mirror of
https://git.code.sf.net/p/quake/quakeforge
synced 2024-11-17 18:30:58 +00:00
12e238f806
The test works by comparing the result of AngleVectors with forward, right, and up vectors rotated by the quaternion resulting from AngleQuat.
96 lines
1.9 KiB
C
96 lines
1.9 KiB
C
#ifdef HAVE_CONFIG_H
|
|
# include "config.h"
|
|
#endif
|
|
|
|
#include "QF/mathlib.h"
|
|
|
|
//PITCH YAW ROLL
|
|
static vec3_t test_angles[] = {
|
|
{0, 0, 0},
|
|
{45, 0, 0},
|
|
{0, 45, 0},
|
|
{0, 0, 45},
|
|
{45, 45, 0},
|
|
{0, 45, 45},
|
|
{45, 0, 45},
|
|
{45, 45, 45},
|
|
};
|
|
#define num_angle_tests (sizeof (test_angles) / sizeof (test_angles[0]))
|
|
|
|
// return true if a and b are close enough (yay, floats)
|
|
static int
|
|
compare (vec_t a, vec_t b)
|
|
{
|
|
vec_t diff = a - b;
|
|
return diff * diff < 0.001;
|
|
}
|
|
|
|
static int
|
|
test_rotation (const vec3_t angles)
|
|
{
|
|
int i;
|
|
vec3_t forward, right, up;
|
|
|
|
quat_t quat, f, r, u, t;
|
|
quat_t qf = {0, 1, 0, 0};
|
|
quat_t qr = {0, 0, -1, 0};
|
|
quat_t qu = {0, 0, 0, 1};
|
|
|
|
AngleVectors (angles, forward, right, up);
|
|
|
|
AngleQuat (angles, quat);
|
|
// rotate forward vector
|
|
QuatConj (quat, t);
|
|
QuatMult (qf, t, t);
|
|
QuatMult (quat, t, f);
|
|
// rotate right vector
|
|
QuatConj (quat, t);
|
|
QuatMult (qr, t, t);
|
|
QuatMult (quat, t, r);
|
|
// rotate up vector
|
|
QuatConj (quat, t);
|
|
QuatMult (qu, t, t);
|
|
QuatMult (quat, t, u);
|
|
|
|
if (!compare (f[0], 0))
|
|
goto fail;
|
|
for (i = 0; i < 3; i++)
|
|
if (!compare (forward[i], f[i + 1]))
|
|
goto fail;
|
|
|
|
if (!compare (r[0], 0))
|
|
goto fail;
|
|
for (i = 0; i < 3; i++)
|
|
if (!compare (right[i], r[i + 1]))
|
|
goto fail;
|
|
|
|
if (!compare (u[0], 0))
|
|
goto fail;
|
|
for (i = 0; i < 3; i++)
|
|
if (!compare (up[i], u[i + 1]))
|
|
goto fail;
|
|
return 1;
|
|
fail:
|
|
printf ("\n\n%g %g %g\n\n", angles[0], angles[1], angles[2]);
|
|
printf ("%g %g %g\n", forward[0], forward[1], forward[2]);
|
|
printf ("%g %g %g\n", right[0], right[1], right[2]);
|
|
printf ("%g %g %g\n\n", up[0], up[1], up[2]);
|
|
|
|
printf ("%g %g %g %g\n", f[0], f[1], f[2], f[3]);
|
|
printf ("%g %g %g %g\n", r[0], r[1], r[2], r[3]);
|
|
printf ("%g %g %g %g\n", u[0], u[1], u[2], u[3]);
|
|
return 0;
|
|
}
|
|
|
|
int
|
|
main (int argc, const char **argv)
|
|
{
|
|
int res = 0;
|
|
size_t i;
|
|
|
|
for (i = 0; i < num_angle_tests; i ++) {
|
|
if (!test_rotation (test_angles[i]))
|
|
res = 1;
|
|
}
|
|
return res;
|
|
}
|