BlackMATov/vmath.hpp
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rotate vec4 by qua

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BlackMATov
2021-01-26 02:26:48 +07:00
parent 1d5ee20967
commit c440789bee
4 changed files with 35 additions and 4 deletions
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18
headers/vmath.hpp/vmath_ext.hpp
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@@ -646,13 +646,23 @@ namespace vmath_hpp
} }
template < typename T > template < typename T >
[[nodiscard]] vec<T, 3> rotate(const vec<T, 3>& v, T angle, const vec<T, 3>& normal) { [[nodiscard]] vec<T, 3> rotate(const vec<T, 3>& v, const qua<T>& q) {
return v * mat<T, 3>(rotate(angle, normal)); return v * q;
} }
template < typename T > template < typename T >
[[nodiscard]] vec<T, 4> rotate(const vec<T, 4>& v, T angle, const vec<T, 3>& normal) { [[nodiscard]] vec<T, 3> rotate(const vec<T, 3>& v, T angle, const vec<T, 3>& axis) {
return v * rotate(angle, normal); return v * qrotate(angle, axis);
}
template < typename T >
[[nodiscard]] vec<T, 4> rotate(const vec<T, 4>& v, const qua<T>& q) {
return v * q;
}
template < typename T >
[[nodiscard]] vec<T, 4> rotate(const vec<T, 4>& v, T angle, const vec<T, 3>& axis) {
return v * qrotate(angle, axis);
} }
// project // project

10
headers/vmath.hpp/vmath_qua_fun.hpp
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@@ -80,6 +80,11 @@ namespace vmath_hpp
return xs + qv2 * ys.s + cross(ys.v, qv2); return xs + qv2 * ys.s + cross(ys.v, qv2);
} }
template < typename T >
[[nodiscard]] constexpr vec<T, 4> operator*(const vec<T, 4>& xs, const qua<T>& ys) {
return {vec<T, 3>{xs} * ys, xs.w};
}
template < typename T > template < typename T >
[[nodiscard]] constexpr qua<T> operator*(const qua<T>& xs, const qua<T>& ys) { [[nodiscard]] constexpr qua<T> operator*(const qua<T>& xs, const qua<T>& ys) {
return { return {
@@ -99,6 +104,11 @@ namespace vmath_hpp
return (xs = (xs * ys)); return (xs = (xs * ys));
} }
template < typename T >
constexpr vec<T, 4>& operator*=(vec<T, 4>& xs, const qua<T>& ys) {
return (xs = (xs * ys));
}
template < typename T > template < typename T >
constexpr qua<T>& operator*=(qua<T>& xs, const qua<T>& ys) { constexpr qua<T>& operator*=(qua<T>& xs, const qua<T>& ys) {
return (xs = (xs * ys)); return (xs = (xs * ys));

3
untests/vmath_ext_tests.cpp
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@@ -285,7 +285,10 @@ TEST_CASE("vmath/ext") {
REQUIRE(rotate(float2(2.f,0.f), radians(90.f)) == uapprox2(0.f,2.f)); REQUIRE(rotate(float2(2.f,0.f), radians(90.f)) == uapprox2(0.f,2.f));
REQUIRE(rotate(float2(1.5f,0.f), radians(-90.f)) == uapprox2(0.f,-1.5f)); REQUIRE(rotate(float2(1.5f,0.f), radians(-90.f)) == uapprox2(0.f,-1.5f));
REQUIRE(rotate(float3(1.5f,0.f,0.f), qrotate_z(radians(90.f))) == uapprox3(0.f,1.5f,0.f));
REQUIRE(rotate(float3(1.5f,0.f,0.f), radians(90.f), float3(0,0,1)) == uapprox3(0.f,1.5f,0.f)); REQUIRE(rotate(float3(1.5f,0.f,0.f), radians(90.f), float3(0,0,1)) == uapprox3(0.f,1.5f,0.f));
REQUIRE(rotate(float4(1.5f,0.f,0.f,1.f), qrotate_z(radians(90.f))) == uapprox4(0.f,1.5f,0.f,1.f));
REQUIRE(rotate(float4(1.5f,0.f,0.f,1.f), radians(90.f), float3(0,0,1)) == uapprox4(0.f,1.5f,0.f,1.f)); REQUIRE(rotate(float4(1.5f,0.f,0.f,1.f), radians(90.f), float3(0,0,1)) == uapprox4(0.f,1.5f,0.f,1.f));
} }

8
untests/vmath_qua_fun_tests.cpp
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@@ -59,9 +59,17 @@ TEST_CASE("vmath/qua_fun") {
REQUIRE(v == uapprox3(0.f,1.f,0.f)); REQUIRE(v == uapprox3(0.f,1.f,0.f));
} }
{
float4 v{1,0,0,2};
REQUIRE(&v == &(v *= fqua{0,0,0.7071067812f,0.7071067812f}));
REQUIRE(v == uapprox4(0.f,1.f,0.f,2.f));
}
STATIC_REQUIRE(fqua{} * fqua{} == fqua{}); STATIC_REQUIRE(fqua{} * fqua{} == fqua{});
STATIC_REQUIRE(float3{1,2,3} * fqua{} == uapprox3(1.f,2.f,3.f)); STATIC_REQUIRE(float3{1,2,3} * fqua{} == uapprox3(1.f,2.f,3.f));
STATIC_REQUIRE(float4{1,2,3,4} * fqua{} == uapprox4(1.f,2.f,3.f,4.f));
STATIC_REQUIRE(float3{1,0,0} * fqua{0,0,0.7071067812f,0.7071067812f} == uapprox3(0.f,1.f,0.f)); STATIC_REQUIRE(float3{1,0,0} * fqua{0,0,0.7071067812f,0.7071067812f} == uapprox3(0.f,1.f,0.f));
STATIC_REQUIRE(float4{1,0,0,2} * fqua{0,0,0.7071067812f,0.7071067812f} == uapprox4(0.f,1.f,0.f,2.f));
} }
SUBCASE("Common Functions") { SUBCASE("Common Functions") {