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Fix Euler angle to matrix conversion

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The equations were written with rows horizontally instead of vertically
and some signs were wrong.
This commit is contained in:
Jordan Miner 2016-05-01 03:02:18 -05:00
parent b56119a42f
commit c11371794f
3 changed files with 121 additions and 10 deletions
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6
CHANGELOG.md
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@ -8,8 +8,10 @@ This project adheres to [Semantic Versioning](http://semver.org/).
### Changed
- Fix quaternion to Euler angles and Euler angles to quaternion conversion. The axes are now
correct, and the order the angles are applied is XYZ.
- Fix Euler angles to quaternion and quaternion to Euler angles conversion. The axes are now
correct, and the order the angles are applied is XYZ. The conversion now matches the conversion
from axis angle.
- Fix Euler angles to matrix conversion.
## [v0.9.1] - 2016-04-20

16
src/matrix.rs
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@ -1000,14 +1000,14 @@ impl<A> From<Euler<A>> for Matrix3<<A as Angle>::Unitless> where
A: Angle + Into<Rad<<A as Angle>::Unitless>>,
{
fn from(src: Euler<A>) -> Matrix3<A::Unitless> {
// http://en.wikipedia.org/wiki/Rotation_matrix#General_rotations
// Page A-2: http://ntrs.nasa.gov/archive/nasa/casi.ntrs.nasa.gov/19770024290.pdf
let (sx, cx) = Rad::sin_cos(src.x.into());
let (sy, cy) = Rad::sin_cos(src.y.into());
let (sz, cz) = Rad::sin_cos(src.z.into());
Matrix3::new(cy * cz, cy * sz, -sy,
-cx * sz + sx * sy * cz, cx * cz + sx * sy * sz, sx * cy,
sx * sz + cx * sy * cz, -sx * cz + cx * sy * sz, cx * cy)
Matrix3::new(cy * cz, cx * sz + sx * sy * cz, sx * sz - cx * sy * cz,
-cy * sz, cx * cz - sx * sy * sz, sx * cz + cx * sy * sz,
sy, -sx * cy, cx * cy)
}
}
@ -1015,14 +1015,14 @@ impl<A> From<Euler<A>> for Matrix4<<A as Angle>::Unitless> where
A: Angle + Into<Rad<<A as Angle>::Unitless>>,
{
fn from(src: Euler<A>) -> Matrix4<A::Unitless> {
// http://en.wikipedia.org/wiki/Rotation_matrix#General_rotations
// Page A-2: http://ntrs.nasa.gov/archive/nasa/casi.ntrs.nasa.gov/19770024290.pdf
let (sx, cx) = Rad::sin_cos(src.x.into());
let (sy, cy) = Rad::sin_cos(src.y.into());
let (sz, cz) = Rad::sin_cos(src.z.into());
Matrix4::new(cy * cz, cy * sz, -sy, A::Unitless::zero(),
-cx * sz + sx * sy * cz, cx * cz + sx * sy * sz, sx * cy, A::Unitless::zero(),
sx * sz + cx * sy * cz, -sx * cz + cx * sy * sz, cx * cy, A::Unitless::zero(),
Matrix4::new(cy * cz, cx * sz + sx * sy * cz, sx * sz - cx * sy * cz, A::Unitless::zero(),
-cy * sz, cx * cz - sx * sy * sz, sx * cz + cx * sy * sz, A::Unitless::zero(),
sy, -sx * cy, cx * cy, A::Unitless::zero(),
A::Unitless::zero(), A::Unitless::zero(), A::Unitless::zero(), A::Unitless::one())
}
}

