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Cleanup.

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Бранимир Караџић
2021-10-08 19:06:39 -07:00
parent c7fc7b4ac6
commit 44c9661169
5 changed files with 126 additions and 46 deletions
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81
include/bx/inline/math.inl
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@@ -690,6 +690,14 @@ namespace bx
};
}
inline BX_CONSTEXPR_FUNC bool equal(const Vec3 _a, const Vec3 _b, float _epsilon)
{
return equal(_a.x, _b.x, _epsilon)
&& equal(_a.y, _b.y, _epsilon)
&& equal(_a.z, _b.z, _epsilon)
;
}
inline void calcTangentFrame(Vec3& _outT, Vec3& _outB, const Vec3 _n)
{
const float nx = _n.x;
@@ -891,6 +899,24 @@ namespace bx
return normalize(qq);
}
inline BX_CONST_FUNC Quaternion fromEuler(const Vec3 _euler)
{
const float sx = sin(_euler.x * 0.5f);
const float cx = cos(_euler.x * 0.5f);
const float sy = sin(_euler.y * 0.5f);
const float cy = cos(_euler.y * 0.5f);
const float sz = sin(_euler.z * 0.5f);
const float cz = cos(_euler.z * 0.5f);
return
{
sx * cy * cz - cx * sy * sz,
cx * sy * cz + sx * cy * sz,
cx * cy * sz - sx * sy * cz,
cx * cy * cz + sx * sy * sz,
};
}
inline BX_CONST_FUNC Vec3 toEuler(const Quaternion _a)
{
const float xx = _a.x;
@@ -960,7 +986,7 @@ namespace bx
};
}
inline BX_CONST_FUNC Quaternion rotateAxis(const Vec3 _axis, float _angle)
inline BX_CONST_FUNC Quaternion fromAxisAngle(const Vec3 _axis, float _angle)
{
const float ha = _angle * 0.5f;
const float sa = sin(ha);
@@ -974,6 +1000,24 @@ namespace bx
};
}
inline void toAxisAngle(Vec3& _outAxis, float& _outAngle, const Quaternion _a)
{
const float ww = _a.w;
const float sa = sqrt(1.0f - square(ww) );
_outAngle = 2.0f * acos(ww);
if (0.001f > sa)
{
_outAxis = { _a.x, _a.y, _a.z };
return;
}
const float invSa = 1.0f/sa;
_outAxis = { _a.x * invSa, _a.y * invSa, _a.z * invSa };
}
inline BX_CONST_FUNC Quaternion rotateX(float _ax)
{
const float hx = _ax * 0.5f;
@@ -1013,6 +1057,15 @@ namespace bx
};
}
inline BX_CONSTEXPR_FUNC bool equal(const Quaternion _a, const Quaternion _b, float _epsilon)
{
return equal(_a.x, _b.x, _epsilon)
&& equal(_a.y, _b.y, _epsilon)
&& equal(_a.z, _b.z, _epsilon)
&& equal(_a.w, _b.w, _epsilon)
;
}
inline void mtxIdentity(float* _result)
{
memSet(_result, 0, sizeof(float)*16);
@@ -1079,12 +1132,12 @@ namespace bx
_result[15] = 1.0f;
}
inline void mtxQuat(float* _result, const Quaternion& _quat)
inline void mtxFromQuaternion(float* _result, const Quaternion& _rotation)
{
const float qx = _quat.x;
const float qy = _quat.y;
const float qz = _quat.z;
const float qw = _quat.w;
const float qx = _rotation.x;
const float qy = _rotation.y;
const float qz = _rotation.z;
const float qw = _rotation.w;
const float x2 = qx + qx;
const float y2 = qy + qy;
@@ -1120,24 +1173,12 @@ namespace bx
_result[15] = 1.0f;
}
inline void mtxQuatTranslation(float* _result, const Quaternion& _quat, const Vec3& _translation)
inline void mtxFromQuaternion(float* _result, const Quaternion& _rotation, const Vec3& _translation)
{
mtxQuat(_result, _quat);
mtxFromQuaternion(_result, _rotation);
store(&_result[12], neg(mulXyz0(_translation, _result) ) );
}
inline void mtxQuatTranslationHMD(float* _result, const Quaternion& _quat, const Vec3& _translation)
{
const Quaternion quat =
{
-_quat.x,
-_quat.y,
_quat.z,
_quat.w,
};
mtxQuatTranslation(_result, quat, _translation);
}
inline Vec3 mul(const Vec3& _vec, const float* _mat)
{
Vec3 result(init::None);

