/** [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;
}
/** [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_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;
}
/**
* @ingroup quaternion
* @brief Sets the values in the quaternion, in place, based on the axis and angle.
*
* @param self the quaternion that will become initialized with the values of the axis and angle
* @param axis the reference axis
* @param angle the angle is in radians
*
*/
HYPAPI quaternion * quaternion_set_from_axis_anglev3(quaternion *self, const vector3 *axis, float angle)
{
return quaternion_set_from_axis_anglef3(self, axis->x, axis->y, axis->z, angle);
}
