mirror of
https://git.code.sf.net/p/quake/quakeforge
synced 2024-11-30 08:00:51 +00:00
efaef89c5f
I got the idea from blender when I discovered by accident that quat * vect produces the same result as quat * qvect * quat* and looked up the code to check what was going on. While matrix/vector multiplication still beats the pants off quaternion/vector multiplication, QuatMultVec is a slight optimization over quat * qvect * quat* (17+,24* vs 24+,32*, plus no need to to generate quat*).
147 lines
3.1 KiB
C
147 lines
3.1 KiB
C
#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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{45, 0, 0},
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{0, 45, 0},
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{0, 0, 45},
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{45, 45, 0},
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{0, 45, 45},
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{45, 0, 45},
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{45, 45, 45},
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};
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#define num_angle_tests (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_rotation (const vec3_t angles)
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{
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int i;
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vec3_t forward, right, up;
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quat_t quat, f, r, u, t;
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quat_t qf = {0, 1, 0, 0};
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quat_t qr = {0, 0, -1, 0};
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quat_t qu = {0, 0, 0, 1};
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AngleVectors (angles, forward, right, up);
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AngleQuat (angles, quat);
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// rotate forward vector
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QuatConj (quat, t);
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QuatMult (qf, t, t);
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QuatMult (quat, t, f);
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// rotate right vector
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QuatConj (quat, t);
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QuatMult (qr, t, t);
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QuatMult (quat, t, r);
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// rotate up vector
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QuatConj (quat, t);
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QuatMult (qu, t, t);
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QuatMult (quat, t, u);
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if (!compare (f[0], 0))
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goto fail;
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for (i = 0; i < 3; i++)
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if (!compare (forward[i], f[i + 1]))
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goto fail;
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if (!compare (r[0], 0))
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goto fail;
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for (i = 0; i < 3; i++)
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if (!compare (right[i], r[i + 1]))
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goto fail;
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if (!compare (u[0], 0))
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goto fail;
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for (i = 0; i < 3; i++)
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if (!compare (up[i], u[i + 1]))
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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\n", angles[0], angles[1], angles[2]);
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printf ("%g %g %g\n", forward[0], forward[1], forward[2]);
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printf ("%g %g %g\n", right[0], right[1], right[2]);
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printf ("%g %g %g\n\n", up[0], up[1], up[2]);
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printf ("%g %g %g %g\n", f[0], f[1], f[2], f[3]);
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printf ("%g %g %g %g\n", r[0], r[1], r[2], r[3]);
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printf ("%g %g %g %g\n", u[0], u[1], u[2], u[3]);
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return 0;
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}
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static int
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test_rotation2 (const vec3_t angles)
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{
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int i;
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vec3_t forward, right, up;
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quat_t quat;
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vec3_t f, r, u;
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vec3_t vf = {1, 0, 0};
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vec3_t vr = {0, -1, 0};
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vec3_t vu = {0, 0, 1};
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AngleVectors (angles, forward, right, up);
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AngleQuat (angles, quat);
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// rotate forward vector
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QuatMultVec (quat, vf, f);
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// rotate right vector
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QuatMultVec (quat, vr, r);
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// rotate up vector
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QuatMultVec (quat, vu, u);
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for (i = 0; i < 3; i++)
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if (!compare (forward[i], f[i]))
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goto fail;
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for (i = 0; i < 3; i++)
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if (!compare (right[i], r[i]))
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goto fail;
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for (i = 0; i < 3; i++)
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if (!compare (up[i], u[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\n", angles[0], angles[1], angles[2]);
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printf ("%g %g %g\n", forward[0], forward[1], forward[2]);
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printf ("%g %g %g\n", right[0], right[1], right[2]);
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printf ("%g %g %g\n\n", up[0], up[1], up[2]);
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printf ("%g %g %g\n", f[0], f[1], f[2]);
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printf ("%g %g %g\n", r[0], r[1], r[2]);
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printf ("%g %g %g\n", u[0], u[1], u[2]);
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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_rotation (test_angles[i]))
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res = 1;
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}
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for (i = 0; i < num_angle_tests; i ++) {
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if (!test_rotation2 (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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