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Added tests for slerp function
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@ -57,11 +57,11 @@ namespace glm
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/// Returns the component-wise compare of |x - y| < epsilon.
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/// @see gtc_epsilon
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template <typename genType>
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typename genType::boolType epsilonEqual(
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genType const & x,
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genType const & y,
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typename genType::value_type const & epsilon);
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typename genType::boolType epsilonEqual(
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genType const & x,
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genType const & y,
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typename genType::value_type const & epsilon);
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/// Returns the component-wise compare of |x - y| < epsilon.
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/// @see gtc_epsilon
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template <typename genType>
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@ -73,11 +73,11 @@ namespace glm
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/// Returns the component-wise compare of |x - y| < epsilon.
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/// @see gtc_epsilon
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template <typename genType>
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typename genType::boolType epsilonNotEqual(
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genType const & x,
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genType const & y,
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typename genType::value_type const & epsilon);
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typename genType::boolType epsilonNotEqual(
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genType const & x,
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genType const & y,
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typename genType::value_type const & epsilon);
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/// Returns the component-wise compare of |x - y| >= epsilon.
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/// @see gtc_epsilon
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template <typename genType>
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@ -269,21 +269,6 @@ namespace glm
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abs(x.w - y.w) < epsilon);
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}
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template <typename valType>
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GLM_FUNC_QUALIFIER detail::tvec4<bool> epsilonEqual
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(
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detail::tquat<valType> const & x,
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detail::tquat<valType> const & y,
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detail::tquat<valType> const & epsilon
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)
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{
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return detail::tvec4<bool>(
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abs(x.x - y.x) < epsilon.x,
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abs(x.y - y.y) < epsilon.y,
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abs(x.z - y.z) < epsilon.z,
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abs(x.w - y.w) < epsilon.w);
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}
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template <typename valType>
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GLM_FUNC_QUALIFIER detail::tvec4<bool> epsilonNotEqual
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(
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@ -298,19 +283,4 @@ namespace glm
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abs(x.z - y.z) >= epsilon,
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abs(x.w - y.w) >= epsilon);
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}
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template <typename valType>
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GLM_FUNC_QUALIFIER detail::tvec4<bool> epsilonNotEqual
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(
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detail::tquat<valType> const & x,
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detail::tquat<valType> const & y,
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detail::tquat<valType> const & epsilon
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)
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{
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return detail::tvec4<bool>(
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abs(x.x - y.x) >= epsilon.x,
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abs(x.y - y.y) >= epsilon.y,
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abs(x.z - y.z) >= epsilon.z,
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abs(x.w - y.w) >= epsilon.w);
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}
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}//namespace glm
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@ -468,7 +468,7 @@ namespace detail
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{
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// Essential Mathematics, page 467
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T angle = acos(cosTheta);
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return (sin((T(1) - a) * angle) * x + sin(a * angle) * z) / sin(angle);
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return (sin((T(1) - a) * angle) * x + sin(a * angle) * y) / sin(angle);
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}
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}
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@ -658,7 +658,7 @@ namespace detail
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typename detail::tquat<T>::value_type fourYSquaredMinus1 = m[1][1] - m[0][0] - m[2][2];
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typename detail::tquat<T>::value_type fourZSquaredMinus1 = m[2][2] - m[0][0] - m[1][1];
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typename detail::tquat<T>::value_type fourWSquaredMinus1 = m[0][0] + m[1][1] + m[2][2];
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int biggestIndex = 0;
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typename detail::tquat<T>::value_type fourBiggestSquaredMinus1 = fourWSquaredMinus1;
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if(fourXSquaredMinus1 > fourBiggestSquaredMinus1)
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@ -47,6 +47,7 @@ GLM 0.9.4.1: 2012-12-21
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- Fixed quat slerp using mix function when cosTheta close to 1
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- Improved fvec4SIMD and fmat4x4SIMD implementations
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- Fixed assert messages
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- Added slerp and lerp quaternion functions and tests
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================================================================================
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GLM 0.9.4.0: 2012-11-18
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@ -144,6 +144,67 @@ int test_quat_euler()
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return Error;
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}
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int test_quat_slerp()
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{
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int Error(0);
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float const Epsilon = 0.0001f;//glm::epsilon<float>();
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float sqrt2 = sqrt(2.0f)/2.0f;
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glm::quat id;
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glm::quat Y90rot(sqrt2, 0.0f, sqrt2, 0.0f);
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glm::quat Y180rot(0.0f, 0.0f, 1.0f, 0.0f);
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// Testing a == 0
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// Must be id
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glm::quat id2 = glm::slerp(id, Y90rot, 0.0f);
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Error += glm::all(glm::epsilonEqual(id, id2, Epsilon)) ? 0 : 1;
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// Testing a == 1
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// Must be 90° rotation on Y : 0 0.7 0 0.7
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glm::quat Y90rot2 = glm::slerp(id, Y90rot, 1.0f);
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Error += glm::all(glm::epsilonEqual(Y90rot, Y90rot2, Epsilon)) ? 0 : 1;
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// Testing standard, easy case
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// Must be 45° rotation on Y : 0 0.38 0 0.92
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glm::quat Y45rot1 = glm::slerp(id, Y90rot, 0.5f);
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// Testing reverse case
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// Must be 45° rotation on Y : 0 0.38 0 0.92
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glm::quat Ym45rot2 = glm::slerp(Y90rot, id, 0.5f);
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// Testing against full circle around the sphere instead of shortest path
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// Must be 45° rotation on Y
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// certainly not a 135° rotation
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glm::quat Y45rot3 = glm::slerp(id , -Y90rot, 0.5f);
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float Y45angle3 = glm::angle(Y45rot3);
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Error += glm::epsilonEqual(Y45angle3, 45.f, Epsilon) ? 0 : 1;
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Error += glm::all(glm::epsilonEqual(Ym45rot2, Y45rot3, Epsilon)) ? 0 : 1;
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// Same, but inverted
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// Must also be 45° rotation on Y : 0 0.38 0 0.92
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// -0 -0.38 -0 -0.92 is ok too
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glm::quat Y45rot4 = glm::slerp(-Y90rot, id, 0.5f);
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Error += glm::all(glm::epsilonEqual(Ym45rot2, -Y45rot4, Epsilon)) ? 0 : 1;
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// Testing q1 = q2
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// Must be 90° rotation on Y : 0 0.7 0 0.7
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glm::quat Y90rot3 = glm::slerp(Y90rot, Y90rot, 0.5f);
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Error += glm::all(glm::epsilonEqual(Y90rot, Y90rot3, Epsilon)) ? 0 : 1;
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// Testing 180° rotation
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// Must be 90° rotation on almost any axis that is on the XZ plane
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glm::quat XZ90rot = glm::slerp(id, -Y90rot, 0.5f);
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float XZ90angle = glm::angle(XZ90rot); // Must be PI/4 = 0.78;
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Error += glm::epsilonEqual(XZ90angle, 45.f, Epsilon) ? 0 : 1;
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// Testing almost equal quaternions (this test should pass through the linear interpolation)
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// Must be 0 0.00X 0 0.99999
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glm::quat almostid = glm::slerp(id, glm::angleAxis(0.1f, 0.0f, 1.0f, 0.0f), 0.5f);
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return Error;
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}
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int test_quat_type()
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{
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glm::quat A;
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@ -163,6 +224,7 @@ int main()
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Error += test_quat_mix();
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Error += test_quat_normalize();
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Error += test_quat_euler();
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Error += test_quat_slerp();
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return Error;
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}
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