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Styling fixes to the quaternion arc code

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This commit is contained in:
Dzmitry Malyshau 2016-07-05 08:36:47 -04:00
parent f555074a44
commit 55c212bde1
2 changed files with 26 additions and 15 deletions
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8
src/quaternion.rs
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@ -73,8 +73,8 @@ impl<S: BaseFloat> Quaternion<S> {
let mag_avg = (src.magnitude2() * dst.magnitude2()).sqrt(); let mag_avg = (src.magnitude2() * dst.magnitude2()).sqrt();
let dot = src.dot(dst); let dot = src.dot(dst);
if dot.approx_eq(&mag_avg) { if dot.approx_eq(&mag_avg) {
One::one() Quaternion::one()
}else if dot.approx_eq(&-mag_avg) { } else if dot.approx_eq(&-mag_avg) {
let axis = fallback.unwrap_or_else(|| { let axis = fallback.unwrap_or_else(|| {
let mut v = Vector3::unit_x().cross(src); let mut v = Vector3::unit_x().cross(src);
if v.approx_eq(&Zero::zero()) { if v.approx_eq(&Zero::zero()) {
@ -82,8 +82,8 @@ impl<S: BaseFloat> Quaternion<S> {
} }
v.normalize() v.normalize()
}); });
Rotation3::from_axis_angle(axis, Angle::turn_div_2()) Quaternion::from_axis_angle(axis, Rad::turn_div_2())
}else { } else {
Quaternion::from_sv(mag_avg + dot, src.cross(dst)).normalize() Quaternion::from_sv(mag_avg + dot, src.cross(dst)).normalize()
} }
} }

33
tests/quaternion.rs
View file

@ -116,25 +116,36 @@ mod from {
mod arc { mod arc {
use cgmath::*; use cgmath::*;
#[inline]
fn test(src: Vector3<f32>, dst: Vector3<f32>) { fn test(src: Vector3<f32>, dst: Vector3<f32>) {
let q = Quaternion::from_arc(src, dst, None); let q = Quaternion::from_arc(src, dst, None);
let v = q.rotate_vector(src); let v = q.rotate_vector(src);
assert_approx_eq!(v, dst); assert_approx_eq!(v.normalize(), dst.normalize());
} }
#[test] #[test]
fn test_arc() { fn test_same() {
let v = Vector3::unit_x();
let q = Quaternion::from_arc(v, v, None);
assert_eq!(q, Quaternion::new(1.0, 0.0, 0.0, 0.0));
}
#[test]
fn test_opposite() {
let v = Vector3::unit_x(); let v = Vector3::unit_x();
{
let q = Quaternion::from_arc(v, v, None);
assert_eq!(q, Quaternion::new(1.0, 0.0, 0.0, 0.0));
}
test(v, -v); test(v, -v);
{ }
let q: Quaternion<f32> = Quaternion::from_arc(v, Vector3::unit_y(), None);
let q2 = Quaternion::from_axis_angle(Vector3::unit_z(), Angle::turn_div_4()); #[test]
assert_approx_eq!(q, q2); fn test_random() {
} test(vec3(1.0, 2.0, 3.0), vec3(-4.0, 5.0, -6.0));
}
#[test]
fn test_ortho() {
let q: Quaternion<f32> = Quaternion::from_arc(Vector3::unit_x(), Vector3::unit_y(), None);
let q2 = Quaternion::from_axis_angle(Vector3::unit_z(), Rad::turn_div_4());
assert_approx_eq!(q, q2);
} }
} }