| // Code sample from Filippo Ramaciotti |
| |
| #include <glm/gtc/matrix_transform.hpp> |
| #include <glm/gtc/epsilon.hpp> |
| #include <glm/gtx/string_cast.hpp> |
| #include <glm/gtx/euler_angles.hpp> |
| #include <cstdio> |
| |
| namespace test_eulerAngleX |
| { |
| int test() |
| { |
| int Error = 0; |
| |
| float const Angle(glm::pi<float>() * 0.5f); |
| glm::vec3 const X(1.0f, 0.0f, 0.0f); |
| |
| glm::vec4 const Y(0.0f, 1.0f, 0.0f, 1.0f); |
| glm::vec4 const Y1 = glm::rotate(glm::mat4(1.0f), Angle, X) * Y; |
| glm::vec4 const Y2 = glm::eulerAngleX(Angle) * Y; |
| glm::vec4 const Y3 = glm::eulerAngleXY(Angle, 0.0f) * Y; |
| glm::vec4 const Y4 = glm::eulerAngleYX(0.0f, Angle) * Y; |
| glm::vec4 const Y5 = glm::eulerAngleXZ(Angle, 0.0f) * Y; |
| glm::vec4 const Y6 = glm::eulerAngleZX(0.0f, Angle) * Y; |
| glm::vec4 const Y7 = glm::eulerAngleYXZ(0.0f, Angle, 0.0f) * Y; |
| Error += glm::all(glm::epsilonEqual(Y1, Y2, 0.00001f)) ? 0 : 1; |
| Error += glm::all(glm::epsilonEqual(Y1, Y3, 0.00001f)) ? 0 : 1; |
| Error += glm::all(glm::epsilonEqual(Y1, Y4, 0.00001f)) ? 0 : 1; |
| Error += glm::all(glm::epsilonEqual(Y1, Y5, 0.00001f)) ? 0 : 1; |
| Error += glm::all(glm::epsilonEqual(Y1, Y6, 0.00001f)) ? 0 : 1; |
| Error += glm::all(glm::epsilonEqual(Y1, Y7, 0.00001f)) ? 0 : 1; |
| |
| glm::vec4 const Z(0.0f, 0.0f, 1.0f, 1.0f); |
| glm::vec4 const Z1 = glm::rotate(glm::mat4(1.0f), Angle, X) * Z; |
| glm::vec4 const Z2 = glm::eulerAngleX(Angle) * Z; |
| glm::vec4 const Z3 = glm::eulerAngleXY(Angle, 0.0f) * Z; |
| glm::vec4 const Z4 = glm::eulerAngleYX(0.0f, Angle) * Z; |
| glm::vec4 const Z5 = glm::eulerAngleXZ(Angle, 0.0f) * Z; |
| glm::vec4 const Z6 = glm::eulerAngleZX(0.0f, Angle) * Z; |
| glm::vec4 const Z7 = glm::eulerAngleYXZ(0.0f, Angle, 0.0f) * Z; |
| Error += glm::all(glm::epsilonEqual(Z1, Z2, 0.00001f)) ? 0 : 1; |
| Error += glm::all(glm::epsilonEqual(Z1, Z3, 0.00001f)) ? 0 : 1; |
| Error += glm::all(glm::epsilonEqual(Z1, Z4, 0.00001f)) ? 0 : 1; |
| Error += glm::all(glm::epsilonEqual(Z1, Z5, 0.00001f)) ? 0 : 1; |
| Error += glm::all(glm::epsilonEqual(Z1, Z6, 0.00001f)) ? 0 : 1; |
| Error += glm::all(glm::epsilonEqual(Z1, Z7, 0.00001f)) ? 0 : 1; |
| |
| return Error; |
| } |
| }//namespace test_eulerAngleX |
| |
| namespace test_eulerAngleY |
| { |
| int test() |
| { |
| int Error = 0; |
| |
| float const Angle(glm::pi<float>() * 0.5f); |
| glm::vec3 const Y(0.0f, 1.0f, 0.0f); |
| |
| glm::vec4 const X(1.0f, 0.0f, 0.0f, 1.0f); |
| glm::vec4 const X1 = glm::rotate(glm::mat4(1.0f), Angle, Y) * X; |