21
include/bx/math.h
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@@ -447,6 +447,9 @@ namespace bx
///
BX_CONSTEXPR_FUNC Vec3 rcp(const Vec3 _a);
///
BX_CONSTEXPR_FUNC bool equal(const Vec3 _a, const Vec3 _b, float _epsilon);
///
void calcTangentFrame(Vec3& _outT, Vec3& _outB, const Vec3 _n);
@@ -489,6 +492,9 @@ namespace bx
///
BX_CONSTEXPR_FUNC Quaternion lerp(const Quaternion _a, const Quaternion _b, float _t);
///
BX_CONST_FUNC Quaternion fromEuler(const Vec3 _euler);
///
BX_CONST_FUNC Vec3 toEuler(const Quaternion _a);
@@ -502,7 +508,10 @@ namespace bx
BX_CONST_FUNC Vec3 toZAxis(const Quaternion _a);
///
BX_CONST_FUNC Quaternion rotateAxis(const Vec3 _axis, float _angle);
BX_CONST_FUNC Quaternion fromAxisAngle(const Vec3 _axis, float _angle);
///
void toAxisAngle(Vec3& _outAxis, float& _outAngle, const Quaternion _a);
///
BX_CONST_FUNC Quaternion rotateX(float _ax);
@@ -513,6 +522,9 @@ namespace bx
///
BX_CONST_FUNC Quaternion rotateZ(float _az);
///
BX_CONSTEXPR_FUNC bool equal(const Quaternion _a, const Quaternion _b, float _epsilon);
///
void mtxIdentity(float* _result);
@@ -543,13 +555,10 @@ namespace bx
);
///
void mtxQuat(float* _result, const Quaternion& _quat);
void mtxFromQuaternion(float* _result, const Quaternion& _rotation);
///
void mtxQuatTranslation(float* _result, const Quaternion& _quat, const Vec3& _translation);
///
void mtxQuatTranslationHMD(float* _result, const Quaternion& _quat, const Vec3& _translation);
void mtxFromQuaternion(float* _result, const Quaternion& _rotation, const Vec3& _translation);
///
void mtxLookAt(

70
tests/math_test.cpp
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@@ -228,7 +228,7 @@ void mtxCheck(const float* _a, const float* _b)
, _b[12], _b[13], _b[14], _b[15]
);
CHECK(false);
REQUIRE(false);
}
}
@@ -238,7 +238,13 @@ TEST_CASE("quaternion", "")
float mtx[16];
bx::Quaternion quat = bx::init::Identity;
bx::mtxQuat(mtxQ, quat);
bx::Quaternion q2 = bx::init::None;
bx::Vec3 axis = bx::init::None;
bx::Vec3 euler = bx::init::None;
float angle;
bx::mtxFromQuaternion(mtxQ, quat);
bx::mtxIdentity(mtx);
mtxCheck(mtxQ, mtx);
@@ -246,27 +252,51 @@ TEST_CASE("quaternion", "")
float ay = bx::kPi/13.0f;
float az = bx::kPi/7.0f;
quat = bx::rotateX(ax);
bx::mtxQuat(mtxQ, quat);
bx::mtxRotateX(mtx, ax);
mtxCheck(mtxQ, mtx);
{ // x
quat = bx::rotateX(ax);
bx::mtxFromQuaternion(mtxQ, quat);
bx::mtxRotateX(mtx, ax);
mtxCheck(mtxQ, mtx);
bx::Vec3 euler = bx::toEuler(quat);
CHECK(bx::equal(euler.x, ax, 0.001f) );
bx::toAxisAngle(axis, angle, quat);
REQUIRE(bx::equal(axis, bx::Vec3{1.0f, 0.0f, 0.0f}, 0.01f) );
REQUIRE(bx::equal(angle, ax, 0.01f) );
quat = bx::rotateY(ay);
bx::mtxQuat(mtxQ, quat);
bx::mtxRotateY(mtx, ay);
mtxCheck(mtxQ, mtx);
euler = bx::toEuler(quat);
REQUIRE(bx::equal(euler.x, ax, 0.001f) );
q2 = bx::fromEuler(euler);
REQUIRE(bx::equal(quat, q2, 0.001f) );
}
euler = bx::toEuler(quat);
CHECK(bx::equal(euler.y, ay, 0.001f) );
{ // y
quat = bx::rotateY(ay);
bx::mtxFromQuaternion(mtxQ, quat);
bx::mtxRotateY(mtx, ay);
mtxCheck(mtxQ, mtx);
quat = bx::rotateZ(az);
bx::mtxQuat(mtxQ, quat);
bx::mtxRotateZ(mtx, az);
mtxCheck(mtxQ, mtx);
bx::toAxisAngle(axis, angle, quat);
REQUIRE(bx::equal(axis, bx::Vec3{0.0f, 1.0f, 0.0f}, 0.01f) );
REQUIRE(bx::equal(angle, ay, 0.01f) );
euler = bx::toEuler(quat);
REQUIRE(bx::equal(euler.y, ay, 0.001f) );
q2 = bx::fromEuler(euler);
REQUIRE(bx::equal(quat, q2, 0.001f) );
euler = bx::toEuler(quat);
CHECK(bx::equal(euler.z, az, 0.001f) );
}
{ // z
quat = bx::rotateZ(az);
bx::mtxFromQuaternion(mtxQ, quat);
bx::mtxRotateZ(mtx, az);
mtxCheck(mtxQ, mtx);
bx::toAxisAngle(axis, angle, quat);
REQUIRE(bx::equal(axis, bx::Vec3{0.0f, 0.0f, 1.0f}, 0.01f) );
REQUIRE(bx::equal(angle, az, 0.01f) );
euler = bx::toEuler(quat);
REQUIRE(bx::equal(euler.z, az, 0.001f) );
q2 = bx::fromEuler(euler);
REQUIRE(bx::equal(quat, q2, 0.001f) );
}
}

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