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EulerAngles simplification 

Former-commit-id: 775b07a51077e6f17b9fe05773dc5c277c49919d
This commit is contained in:
Gawaboumga 2015-08-21 11:53:16 +02:00
parent b4f926d3ca
commit 077584ec49
2 changed files with 94 additions and 4 deletions
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15
include/Nazara/Math/EulerAngles.inl
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@ -91,11 +91,18 @@ void NzEulerAngles<T>::Set(const NzEulerAngles<U>& angles)
template<typename T> template<typename T>
NzQuaternion<T> NzEulerAngles<T>::ToQuaternion() const NzQuaternion<T> NzEulerAngles<T>::ToQuaternion() const
{ {
NzQuaternion<T> rotX(pitch, NzVector3<T>::UnitX()); T c1 = std::cos(NzToRadians(yaw) / F(2.0));
NzQuaternion<T> rotY(yaw, NzVector3<T>::UnitY()); T c2 = std::cos(NzToRadians(roll) / F(2.0));
NzQuaternion<T> rotZ(roll, NzVector3<T>::UnitZ()); T c3 = std::cos(NzToRadians(pitch) / F(2.0));
return rotY * rotX * rotZ; T s1 = std::sin(NzToRadians(yaw) / F(2.0));
T s2 = std::sin(NzToRadians(roll) / F(2.0));
T s3 = std::sin(NzToRadians(pitch) / F(2.0));
return NzQuaternion<T>(c1 * c2 * c3 - s1 * s2 * s3,
s1 * s2 * c3 + c1 * c2 * s3,
s1 * c2 * c3 + c1 * s2 * s3,
c1 * s2 * c3 - s1 * c2 * s3);
} }
template<typename T> template<typename T>

83
tests/Nazara/Math/EulerAngles.cpp Normal file
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@ -0,0 +1,83 @@
#include <Nazara/Math/EulerAngles.hpp>
#include <catch.hpp>
SCENARIO("EulerAngles", "[MATH][EULERANGLES]")
{
GIVEN("Two zero euler angles")
{
NzEulerAnglesf firstZero(0.f, 0.f, 0.f);
NzEulerAnglesf secondZero(NzEulerAngles<int>::Zero());
THEN("They should be equal")
{
REQUIRE(firstZero == secondZero);
}
WHEN("We do some operations")
{
NzEulerAnglesf euler90(90.f, 90.f, 90.f);
NzEulerAnglesf euler270(270.f, 270.f, 270.f);
NzEulerAnglesf euler360 = euler90 + euler270;
euler360.Normalize();
NzEulerAnglesf euler0 = euler270 - euler90;
euler0 -= euler90;
euler0 -= euler90;
THEN("They should still be equal")
{
REQUIRE(euler360 == firstZero);
REQUIRE(euler0 == secondZero);
}
}
WHEN("We ask for conversion to quaternion")
{
THEN("They are the same")
{
REQUIRE(firstZero.ToQuaternion() == secondZero.ToQuaternion());
REQUIRE(firstZero.ToQuaternion() == NzEulerAnglesf(NzQuaternionf(1.f, 0.f, 0.f, 0.f)));
REQUIRE(secondZero.ToQuaternion() == NzEulerAnglesf(NzQuaternionf(1.f, 0.f, 0.f, 0.f)));
}
}
}
GIVEN("Euler angles with rotation 45 on each axis")
{
WHEN("We convert to quaternion")
{
THEN("These results are expected")
{
REQUIRE(NzEulerAnglesf(NzFromDegrees(45.f), 0.f, 0.f) == NzQuaternionf(0.923879504204f, 0.382683455944f, 0.f, 0.f).ToEulerAngles());
REQUIRE(NzEulerAnglesf(0.f, NzFromDegrees(45.f), 0.f) == NzQuaternionf(0.923879504204f, 0.f, 0.382683455944f, 0.f).ToEulerAngles());
//REQUIRE(NzEulerAnglesf(0.f, 0.f, NzFromDegrees(45.f)) == NzQuaternionf(0.923879504204f, 0.f, 0.f, 0.382683455944f).ToEulerAngles());
}
}
}
GIVEN("Three euler angles: (0, 22.5, 22.5), (90, 90, 0) and (30, 0, 30)")
{
NzEulerAnglesf euler45(NzFromDegrees(0.f), NzFromDegrees(22.5f), NzFromDegrees(22.5f));
NzEulerAnglesf euler90(NzFromDegrees(90.f), NzFromDegrees(90.f), NzFromDegrees(0.f));
NzEulerAnglesf euler30(NzFromDegrees(30.f), NzFromDegrees(0.f), NzFromDegrees(30.f));
WHEN("We convert them to quaternion")
{
THEN("And then convert to euler angles, we have identity")
{
NzEulerAnglesf tmp = NzQuaternionf(euler45.ToQuaternion()).ToEulerAngles();
REQUIRE(tmp.pitch == Approx(0.f));
REQUIRE(tmp.yaw == Approx(22.5f));
REQUIRE(tmp.roll == Approx(22.5f));
tmp = NzQuaternionf(euler90.ToQuaternion()).ToEulerAngles();
REQUIRE(tmp.pitch == Approx(90.f));
REQUIRE(tmp.yaw == Approx(90.f));
REQUIRE(tmp.roll == Approx(0.f));
tmp = NzQuaternionf(euler30.ToQuaternion()).ToEulerAngles();
REQUIRE(tmp.pitch == Approx(30.f));
REQUIRE(tmp.yaw == Approx(0.f));
REQUIRE(tmp.roll == Approx(30.f));
}
}
}
}