| glm::vec4 const X2 = glm::eulerAngleY(Angle) * X; |
| glm::vec4 const X3 = glm::eulerAngleYX(Angle, 0.0f) * X; |
| glm::vec4 const X4 = glm::eulerAngleXY(0.0f, Angle) * X; |
| glm::vec4 const X5 = glm::eulerAngleYZ(Angle, 0.0f) * X; |
| glm::vec4 const X6 = glm::eulerAngleZY(0.0f, Angle) * X; |
| glm::vec4 const X7 = glm::eulerAngleYXZ(Angle, 0.0f, 0.0f) * X; |
| Error += glm::all(glm::epsilonEqual(X1, X2, 0.00001f)) ? 0 : 1; |
| Error += glm::all(glm::epsilonEqual(X1, X3, 0.00001f)) ? 0 : 1; |
| Error += glm::all(glm::epsilonEqual(X1, X4, 0.00001f)) ? 0 : 1; |
| Error += glm::all(glm::epsilonEqual(X1, X5, 0.00001f)) ? 0 : 1; |
| Error += glm::all(glm::epsilonEqual(X1, X6, 0.00001f)) ? 0 : 1; |
| Error += glm::all(glm::epsilonEqual(X1, X7, 0.00001f)) ? 0 : 1; |
| |
| glm::vec4 const Z(0.0f, 0.0f, 1.0f, 1.0f); |
| glm::vec4 const Z1 = glm::eulerAngleY(Angle) * Z; |
| glm::vec4 const Z2 = glm::rotate(glm::mat4(1.0f), Angle, Y) * Z; |
| glm::vec4 const Z3 = glm::eulerAngleYX(Angle, 0.0f) * Z; |
| glm::vec4 const Z4 = glm::eulerAngleXY(0.0f, Angle) * Z; |
| glm::vec4 const Z5 = glm::eulerAngleYZ(Angle, 0.0f) * Z; |
| glm::vec4 const Z6 = glm::eulerAngleZY(0.0f, Angle) * Z; |
| glm::vec4 const Z7 = glm::eulerAngleYXZ(Angle, 0.0f, 0.0f) * Z; |
| Error += glm::all(glm::epsilonEqual(Z1, Z2, 0.00001f)) ? 0 : 1; |
| Error += glm::all(glm::epsilonEqual(Z1, Z3, 0.00001f)) ? 0 : 1; |
| Error += glm::all(glm::epsilonEqual(Z1, Z4, 0.00001f)) ? 0 : 1; |
| Error += glm::all(glm::epsilonEqual(Z1, Z5, 0.00001f)) ? 0 : 1; |
| Error += glm::all(glm::epsilonEqual(Z1, Z6, 0.00001f)) ? 0 : 1; |
| Error += glm::all(glm::epsilonEqual(Z1, Z7, 0.00001f)) ? 0 : 1; |
| |
| return Error; |
| } |
| }//namespace test_eulerAngleY |
| |
| namespace test_eulerAngleZ |
| { |
| int test() |
| { |
| int Error = 0; |
| |
| float const Angle(glm::pi<float>() * 0.5f); |
| glm::vec3 const Z(0.0f, 0.0f, 1.0f); |
| |
| glm::vec4 const X(1.0f, 0.0f, 0.0f, 1.0f); |
| glm::vec4 const X1 = glm::rotate(glm::mat4(1.0f), Angle, Z) * X; |
| glm::vec4 const X2 = glm::eulerAngleZ(Angle) * X; |
| glm::vec4 const X3 = glm::eulerAngleZX(Angle, 0.0f) * X; |
| glm::vec4 const X4 = glm::eulerAngleXZ(0.0f, Angle) * X; |
| glm::vec4 const X5 = glm::eulerAngleZY(Angle, 0.0f) * X; |
| glm::vec4 const X6 = glm::eulerAngleYZ(0.0f, Angle) * X; |
| glm::vec4 const X7 = glm::eulerAngleYXZ(0.0f, 0.0f, Angle) * X; |
| Error += glm::all(glm::epsilonEqual(X1, X2, 0.00001f)) ? 0 : 1; |
| Error += glm::all(glm::epsilonEqual(X1, X3, 0.00001f)) ? 0 : 1; |
