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;
}
