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123 lines
4.3 KiB
C++
123 lines
4.3 KiB
C++
#define GLM_ENABLE_EXPERIMENTAL
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#include <glm/gtc/quaternion.hpp>
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#include <glm/gtx/component_wise.hpp>
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#include <glm/gtx/matrix_interpolation.hpp>
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#include <iostream>
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#include <limits>
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#include <math.h>
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static int test_axisAngle()
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{
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int Error = 0;
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glm::mat4 m1(-0.9946f, 0.0f, -0.104531f, 0.0f,
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0.0f, 1.0f, 0.0f, 0.0f,
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0.104531f, 0.0f, -0.9946f, 0.0f,
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0.0f, 0.0f, 0.0f, 1.0f);
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glm::mat4 m2(-0.992624f, 0.0f, -0.121874f, 0.0f,
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0.0f, 1.0f, 0.0f, 0.0f,
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0.121874f, 0.0f, -0.992624f, 0.0f,
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0.0f, 0.0f, 0.0f, 1.0f);
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glm::mat4 const m1rot = glm::extractMatrixRotation(m1);
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glm::mat4 const dltRotation = m2 * glm::transpose(m1rot);
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glm::vec3 dltAxis(0.0f);
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float dltAngle = 0.0f;
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glm::axisAngle(dltRotation, dltAxis, dltAngle);
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std::cout << "dltAxis: (" << dltAxis.x << ", " << dltAxis.y << ", " << dltAxis.z << "), dltAngle: " << dltAngle << std::endl;
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glm::quat q = glm::quat_cast(dltRotation);
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std::cout << "q: (" << q.x << ", " << q.y << ", " << q.z << ", " << q.w << ")" << std::endl;
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float yaw = glm::yaw(q);
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std::cout << "Yaw: " << yaw << std::endl;
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return Error;
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}
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template <class T>
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int testForAxisAngle(glm::vec<3, T, glm::defaultp> const axisTrue, T const angleTrue)
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{
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T const eps = std::sqrt(std::numeric_limits<T>::epsilon());
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glm::mat<4, 4, T, glm::defaultp> const matTrue = glm::axisAngleMatrix(axisTrue, angleTrue);
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glm::vec<3, T, glm::defaultp> axis;
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T angle;
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glm::axisAngle(matTrue, axis, angle);
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glm::mat<4, 4, T, glm::defaultp> const matRebuilt = glm::axisAngleMatrix(axis, angle);
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glm::mat<4, 4, T, glm::defaultp> const errMat = matTrue - matRebuilt;
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T const maxErr = glm::compMax(glm::vec<4, T, glm::defaultp>(
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glm::compMax(glm::abs(errMat[0])),
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glm::compMax(glm::abs(errMat[1])),
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glm::compMax(glm::abs(errMat[2])),
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glm::compMax(glm::abs(errMat[3]))
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));
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return maxErr < eps ? 0 : 1;
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}
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static int test_axisAngle2()
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{
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int Error = 0;
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Error += testForAxisAngle(glm::vec3(0.0f, 1.0f, 0.0f), 0.0f);
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Error += testForAxisAngle(glm::vec3(0.358f, 0.0716f, 0.9309f), 0.00001f);
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Error += testForAxisAngle(glm::vec3(1.0f, 0.0f, 0.0f), 0.0001f);
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Error += testForAxisAngle(glm::vec3(0.0f, 0.0f, 1.0f), 0.001f);
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Error += testForAxisAngle(glm::vec3(0.0f, 0.0f, 1.0f), 0.001f);
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Error += testForAxisAngle(glm::vec3(0.0f, 1.0f, 0.0f), 0.005f);
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Error += testForAxisAngle(glm::vec3(0.0f, 0.0f, 1.0f), 0.005f);
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Error += testForAxisAngle(glm::vec3(0.358f, 0.0716f, 0.9309f), 0.03f);
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Error += testForAxisAngle(glm::vec3(0.358f, 0.0716f, 0.9309f), 0.0003f);
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Error += testForAxisAngle(glm::vec3(0.0f, 0.0f, 1.0f), 0.01f);
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Error += testForAxisAngle(glm::dvec3(0.0f, 1.0f, 0.0f), 0.00005);
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Error += testForAxisAngle(glm::dvec3(-1.0f, 0.0f, 0.0f), 0.000001);
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Error += testForAxisAngle(glm::dvec3(0.7071f, 0.7071f, 0.0f), 0.5);
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Error += testForAxisAngle(glm::dvec3(0.7071f, 0.0f, 0.7071f), 0.0002);
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Error += testForAxisAngle(glm::dvec3(0.7071f, 0.0f, 0.7071f), 0.00002);
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Error += testForAxisAngle(glm::dvec3(0.7071f, 0.0f, 0.7071f), 0.000002);
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Error += testForAxisAngle(glm::dvec3(0.7071f, 0.0f, 0.7071f), 0.0000002);
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Error += testForAxisAngle(glm::vec3(0.0f, 0.7071f, 0.7071f), 1.3f);
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Error += testForAxisAngle(glm::vec3(0.0f, 0.7071f, 0.7071f), 6.3f);
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Error += testForAxisAngle(glm::vec3(1.0f, 0.0f, 0.0f), -0.23456f);
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Error += testForAxisAngle(glm::vec3(1.0f, 0.0f, 0.0f), glm::pi<float>());
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Error += testForAxisAngle(glm::vec3(0.0f, 1.0f, 0.0f), -glm::pi<float>());
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Error += testForAxisAngle(glm::vec3(0.358f, 0.0716f, 0.9309f), -glm::pi<float>());
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Error += testForAxisAngle(glm::vec3(1.0f, 0.0f, 0.0f), glm::pi<float>() + 2e-6f);
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Error += testForAxisAngle(glm::vec3(1.0f, 0.0f, 0.0f), glm::pi<float>() + 1e-4f);
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Error += testForAxisAngle(glm::vec3(0.0f, 1.0f, 0.0f), -glm::pi<float>() + 1e-3f);
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Error += testForAxisAngle(glm::vec3(0.358f, 0.0716f, 0.9309f), -glm::pi<float>() + 5e-3f);
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return Error;
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}
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static int test_rotate()
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{
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glm::mat4 m2(1.0);
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float myAngle = 1.0f;
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m2 = glm::rotate(m2, myAngle, glm::vec3(1.0f, 0.0f, 0.0f));
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glm::vec3 m2Axis;
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float m2Angle;
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glm::axisAngle(m2, m2Axis, m2Angle);
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return 0;
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}
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int main()
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{
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int Error = 0;
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Error += test_axisAngle();
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Error += test_axisAngle2();
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Error += test_rotate();
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return Error;
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}
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