GRAPHENE_TEST_UNIT_END GRAPHENE_TEST_UNIT_BEGIN (euler_quaternion_roundtrip) { graphene_euler_t values[3]; unsigned int i; graphene_euler_init_with_order (&values[0], 0.f, 0.f, 0.f, GRAPHENE_EULER_ORDER_XYZ); graphene_euler_init_with_order (&values[1], 1.f, 0.f, 0.f, GRAPHENE_EULER_ORDER_XYZ); graphene_euler_init_with_order (&values[2], 0.f, 1.f, 0.f, GRAPHENE_EULER_ORDER_ZYX); for (i = 0; i < G_N_ELEMENTS (values); i++) { graphene_quaternion_t q, check; graphene_euler_t e; graphene_quaternion_init_from_euler (&q, &values[i]); graphene_euler_init_from_quaternion (&e, &q, graphene_euler_get_order (&values[i])); graphene_quaternion_init_from_euler (&check, &e); g_assert_true (graphene_quaternion_equal (&q, &check)); } }
/** * graphene_euler_init_from_quaternion: * @e: a #graphene_euler_t * @q: (nullable): a normalized #graphene_quaternion_t * @order: the order used to apply the rotations * * Initializes a #graphene_euler_t using the given normalized quaternion. * * If the #graphene_quaternion_t @q is %NULL, the #graphene_euler_t will * be initialized with all angles set to 0. * * Returns: (transfer none): the initialized #graphene_euler_t * * Since: 1.2 */ graphene_euler_t * graphene_euler_init_from_quaternion (graphene_euler_t *e, const graphene_quaternion_t *q, graphene_euler_order_t order) { float sqx, sqy, sqz, sqw; float x, y, z; if (q == NULL) return graphene_euler_init_with_order (e, 0.f, 0.f, 0.f, order); sqx = q->x * q->x; sqy = q->y * q->y; sqz = q->z * q->z; sqw = q->w * q->w; x = y = z = 0.f; e->order = order; switch (graphene_euler_get_order (e)) { case GRAPHENE_EULER_ORDER_XYZ: x = atan2f (2.f * (q->x * q->w - q->y * q->z), (sqw - sqx - sqy + sqz)); y = asinf (CLAMP (2.f * (q->x * q->z + q->y * q->w ), -1.f, 1.f)); z = atan2f (2.f * (q->z * q->w - q->x * q->y), (sqw + sqx - sqy - sqz)); break; case GRAPHENE_EULER_ORDER_YXZ: x = asinf (CLAMP (2.f * (q->x * q->w - q->y * q->z), -1.f, 1.f)); y = atan2f (2.f * (q->x * q->z + q->y * q->w), (sqw - sqx - sqy + sqz)); z = atan2f (2.f * (q->x * q->y + q->z * q->w), (sqw - sqx + sqy - sqz)); break; case GRAPHENE_EULER_ORDER_ZXY: x = asinf (CLAMP (2.f * (q->x * q->w + q->y * q->z), -1.f, 1.f)); y = atan2f (2.f * (q->y * q->w - q->z * q->x), (sqw - sqx - sqy + sqz)); z = atan2f (2.f * (q->z * q->w - q->x * q->y), (sqw - sqx + sqy - sqz)); break; case GRAPHENE_EULER_ORDER_ZYX: x = atan2f (2.f * (q->x * q->w + q->z * q->y), (sqw - sqx - sqy + sqz)); y = asinf (CLAMP (2.f * (q->y * q->w - q->x * q->z), -1.f, 1.f)); z = atan2f (2.f * (q->x * q->y + q->z * q->w), (sqw + sqx - sqy - sqz)); break; case GRAPHENE_EULER_ORDER_YZX: x = atan2f (2.f * (q->x * q->w - q->z * q->y), (sqw - sqx + sqy - sqz)); y = atan2f (2.f * (q->y * q->w - q->x * q->z), (sqw + sqx - sqy - sqz)); z = asinf (CLAMP (2.f * (q->x * q->y + q->z * q->w ), -1.f, 1.f)); break; case GRAPHENE_EULER_ORDER_XZY: x = atan2f (2.f * (q->x * q->w + q->y * q->z), (sqw - sqx + sqy - sqz)); y = atan2f (2.f * (q->x * q->z + q->y * q->w), (sqw + sqx - sqy - sqz)); z = asinf (CLAMP (2.f * (q->z * q->w - q->x * q->y), -1.f, 1.f)); break; case GRAPHENE_EULER_ORDER_DEFAULT: break; } graphene_vec3_init (&e->angles, x, y, z); return e; }
/** * graphene_euler_init_from_matrix: * @e: the #graphene_euler_t to initialize * @m: (nullable): a rotation matrix * @order: the order used to apply the rotations * * Initializes a #graphene_euler_t using the given rotation matrix. * * If the #graphene_matrix_t @m is %NULL, the #graphene_euler_t will * be initialized with all angles set to 0. * * Returns: (transfer none): the initialized #graphene_euler_t * * Since: 1.2 */ graphene_euler_t * graphene_euler_init_from_matrix (graphene_euler_t *e, const graphene_matrix_t *m, graphene_euler_order_t order) { float me[16]; float m11, m12, m13; float m21, m22, m23; float m31, m32, m33; float x, y, z; if (m == NULL) return graphene_euler_init_with_order (e, 0.f, 0.f, 0.f, order); graphene_matrix_to_float (m, me); /* isolate the rotation components */ m11 = me[0]; m21 = me[4]; m31 = me[8]; m12 = me[1]; m22 = me[5]; m32 = me[9]; m13 = me[2]; m23 = me[6]; m33 = me[10]; x = y = z = 0.f; e->order = order; switch (graphene_euler_get_order (e)) { case GRAPHENE_EULER_ORDER_XYZ: y = asinf (CLAMP (m13, -1.f, 1.f)); if (fabsf (m13) < 1.f) { x = atan2f (-1.f * m23, m33); z = atan2f (-1.f * m12, m11); } else { x = atan2f (m32, m22); z = 0.f; } break; case GRAPHENE_EULER_ORDER_YXZ: x = asinf (-1.f * CLAMP (m23, -1, 1)); if (fabsf (m23) < 1.f) { y = atan2f (m13, m33); z = atan2f (m21, m22); } else { y = atan2f (-1.f * m31, m11); z = 0.f; } break; case GRAPHENE_EULER_ORDER_ZXY: x = asinf (CLAMP (m32, -1.f, 1.f)); if (fabsf (m32) < 1.f) { y = atan2f (-1.f * m31, m33); z = atan2f (-1.f * m12, m22); } else { y = 0.f; z = atan2f (m21, m11); } break; case GRAPHENE_EULER_ORDER_ZYX: y = asinf (-1.f * CLAMP (m31, -1.f, 1.f)); if (fabsf (m31) < 1.f) { x = atan2f (m32, m33); z = atan2f (m21, m11); } else { x = 0.f; z = atan2f (-1.f * m12, m22); } break; case GRAPHENE_EULER_ORDER_YZX: z = asinf (CLAMP (m21, -1.f, 1.f)); if (fabsf (m21) < 1.f) { x = atan2f (-1.f * m23, m22); y = atan2f (-1.f * m31, m11); } else { x = 0.f; y = atan2f (m13, m33); } break; case GRAPHENE_EULER_ORDER_XZY: z = asinf (-1.f * CLAMP (m12, -1.f, 1.f)); if (fabsf (m12) < 1.f) { x = atan2f (m32, m22); y = atan2f (m13, m11); } else { x = atan2f (-1.f * m23, m33); y = 0.f; } break; case GRAPHENE_EULER_ORDER_DEFAULT: break; } graphene_vec3_init (&e->angles, x, y, z); return e; }