tests; i ++) {
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if (!test_angle (test_angles[i]))
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res = 1;
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}
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return res;
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}
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