| Error += glm::all(glm::epsilonEqual(X1, X4, 0.00001f)) ? 0 : 1; |
| Error += glm::all(glm::epsilonEqual(X1, X5, 0.00001f)) ? 0 : 1; |
| Error += glm::all(glm::epsilonEqual(X1, X6, 0.00001f)) ? 0 : 1; |
| Error += glm::all(glm::epsilonEqual(X1, X7, 0.00001f)) ? 0 : 1; |
| |
| glm::vec4 const Y(1.0f, 0.0f, 0.0f, 1.0f); |
| glm::vec4 const Z1 = glm::rotate(glm::mat4(1.0f), Angle, Z) * Y; |
| glm::vec4 const Z2 = glm::eulerAngleZ(Angle) * Y; |
| glm::vec4 const Z3 = glm::eulerAngleZX(Angle, 0.0f) * Y; |
| glm::vec4 const Z4 = glm::eulerAngleXZ(0.0f, Angle) * Y; |
| glm::vec4 const Z5 = glm::eulerAngleZY(Angle, 0.0f) * Y; |
| glm::vec4 const Z6 = glm::eulerAngleYZ(0.0f, Angle) * Y; |
| glm::vec4 const Z7 = glm::eulerAngleYXZ(0.0f, 0.0f, Angle) * Y; |
| Error += glm::all(glm::epsilonEqual(Z1, Z2, 0.00001f)) ? 0 : 1; |
| Error += glm::all(glm::epsilonEqual(Z1, Z3, 0.00001f)) ? 0 : 1; |
| Error += glm::all(glm::epsilonEqual(Z1, Z4, 0.00001f)) ? 0 : 1; |
| Error += glm::all(glm::epsilonEqual(Z1, Z5, 0.00001f)) ? 0 : 1; |
| Error += glm::all(glm::epsilonEqual(Z1, Z6, 0.00001f)) ? 0 : 1; |
| Error += glm::all(glm::epsilonEqual(Z1, Z7, 0.00001f)) ? 0 : 1; |
| |
| return Error; |
| } |
| }//namespace test_eulerAngleZ |
| |
| namespace test_eulerAngleXY |
| { |
| int test() |
| { |
| int Error = 0; |
| |
| glm::vec4 const V(1.0f); |
| |
| float const AngleX(glm::pi<float>() * 0.5f); |
| float const AngleY(glm::pi<float>() * 0.25f); |
| |
| glm::vec3 const axisX(1.0f, 0.0f, 0.0f); |
| glm::vec3 const axisY(0.0f, 1.0f, 0.0f); |
| |
| glm::vec4 const V1 = (glm::rotate(glm::mat4(1.0f), AngleX, axisX) * glm::rotate(glm::mat4(1.0f), AngleY, axisY)) * V; |
| glm::vec4 const V2 = glm::eulerAngleXY(AngleX, AngleY) * V; |
| glm::vec4 const V3 = glm::eulerAngleX(AngleX) * glm::eulerAngleY(AngleY) * V; |
| Error += glm::all(glm::epsilonEqual(V1, V2, 0.00001f)) ? 0 : 1; |
| Error += glm::all(glm::epsilonEqual(V1, V3, 0.00001f)) ? 0 : 1; |
| |
| return Error; |
| } |
| }//namespace test_eulerAngleXY |
| |
| namespace test_eulerAngleYX |
| { |
| int test() |
| { |
| int Error = 0; |
| |
| glm::vec4 const V(1.0f); |
| |
| float const AngleX(glm::pi<float>() * 0.5f); |
| float const AngleY(glm::pi<float>() * 0.25f); |
| |
| glm::vec3 const axisX(1.0f, 0.0f, 0.0f); |
| glm::vec3 const axisY(0.0f, 1.0f, 0.0f); |
| |
| glm::vec4 const V1 = (glm::rotate(glm::mat4(1.0f), AngleY, axisY) * glm::rotate(glm::mat4(1.0f), AngleX, axisX)) * V; |
| glm::vec4 const V2 = glm::eulerAngleYX(AngleY, AngleX) * V; |