109
tests/matrix.rs
View file

@ -398,6 +398,115 @@ pub mod matrix3 {
#[test] fn test_neg_1() { check_from_axis_angle_z(rad(-1.0)); }
}
}
mod rotate_from_euler {
use cgmath::*;
#[test]
fn test_x() {
let vec = vec3(0.0, 0.0, 1.0);
let rot = Matrix3::from(Euler::new(deg(90.0).into(), rad(0.0), rad(0.0)));
assert_approx_eq!(vec3(0.0, -1.0, 0.0), rot * vec);
let rot = Matrix3::from(Euler::new(deg(-90.0).into(), rad(0.0), rad(0.0)));
assert_approx_eq!(vec3(0.0, 1.0, 0.0), rot * vec);
}
#[test]
fn test_y() {
let vec = vec3(0.0, 0.0, 1.0);
let rot = Matrix3::from(Euler::new(rad(0.0), deg(90.0).into(), rad(0.0)));
assert_approx_eq!(vec3(1.0, 0.0, 0.0), rot * vec);
let rot = Matrix3::from(Euler::new(rad(0.0), deg(-90.0).into(), rad(0.0)));
assert_approx_eq!(vec3(-1.0, 0.0, 0.0), rot * vec);
}
#[test]
fn test_z() {
let vec = vec3(1.0, 0.0, 0.0);
let rot = Matrix3::from(Euler::new(rad(0.0), rad(0.0), deg(90.0).into()));
assert_approx_eq!(vec3(0.0, 1.0, 0.0), rot * vec);
let rot = Matrix3::from(Euler::new(rad(0.0), rad(0.0), deg(-90.0).into()));
assert_approx_eq!(vec3(0.0, -1.0, 0.0), rot * vec);
}
// tests that the Y rotation is done after the X
#[test]
fn test_x_then_y() {
let vec = vec3(0.0, 1.0, 0.0);
let rot = Matrix3::from(Euler::new(deg(90.0).into(), deg(90.0).into(), rad(0.0)));
assert_approx_eq!(vec3(0.0, 0.0, 1.0), rot * vec);
}
// tests that the Z rotation is done after the Y
#[test]
fn test_y_then_z() {
let vec = vec3(0.0, 0.0, 1.0);
let rot = Matrix3::from(Euler::new(rad(0.0), deg(90.0).into(), deg(90.0).into()));
assert_approx_eq!(vec3(1.0, 0.0, 0.0), rot * vec);
}
}
mod rotate_from_axis_angle {
use cgmath::*;
#[test]
fn test_x() {
let vec = vec3(0.0, 0.0, 1.0);
let rot = Matrix3::from_angle_x(deg(90.0).into());
println!("x mat: {:?}", rot);
assert_approx_eq!(vec3(0.0, -1.0, 0.0), rot * vec);
}
#[test]
fn test_y() {
let vec = vec3(0.0, 0.0, 1.0);
let rot = Matrix3::from_angle_y(deg(90.0).into());
assert_approx_eq!(vec3(1.0, 0.0, 0.0), rot * vec);
}
#[test]
fn test_z() {
let vec = vec3(1.0, 0.0, 0.0);
let rot = Matrix3::from_angle_z(deg(90.0).into());
assert_approx_eq!(vec3(0.0, 1.0, 0.0), rot * vec);
}
#[test]
fn test_xy() {
let vec = vec3(0.0, 0.0, 1.0);
let rot = Matrix3::from_axis_angle(vec3(1.0, 1.0, 0.0).normalize(), deg(90.0).into());
assert_approx_eq!(vec3(2.0f32.sqrt() / 2.0, -2.0f32.sqrt() / 2.0, 0.0), rot * vec);
}
#[test]
fn test_yz() {
let vec = vec3(1.0, 0.0, 0.0);
let rot = Matrix3::from_axis_angle(vec3(0.0, 1.0, 1.0).normalize(), deg(-90.0).into());
assert_approx_eq!(vec3(0.0, -2.0f32.sqrt() / 2.0, 2.0f32.sqrt() / 2.0), rot * vec);
}
#[test]
fn test_xz() {
let vec = vec3(0.0, 1.0, 0.0);
let rot = Matrix3::from_axis_angle(vec3(1.0, 0.0, 1.0).normalize(), deg(90.0).into());
assert_approx_eq!(vec3(-2.0f32.sqrt() / 2.0, 0.0, 2.0f32.sqrt() / 2.0), rot * vec);
}
}
}
pub mod matrix4 {