/**
* @ingroup experimental
* @brief this is an opinionated method (opinionated about what axis is yaw, pitch, roll and what is left/right/up/down
*
* @param self the quaternion
* @param ax the x axis
* @param ay the y axis
* @param az the z axis
*
*/
HYPAPI quaternion * quaternion_set_from_euler_anglesf3_EXP(quaternion *self, float ax, float ay, float az)
{
vector3 vx;
vector3 vy;
vector3 vz;
quaternion qx;
quaternion qy;
quaternion qz;
vector3_setf3(&vx, 1, 0, 0);
vector3_setf3(&vy, 0, 1, 0);
vector3_setf3(&vz, 0, 0, 1);
quaternion_set_from_axis_anglev3(&qx, &vx, ax);
quaternion_set_from_axis_anglev3(&qy, &vy, ay);
quaternion_set_from_axis_anglev3(&qz, &vz, az);
/* self = qx * qy * qz */
quaternion_multiply(&qx, &qy);
quaternion_multiply(&qx, &qz);
quaternion_set(self, &qx);
quaternion_normalize(self);
return self;
}
static char *test_vector3_cross_product(void)
{
struct vector3 a;
struct vector3 b;
struct vector3 r;
vector3_setf3(&a, 3.0f, -3.0f, 1.0f);
vector3_setf3(&b, 4.0f, 9.0f, 2.0f);
vector3_cross_product(&r, &a, &b);
test_assert(scalar_equalsf(r.x, -15.0f));
test_assert(scalar_equalsf(r.y, -2.0f));
test_assert(scalar_equalsf(r.z, 39.0f));
/* tests lack of commutative property */
vector3_cross_product(&r, &b, &a);
test_assert(!scalar_equalsf(r.x, -15.0f));
test_assert(!scalar_equalsf(r.y, -2.0f));
test_assert(!scalar_equalsf(r.z, 39.0f));
return 0;
}
/**
* @ingroup vector3
* @brief initializes the vertex with zeros
*/
HYPAPI vector3 * vector3_zero(vector3 *self)
{
return vector3_setf3(self, 0, 0, 0);
}