| glm::vec4 const V3 = glm::eulerAngleY(AngleY) * glm::eulerAngleX(AngleX) * V; |
| Error += glm::all(glm::epsilonEqual(V1, V2, 0.00001f)) ? 0 : 1; |
| Error += glm::all(glm::epsilonEqual(V1, V3, 0.00001f)) ? 0 : 1; |
| |
| return Error; |
| } |
| }//namespace test_eulerAngleYX |
| |
| namespace test_eulerAngleXZ |
| { |
| int test() |
| { |
| int Error = 0; |
| |
| glm::vec4 const V(1.0f); |
| |
| float const AngleX(glm::pi<float>() * 0.5f); |
| float const AngleZ(glm::pi<float>() * 0.25f); |
| |
| glm::vec3 const axisX(1.0f, 0.0f, 0.0f); |
| glm::vec3 const axisZ(0.0f, 0.0f, 1.0f); |
| |
| glm::vec4 const V1 = (glm::rotate(glm::mat4(1.0f), AngleX, axisX) * glm::rotate(glm::mat4(1.0f), AngleZ, axisZ)) * V; |
| glm::vec4 const V2 = glm::eulerAngleXZ(AngleX, AngleZ) * V; |
| glm::vec4 const V3 = glm::eulerAngleX(AngleX) * glm::eulerAngleZ(AngleZ) * V; |
| Error += glm::all(glm::epsilonEqual(V1, V2, 0.00001f)) ? 0 : 1; |
| Error += glm::all(glm::epsilonEqual(V1, V3, 0.00001f)) ? 0 : 1; |
| |
| return Error; |
| } |
| }//namespace test_eulerAngleXZ |
| |
| namespace test_eulerAngleZX |
| { |
| int test() |
| { |
| int Error = 0; |
| |
| glm::vec4 const V(1.0f); |
| |
| float const AngleX(glm::pi<float>() * 0.5f); |
| float const AngleZ(glm::pi<float>() * 0.25f); |
| |
| glm::vec3 const axisX(1.0f, 0.0f, 0.0f); |
| glm::vec3 const axisZ(0.0f, 0.0f, 1.0f); |
| |
| glm::vec4 const V1 = (glm::rotate(glm::mat4(1.0f), AngleZ, axisZ) * glm::rotate(glm::mat4(1.0f), AngleX, axisX)) * V; |
| glm::vec4 const V2 = glm::eulerAngleZX(AngleZ, AngleX) * V; |
| glm::vec4 const V3 = glm::eulerAngleZ(AngleZ) * glm::eulerAngleX(AngleX) * V; |
| Error += glm::all(glm::epsilonEqual(V1, V2, 0.00001f)) ? 0 : 1; |
| Error += glm::all(glm::epsilonEqual(V1, V3, 0.00001f)) ? 0 : 1; |
| |
| return Error; |
| } |
| }//namespace test_eulerAngleZX |
| |
| namespace test_eulerAngleYZ |
| { |
| int test() |
| { |
| int Error = 0; |
| |
| glm::vec4 const V(1.0f); |
| |
| float const AngleY(glm::pi<float>() * 0.5f); |
| float const AngleZ(glm::pi<float>() * 0.25f); |
| |
| glm::vec3 const axisX(1.0f, 0.0f, 0.0f); |
| glm::vec3 const axisY(0.0f, 1.0f, 0.0f); |
| glm::vec3 const axisZ(0.0f, 0.0f, 1.0f); |
| |
| glm::vec4 const V1 = (glm::rotate(glm::mat4(1.0f), AngleY, axisY) * glm::rotate(glm::mat4(1.0f), AngleZ, axisZ)) * V; |
| glm::vec4 const V2 = glm::eulerAngleYZ(AngleY, AngleZ) * V; |
| glm::vec4 const V3 = glm::eulerAngleY(AngleY) * glm::eulerAngleZ(AngleZ) * V; |
| Error += glm::all(glm::epsilonEqual(V1, V2, 0.00001f)) ? 0 : 1; |
