static char * test_quaternion_axis_anglev3()
{
quaternion q, q1;
float c;
float s;
float angle = HYP_TAU / 4.0f;
vector3 axis;
quaternion_set_from_axis_anglev3(&q, HYP_VECTOR3_UNIT_X, angle);
vector3_set(&axis, HYP_VECTOR3_UNIT_X);
c = HYP_COS(angle / 2.0f);
s = HYP_SIN(angle / 2.0f);
q1.x = axis.x * s;
q1.y = axis.y * s;
q1.z = axis.z * s;
q1.w = c;
quaternion_normalize(&q1);
test_assert(quaternion_equals(&q, &q1));
return 0;
}
/** [quaternion conjugate example] */
static char * test_quaternion_conjugate()
{
quaternion qA;
quaternion qB;
quaternion_set_from_axis_anglef3(&qA, 1.0f, 1.0f, 1.0f, HYP_TAU / 4.0f);
quaternion_set_from_axis_anglef3(&qB, -1.0f, -1.0f, -1.0f, HYP_TAU / 4.0f);
quaternion_conjugate(&qB);
test_assert(quaternion_equals(&qA, &qB));
return 0;
}
static char * test_quaternion_multiply()
{
quaternion qA, qB;
quaternion_set_from_axis_anglev3(&qA, HYP_VECTOR3_UNIT_X, HYP_TAU / 8.0f);
quaternion_set_from_axis_anglev3(&qB, HYP_VECTOR3_UNIT_X, HYP_TAU / 4.0f);
/* qA squared */
quaternion_multiply(&qA, &qA);
test_assert(quaternion_equals(&qA, &qB));
return 0;
}
/** [quaternion inverse example] */
static char * test_quaternion_inverse()
{
quaternion qA;
quaternion qInverse;
quaternion qIdentity;
quaternion_set_from_axis_anglef3(&qA, 1.0f, 1.0f, 1.0f, HYP_TAU / 4.0f);
quaternion_set(&qInverse, &qA);
quaternion_inverse(&qInverse);
quaternion_multiply(&qA, &qInverse);
quaternion_normalize(&qA);
quaternion_identity(&qIdentity);
test_assert(quaternion_equals(&qA, &qIdentity));
return 0;
}
static char * test_quaternion_multiply_identity()
{
quaternion qA, qB, q;
qA.x = 1;
qA.y = 2;
qA.z = 3;
qA.w = 4;
quaternion_identity(&qB);
quaternion_set(&q, &qA);
quaternion_multiply(&q, &qB);
test_assert(quaternion_equals(&q, &qA));
return 0;
}
static char *test_quaternion_get_eulers_create_quaternion_ZYX_aa(void)
{
struct quaternion q1, q2;
HYP_FLOAT anglex, angley, anglez;
/* making the original quaternion out of an arbitrary axis angle */
quaternion_set_from_axis_anglef3(&q1, 0.4f, 0.232f, 0.543f, HYP_TAU / 1.45f);
/* get the angles */
quaternion_get_euler_anglesf3_ZYX_EXP(&q1, &anglex, &angley, &anglez);
/* compose new quaternions with the eulers */
quaternion_set_from_euler_anglesf3_ZYX_EXP(&q2, anglex, angley, anglez);
/* same */
test_assert(quaternion_equals(&q1, &q2));
return 0;
}
static char *test_quaternion_get_eulers_create_quaternion_ZYX(void)
{
struct quaternion q1, q2;
HYP_FLOAT anglex, angley, anglez;
/* make a quaternion out of some arbitrary euler angles */
quaternion_set_from_euler_anglesf3_ZYX_EXP(&q1, 0.8f, 0.8f, 0.8f);
/* get the angles */
quaternion_get_euler_anglesf3_ZYX_EXP(&q1, &anglex, &angley, &anglez);
/* compose new quaternions with the eulers */
quaternion_set_from_euler_anglesf3_ZYX_EXP(&q2, anglex, angley, anglez);
/* same */
test_assert(quaternion_equals(&q1, &q2));
return 0;
}
static char * test_quaternion_slerp()
{
quaternion q, q1, q2, q3;
float angle;
angle = HYP_TAU / 4.0f;
quaternion_set_from_axis_anglev3(&q1, HYP_VECTOR3_UNIT_X, angle);
quaternion_set_from_axis_anglev3(&q2, HYP_VECTOR3_UNIT_X, angle * 1.1f);
quaternion_set_from_axis_anglev3(&q3, HYP_VECTOR3_UNIT_X, angle * 1.2f);
/* half-way */
quaternion_slerp(&q1, &q3, 0.5f, &q);
test_assert(quaternion_equals(&q, &q2));
/* none */
quaternion_slerp(&q1, &q3, 0.0f, &q);
test_assert(quaternion_equals(&q, &q1));
/* all the way */
quaternion_slerp(&q1, &q3, 1.0f, &q);
test_assert(quaternion_equals(&q, &q3));
/* swap order half-way */
quaternion_slerp(&q3, &q1, 0.5f, &q);
test_assert(quaternion_equals(&q, &q2));
/* swap order none */
quaternion_slerp(&q3, &q1, 0.0f, &q);
test_assert(quaternion_equals(&q, &q3));
/* swap order all the way */
quaternion_slerp(&q3, &q1, 1.0f, &q);
test_assert(quaternion_equals(&q, &q1));
/* go reverse around the sphere */
quaternion_set_from_axis_anglev3(&q1, HYP_VECTOR3_UNIT_X, angle);
quaternion_set_from_axis_anglev3(&q2, HYP_VECTOR3_UNIT_X, angle * 0.9f);
quaternion_set_from_axis_anglev3(&q3, HYP_VECTOR3_UNIT_X, angle * 0.8f);
/* go reverse half-way */
quaternion_slerp(&q1, &q3, 0.5f, &q);
test_assert(quaternion_equals(&q, &q2));
/* go reverse none */
quaternion_slerp(&q1, &q3, 0.0f, &q);
test_assert(quaternion_equals(&q, &q1));
/* go reverse all the way */
quaternion_slerp(&q1, &q3, 1.0f, &q);
test_assert(quaternion_equals(&q, &q3));
/* swap order reverse half-way */
quaternion_slerp(&q3, &q1, 0.5f, &q);
test_assert(quaternion_equals(&q, &q2));
/* swap order reverse none */
quaternion_slerp(&q3, &q1, 0.0f, &q);
test_assert(quaternion_equals(&q, &q3));
/* swap order reverse all the way */
quaternion_slerp(&q3, &q1, 1.0f, &q);
test_assert(quaternion_equals(&q, &q1));
return 0;
}
