glm/test/gtx/gtx_quaternion.cpp

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#define GLM_ENABLE_EXPERIMENTAL
#include <glm/gtc/epsilon.hpp>
#include <glm/gtc/type_ptr.hpp>
#include <glm/gtc/matrix_transform.hpp>
#include <glm/gtx/transform.hpp>
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#include <glm/gtx/quaternion.hpp>
#include <glm/gtx/compatibility.hpp>
#include <glm/ext.hpp>
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int test_quat_fastMix()
{
int Error = 0;
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glm::quat A = glm::angleAxis(0.0f, glm::vec3(0, 0, 1));
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glm::quat B = glm::angleAxis(glm::pi<float>() * 0.5f, glm::vec3(0, 0, 1));
glm::quat C = glm::fastMix(A, B, 0.5f);
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glm::quat D = glm::angleAxis(glm::pi<float>() * 0.25f, glm::vec3(0, 0, 1));
Error += glm::epsilonEqual(C.x, D.x, 0.01f) ? 0 : 1;
Error += glm::epsilonEqual(C.y, D.y, 0.01f) ? 0 : 1;
Error += glm::epsilonEqual(C.z, D.z, 0.01f) ? 0 : 1;
Error += glm::epsilonEqual(C.w, D.w, 0.01f) ? 0 : 1;
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return Error;
}
int test_quat_shortMix()
{
int Error(0);
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glm::quat A = glm::angleAxis(0.0f, glm::vec3(0, 0, 1));
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glm::quat B = glm::angleAxis(glm::pi<float>() * 0.5f, glm::vec3(0, 0, 1));
glm::quat C = glm::shortMix(A, B, 0.5f);
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glm::quat D = glm::angleAxis(glm::pi<float>() * 0.25f, glm::vec3(0, 0, 1));
Error += glm::epsilonEqual(C.x, D.x, 0.01f) ? 0 : 1;
Error += glm::epsilonEqual(C.y, D.y, 0.01f) ? 0 : 1;
Error += glm::epsilonEqual(C.z, D.z, 0.01f) ? 0 : 1;
Error += glm::epsilonEqual(C.w, D.w, 0.01f) ? 0 : 1;
return Error;
}
int test_orientation()
{
int Error = 0;
{
glm::quat q(1.0f, 0.0f, 0.0f, 1.0f);
float p = glm::roll(q);
Error += glm::epsilonEqual(p, glm::pi<float>() * 0.5f, 0.0001f) ? 0 : 1;
}
{
glm::quat q(1.0f, 0.0f, 0.0f, 1.0f);
float p = glm::pitch(q);
Error += glm::epsilonEqual(p, 0.f, 0.0001f) ? 0 : 1;
}
{
glm::quat q(1.0f, 0.0f, 0.0f, 1.0f);
float p = glm::yaw(q);
Error += glm::epsilonEqual(p, 0.f, 0.0001f) ? 0 : 1;
}
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return Error;
}
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int test_rotation()
{
int Error(0);
glm::vec3 v(1, 0, 0);
glm::vec3 u(0, 1, 0);
glm::quat Rotation = glm::rotation(v, u);
float Angle = glm::angle(Rotation);
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Error += glm::abs(Angle - glm::pi<float>() * 0.5f) < glm::epsilon<float>() ? 0 : 1;
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return Error;
}
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int test_log()
{
int Error(0);
glm::quat q;
glm::quat p = glm::log(q);
glm::quat r = glm::exp(p);
return Error;
}
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int test_quat_lookAt()
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{
int Error(0);
glm::vec3 eye(0.0f);
glm::vec3 center(1.1f, -2.0f, 3.1416f);
glm::vec3 up = glm::vec3(-0.17f, 7.23f, -1.744f);
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glm::quat test_quat = glm::quatLookAt(glm::normalize(center - eye), up);
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glm::quat test_mat = glm::conjugate(glm::quat_cast(glm::lookAt(eye, center, up)));
Error += static_cast<int>(glm::abs(glm::length(test_quat) - 1.0f) > glm::epsilon<float>());
Error += static_cast<int>(glm::min(glm::length(test_quat + (-test_mat)), glm::length(test_quat + test_mat)) > glm::epsilon<float>());
return Error;
}
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int main()
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{
int Error = 0;
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Error += test_log();
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Error += test_rotation();
Error += test_orientation();
Error += test_quat_fastMix();
Error += test_quat_shortMix();
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Error += test_quat_lookAt();
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return Error;
}