| Error += glm::all(glm::epsilonEqual(V1, V3, 0.00001f)) ? 0 : 1; |
| |
| return Error; |
| } |
| }//namespace test_eulerAngleYZ |
| |
| namespace test_eulerAngleZY |
| { |
| int test() |
| { |
| int Error = 0; |
| |
| glm::vec4 const V(1.0f); |
| |
| float const AngleY(glm::pi<float>() * 0.5f); |
| float const AngleZ(glm::pi<float>() * 0.25f); |
| |
| glm::vec3 const axisX(1.0f, 0.0f, 0.0f); |
| glm::vec3 const axisY(0.0f, 1.0f, 0.0f); |
| glm::vec3 const axisZ(0.0f, 0.0f, 1.0f); |
| |
| glm::vec4 const V1 = (glm::rotate(glm::mat4(1.0f), AngleZ, axisZ) * glm::rotate(glm::mat4(1.0f), AngleY, axisY)) * V; |
| glm::vec4 const V2 = glm::eulerAngleZY(AngleZ, AngleY) * V; |
| glm::vec4 const V3 = glm::eulerAngleZ(AngleZ) * glm::eulerAngleY(AngleY) * V; |
| Error += glm::all(glm::epsilonEqual(V1, V2, 0.00001f)) ? 0 : 1; |
| Error += glm::all(glm::epsilonEqual(V1, V3, 0.00001f)) ? 0 : 1; |
| |
| return Error; |
| } |
| }//namespace test_eulerAngleZY |
| |
| namespace test_eulerAngleYXZ |
| { |
| int test() |
| { |
| glm::f32 first = 1.046f; |
| glm::f32 second = 0.52f; |
| glm::f32 third = -0.785f; |
| |
| glm::fmat4 rotationEuler = glm::eulerAngleYXZ(first, second, third); |
| |
| glm::fmat4 rotationInvertedY = glm::eulerAngleY(-1.f*first) * glm::eulerAngleX(second) * glm::eulerAngleZ(third); |
| glm::fmat4 rotationDumb = glm::fmat4(); |
| rotationDumb = glm::rotate(rotationDumb, first, glm::fvec3(0,1,0)); |
| rotationDumb = glm::rotate(rotationDumb, second, glm::fvec3(1,0,0)); |
| rotationDumb = glm::rotate(rotationDumb, third, glm::fvec3(0,0,1)); |
| |
| std::printf("%s\n", glm::to_string(glm::fmat3(rotationEuler)).c_str()); |
| std::printf("%s\n", glm::to_string(glm::fmat3(rotationDumb)).c_str()); |
| std::printf("%s\n", glm::to_string(glm::fmat3(rotationInvertedY)).c_str()); |
| |
| std::printf("\nRESIDUAL\n"); |
| std::printf("%s\n", glm::to_string(glm::fmat3(rotationEuler-(rotationDumb))).c_str()); |
| std::printf("%s\n", glm::to_string(glm::fmat3(rotationEuler-(rotationInvertedY))).c_str()); |
| |
| return 0; |
| } |
| }//namespace eulerAngleYXZ |
| |
| int main() |
| { |
| int Error = 0; |
| |
| Error += test_eulerAngleX::test(); |
| Error += test_eulerAngleY::test(); |
| Error += test_eulerAngleZ::test(); |
| Error += test_eulerAngleXY::test(); |
| Error += test_eulerAngleYX::test(); |
| Error += test_eulerAngleXZ::test(); |
| Error += test_eulerAngleZX::test(); |
| Error += test_eulerAngleYZ::test(); |
| Error += test_eulerAngleZY::test(); |
| Error += test_eulerAngleYXZ::test(); |
| |
| return Error; |
| } |