void DisplayObject::setRotation(float angle, glm::vec3 axis)
{
glm::vec3 normalized = normalize(axis);
float alpha = angle / 2.0;
float sinAlpha = sin(alpha);
setRotationQuaternion(glm::quat(normalized.x * sinAlpha, normalized.y * sinAlpha, normalized.z * sinAlpha, cos(alpha)));
}
TEST(TestNodeAAB, TestAABSimple) {
MockLoader mock;
auto node = std::make_shared<FTShaderNode<MockShader>>();
node->setSize(glm::vec3(34, 88, 22));
node->updateMatrices();
node->updateAAB(node->getTransformMatrix());
EXPECT_EQ(node->getAABCenter(), glm::vec3(17, 44, 11));
EXPECT_EQ(node->getAABHalfExtents(), glm::vec3(17, 44, 11));
node->setPosition(glm::vec3(542, 2, 7));
node->updateMatrices();
node->updateAAB(node->getTransformMatrix());
EXPECT_EQ(node->getAABCenter(), glm::vec3(17 + 542, 44 + 2, 11 + 7.0f));
EXPECT_EQ(node->getAABHalfExtents(), glm::vec3(17, 44, 11));
node->setScale(glm::vec3(5, 2, 7));
node->updateMatrices();
node->updateAAB(node->getTransformMatrix());
EXPECT_EQ(node->getAABCenter(), glm::vec3(17*5 + 542, 44*2 + 2, 11*7 + 7.0f));
EXPECT_EQ(node->getAABHalfExtents(), glm::vec3(17*5, 44*2, 11*7));
auto quat = glm::angleAxis((float)M_PI_2, glm::vec3(0, 0, 1));
node->setRotationQuaternion(quat);
node->updateMatrices();
node->updateAAB(node->getTransformMatrix());
EXPECT_EQ(node->getAABCenter(), glm::vec3(542 - 44 * 2, 2+17 * 5, 11 * 7 + 7.0f));
EXPECT_EQ(node->getAABHalfExtents(), glm::vec3(44 * 2, 17 * 5, 11 * 7));
}
TEST(TestNodeAAB, TestAABAnchorPoint) {
MockLoader mock;
auto node = std::make_shared<FTShaderNode<MockShader>>();
node->setAnchorPoint(glm::vec3(0.3f, 0.5f, 0.7f));
node->setSize(glm::vec3(34, 88, 22));
node->updateMatrices();
node->updateAAB(node->getTransformMatrix());
expectVectorEqual(node->getAABCenter(), glm::vec3(17 - 0.3f * 34, 0, 11 - 0.7f * 22));
expectVectorEqual(node->getAABHalfExtents(), glm::vec3(17, 44, 11));
node->setPosition(glm::vec3(542, 2, 7));
node->updateMatrices();
node->updateAAB(node->getTransformMatrix());
expectVectorEqual(node->getAABCenter(), glm::vec3(17 - 0.3f * 34 + 542, 2, 11 - 0.7f * 22 + 7.0f));
expectVectorEqual(node->getAABHalfExtents(), glm::vec3(17, 44, 11));
node->setScale(glm::vec3(5, 2, 7));
node->updateMatrices();
node->updateAAB(node->getTransformMatrix());
expectVectorEqual(node->getAABCenter(), glm::vec3((17 - 0.3f * 34) * 5 + 542, 2, (11 - 0.7f * 22) * 7 + 7.0f), 0.00001f);
expectVectorEqual(node->getAABHalfExtents(), glm::vec3(17 * 5, 44 * 2, 11 * 7));
auto quat = glm::angleAxis((float)M_PI_2, glm::vec3(0, 0, 1));
node->setRotationQuaternion(quat);
node->updateMatrices();
node->updateAAB(node->getTransformMatrix());
expectVectorEqual(node->getAABCenter(), glm::vec3(542, 2 + (17 - 0.3f * 34) * 5, (11 - 0.7f * 22) * 7 + 7.0f), 0.00001f);
expectVectorEqual(node->getAABHalfExtents(), glm::vec3(44 * 2, 17 * 5, 11 * 7));
}
glm::quat DisplayObject::rotate (float angle, glm::vec3 axis)
{
const glm::vec3 normalized = normalize(axis);
const float alpha = angle / 2.0;
const float sinAlpha = sin(alpha);
const glm::quat rotation = glm::quat(normalized.x * sinAlpha, normalized.y * sinAlpha, normalized.z * sinAlpha, cos(alpha));
setRotationQuaternion(normalize(_rotation * rotation));
return _rotation;
}
void RocketRenderer::nextStateEstimate(const state_estimate_t& current_state) {
glm::quat rotation(current_state.orientation_q[3], current_state.orientation_q[0], current_state.orientation_q[1], current_state.orientation_q[2]);
setRotationQuaternion(rotation);
//setPosition(glm::vec3(current_state.pos[0], current_state.pos[1], current_state.pos[2]));
}
