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Finished implimenting quaternion basics

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This commit is contained in:
Quinn
2025-02-07 23:40:56 -05:00
parent aa8056240a
commit 55ff4aa693
5 changed files with 107 additions and 118 deletions
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89
src/Quaternion/unit-tests/quaternion-tests.cpp
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@@ -18,39 +18,39 @@ TEST_CASE("Vector Math", "Vector")
SECTION("Initialization")
{
// explicit initialization
REQUIRE(q1.v1 == 1);
REQUIRE(q1.v2 == 2);
REQUIRE(q1.v3 == 3);
REQUIRE(q1.w == 4);
REQUIRE(q1.w == 1);
REQUIRE(q1.v1 == 2);
REQUIRE(q1.v2 == 3);
REQUIRE(q1.v3 == 4);
// fill initialization
Quaternion q3{0};
REQUIRE(q3.w == 0);
REQUIRE(q3.v1 == 0);
REQUIRE(q3.v2 == 0);
REQUIRE(q3.v3 == 0);
REQUIRE(q3.w == 0);
// copy initialization
Quaternion q4{q1};
REQUIRE(q4.v1 == 1);
REQUIRE(q4.v2 == 2);
REQUIRE(q4.v3 == 3);
REQUIRE(q4.w == 4);
REQUIRE(q4.w == 1);
REQUIRE(q4.v1 == 2);
REQUIRE(q4.v2 == 3);
REQUIRE(q4.v3 == 4);
// matrix initialization
Matrix<1, 4> m1{1, 2, 3, 4};
Quaternion q5{m1};
REQUIRE(q5.v1 == 1);
REQUIRE(q5.v2 == 2);
REQUIRE(q5.v3 == 3);
REQUIRE(q5.w == 4);
REQUIRE(q5.w == 1);
REQUIRE(q5.v1 == 2);
REQUIRE(q5.v2 == 3);
REQUIRE(q5.v3 == 4);
// array initialization
Quaternion q6{std::array<float, 4>{1, 2, 3, 4}};
REQUIRE(q6.v1 == 1);
REQUIRE(q6.v2 == 2);
REQUIRE(q6.v3 == 3);
REQUIRE(q6.w == 4);
REQUIRE(q6.w == 1);
REQUIRE(q6.v1 == 2);
REQUIRE(q6.v2 == 3);
REQUIRE(q6.v3 == 4);
}
SECTION("Array access")
@@ -64,43 +64,30 @@ TEST_CASE("Vector Math", "Vector")
SECTION("Addition")
{
Quaternion q3 = q1 + q2;
REQUIRE(q3.v1 == 5);
REQUIRE(q3.v2 == 12);
REQUIRE(q3.v3 == 21);
REQUIRE(q3.w == 32);
REQUIRE(q3.w == 5);
REQUIRE(q3.v1 == 12);
REQUIRE(q3.v2 == 21);
REQUIRE(q3.v3 == 32);
}
SECTION("Multiplication")
{
Quaternion q3;
q1.Q_Mult(q2, q3);
REQUIRE(q3.w == -60);
REQUIRE(q3.v1 == 12);
REQUIRE(q3.v2 == 30);
REQUIRE(q3.v3 == 24);
}
SECTION("Rotation")
{
Quaternion q3;
q1.Q_Mult(q2, q3);
REQUIRE(q3.v1 == 24);
REQUIRE(q3.v2 == 48);
REQUIRE(q3.v3 == 48);
REQUIRE(q3.w == -6);
}
SECTION("Euler Angles")
{
Matrix<1, 3> angles;
q1.ToEulerAngles(angles);
REQUIRE_THAT(angles.Get(0, 0), Catch::Matchers::WithinRel(-0.1973956f, 1e-6f));
REQUIRE_THAT(angles.Get(0, 1), Catch::Matchers::WithinRel(0.823212f, 1e-6f));
REQUIRE_THAT(angles.Get(0, 2), Catch::Matchers::WithinRel(1.3734008f, 1e-6f));
}
SECTION("Rotation Matrix")
{
Matrix<3, 3> rotationMatrix;
q1.ToRotationMatrix(rotationMatrix);
REQUIRE_THAT(rotationMatrix.Get(0, 0), Catch::Matchers::WithinRel(0.1333333f, 1e-6f));
REQUIRE_THAT(rotationMatrix.Get(0, 1), Catch::Matchers::WithinRel(-0.6666667f, 1e-6f));
REQUIRE_THAT(rotationMatrix.Get(0, 2), Catch::Matchers::WithinRel(0.7333333f, 1e-6f));
REQUIRE_THAT(rotationMatrix.Get(1, 0), Catch::Matchers::WithinRel(0.9333333f, 1e-6f));
REQUIRE_THAT(rotationMatrix.Get(1, 1), Catch::Matchers::WithinRel(0.3333333f, 1e-6f));
REQUIRE_THAT(rotationMatrix.Get(1, 2), Catch::Matchers::WithinRel(0.1333333f, 1e-6f));
REQUIRE_THAT(rotationMatrix.Get(2, 0), Catch::Matchers::WithinRel(-0.3333333f, 1e-6f));
REQUIRE_THAT(rotationMatrix.Get(2, 1), Catch::Matchers::WithinRel(0.6666667f, 1e-6f));
REQUIRE_THAT(rotationMatrix.Get(2, 2), Catch::Matchers::WithinRel(0.6666667f, 1e-6f));
Quaternion q3{Quaternion::FromAngleAndAxis(M_PI / 2, Matrix<1, 3>{0, 0, 1})};
Quaternion q4{0, 1, 0, 0};
Quaternion q5;
q3.Rotate(q4, q5);
REQUIRE_THAT(q5.v1, Catch::Matchers::WithinRel(0.0f, 1e-6f));
REQUIRE_THAT(q5.v2, Catch::Matchers::WithinRel(1.0f, 1e-6f));
REQUIRE_THAT(q5.v3, Catch::Matchers::WithinRel(0.0f, 1e-6f));
}
}