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Quaternion math improvements (#2524)

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* Add radians to deg function

* Quaternion math fixes

* Formatting, use splat/swizzling, divide into multiple tests.

---------

Co-authored-by: tonis2 <tanton@paysure.solutions>
Co-authored-by: Christoffer Lerno <christoffer@aegik.com>
This commit is contained in:
Tonis
2025-10-20 12:04:28 +03:00
committed by GitHub
parent b924ede71a
commit 03ad72afbb
4 changed files with 116 additions and 56 deletions
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101
test/unit/stdlib/math/quaternion.c3
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@@ -1,38 +1,81 @@
module math_quaternion @test;
module math_tests::quaternion @test;
import std::math;
fn void test()
fn void test_rad_to_deg()
{
{
Quaternion rotation = QUATERNION_IDENTITY;
Quaternionf rotation_f = QUATERNIONF_IDENTITY;
assert(rotation.v == {0,0,0,1});
assert(rotation.v == {0,0,0,1});
Quaternion value = { 0, 0.7071068, 0.7071068, 0 };
double angle_radians = value.to_angle();
assert(math::round_to_decimals(angle_radians, 2) == 3.14);
assert(math::rad_to_deg(angle_radians) == 180.0);
}
fn void test_rotation()
{
double[<3>] axis = { 3, 0, 3 };
Quaternion rotation = { 0.5, 0, 0.5, 0 };
double[<3>] result = { 1.500000, 0.000000, 1.500000 };
assert(rotation * axis == result);
assert(rotation.rotate_vec3(axis) == result);
assert(axis.rotate_quat(rotation) == result);
}
fn void test_conjugate()
{
Quaternion value = { 0.5, 0.2, 1.0, 0.5 };
Quaternion inverse = value.conjugate();
assert(inverse.v == { -0.500000, -0.200000, -1.000000, 0.500000 });
}
fn void test_identity()
{
Quaternion rotation = QUATERNION_IDENTITY;
Quaternionf rotation_f = QUATERNIONF_IDENTITY;
assert(rotation.v == { 0, 0, 0, 1 });
assert(rotation.v == { 0, 0, 0, 1 });
}
fn void test_rotation_identity()
{
Quaternion rotation = QUATERNION_IDENTITY;
Matrix4 identity_matrix = MATRIX4_IDENTITY;
Quaternionf rotation_f = QUATERNIONF_IDENTITY;
Matrix4f identity_matrix_f = MATRIX4F_IDENTITY;
assert((double[<16>])rotation.to_matrix().m == (double[<16>])identity_matrix.m);
assert((float[<16>])rotation_f.to_matrixf().m == (float[<16>])identity_matrix_f.m);
}
fn void test_to_matrix()
{
Matrix4 result = {
0.428571, -0.285714, 0.857143, 0.000000,
0.857143, 0.428571, -0.285714, 0.000000,
-0.285714, 0.857143, 0.428571, 0.000000,
0.000000, 0.000000, 0.000000, 1.000000
};
{
Quaternion rotation = QUATERNION_IDENTITY;
Matrix4 identity_matrix = MATRIX4_IDENTITY;
Matrix4 rotation = (Quaternion) { 0.5, 0.5, 0.5, 1 }.to_matrix();
Matrix4f rotation_f = (Quaternionf) { 0.5, 0.5, 0.5, 1 }.to_matrixf();
Quaternionf rotation_f = QUATERNIONF_IDENTITY;
Matrix4f identity_matrix_f = MATRIX4F_IDENTITY;
assert(math::round_to_decimals((double[<16>])result.m, 2) == math::round_to_decimals((double[<16>])rotation.m, 2));
assert(math::round_to_decimals((float[<16>])result.m, 2) == math::round_to_decimals((float[<16>])rotation_f.m, 2));
}
fn void test_normalize()
{
Quaternionf value = quaternion::from_axis_angle({ 1, 0, 0 }, math::PI).normalize();
assert(math::round_to_decimals(value.v, 2) == { 1, 0, 0, 0 });
}
assert((double[<16>])rotation.to_matrix().m == (double[<16>])identity_matrix.m);
assert((float[<16>])rotation_f.to_matrixf().m == (float[<16>])identity_matrix_f.m);
};
fn void test_normalize2()
{
Quaternionf value = quaternion::from_axis_angle({ 0, 1, 0 }, math::PI / 2).normalize();
assert(math::round_to_decimals(value.v, 4) == { 0, 0.7071, 0, 0.7071 });
}
{
Matrix4 result = {
0.428571, -0.285714, 0.857143, 0.000000,
0.857143, 0.428571, -0.285714, 0.000000,
-0.285714, 0.857143, 0.428571, 0.000000,
0.000000, 0.000000, 0.000000, 1.000000
};
Matrix4 rotation = (Quaternion) {0.5, 0.5, 0.5, 1}.to_matrix();
Matrix4f rotation_f = (Quaternionf) {0.5, 0.5, 0.5, 1}.to_matrixf();
assert(math::round_to_decimals((double[<16>])result.m, 2) == math::round_to_decimals((double[<16>])rotation.m, 2));
assert(math::round_to_decimals((float[<16>])result.m, 2) == math::round_to_decimals((float[<16>])rotation_f.m, 2));
};
fn void test_mult()
{
Quaternionf rotation = quaternion::from_axis_angle({ 0.0f, 1.0f, 0.0f }, (float)math::deg_to_rad(90.0f));
float[<3>] rotate_point = rotation * (float[<3>]){ 1, 0, 0 };
assert(math::round_to_decimals(rotate_point, 2) == (float[<3>]){ 0, 0, -1.0 });
}