- Merged Quaternion implementations
- Fixed Quaternion tests
This commit is contained in:
SND\GinieDp_cp
parent
181b6546a3
commit
d78840a126
@ -139,6 +139,11 @@ namespace ANX.Framework.TestCenter
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{
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class AssertHelper
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{
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public static bool CompareFloats(float a, float b, float epsilon)
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{
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return (float)Math.Abs((double)(a - b)) < epsilon;
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}
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public static void ConvertEquals(XNABgr565 lhs, ANXBgr565 rhs, String test)
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{
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if (lhs.PackedValue == rhs.PackedValue)
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@ -511,10 +516,11 @@ namespace ANX.Framework.TestCenter
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public static void ConvertEquals(XNAQuaternion xna, ANXQuaternion anx, String test)
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{
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if (xna.X == anx.X &&
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xna.Y == anx.Y &&
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xna.Z == anx.Z &&
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xna.W == anx.W)
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float epsilon = 0.0000001f;
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if (CompareFloats(xna.X, anx.X, epsilon) &&
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CompareFloats(xna.Y, anx.Y, epsilon) &&
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CompareFloats(xna.Z, anx.Z, epsilon) &&
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CompareFloats(xna.W, anx.W, epsilon))
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{
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Assert.Pass(test + " passed");
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}
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@ -68,41 +68,20 @@ namespace ANX.Framework.TestCenter.Strukturen
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#region Helper
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static object[] eightfloats =
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{
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new object[] { DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100),
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DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100) },
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new object[] { DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100),
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DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100) },
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new object[] { DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100),
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DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100) },
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new object[] { DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100),
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DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100) },
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new object[] { DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100),
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DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100) },
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new object[] { 1f, 2f, 3f, 4f, 5f, 6f, 7f, 8f },
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new object[] { 11f, 12f, 13f, 14f, 15f, 16f, 17f, 18f },
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new object[] { 21f, 22f, 23f, 24f, 25f, 26f, 27f, 28f },
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new object[] { 31f, 32f, 33f, 34f, 35f, 36f, 37f, 38f },
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new object[] { 41f, 42f, 43f, 44f, 45f, 46f, 47f, 48f }
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};
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static object[] sixteenfloats =
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{
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new object[] { DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100),
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DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100),
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DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100),
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DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100) },
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new object[] { DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100),
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DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100),
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DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100),
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DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100) },
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new object[] { DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100),
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DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100),
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DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100),
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DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100) },
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new object[] { DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100),
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DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100),
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DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100),
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DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100) },
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new object[] { DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100),
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DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100),
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DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100),
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DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100), DataFactory.RandomValueMinMax(-100, 100) },
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new object[] { 1f, 2f, 3f, 4f, 5f, 6f, 7f, 8f, 9, 10, 11, 12, 13, 14, 15, 16 },
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new object[] { 11f, 12f, 13f, 14f, 15f, 16f, 17f, 18f, 19, 110, 111, 112, 113, 114, 115, 116 },
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new object[] { 21f, 22f, 23f, 24f, 25f, 26f, 27f, 28f, 29, 210, 211, 212, 213, 214, 215, 216 },
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new object[] { 31f, 32f, 33f, 34f, 35f, 36f, 37f, 38f, 39, 310, 311, 312, 313, 314, 315, 316 },
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new object[] { 41f, 42f, 43f, 44f, 45f, 46f, 47f, 48f, 49, 410, 411, 412, 413, 414, 415, 416 }
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};
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#endregion
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@ -336,9 +315,13 @@ namespace ANX.Framework.TestCenter.Strukturen
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{
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XNAQuaternion xnaQuaternion1 = new XNAQuaternion(x1, y1, z1, w1);
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XNAQuaternion xnaQuaternion2 = new XNAQuaternion(x2, y2, z2, w2);
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xnaQuaternion1.Normalize();
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xnaQuaternion2.Normalize();
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ANXQuaternion anxQuaternion1 = new ANXQuaternion(x1, y1, z1, w1);
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ANXQuaternion anxQuaternion2 = new ANXQuaternion(x2, y2, z2, w2);
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anxQuaternion1.Normalize();
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anxQuaternion2.Normalize();
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XNAQuaternion xna = XNAQuaternion.Lerp(xnaQuaternion1, xnaQuaternion2, amount);
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ANXQuaternion anx = ANXQuaternion.Lerp(anxQuaternion1, anxQuaternion2, amount);
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@ -432,9 +415,13 @@ namespace ANX.Framework.TestCenter.Strukturen
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{
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XNAQuaternion xnaQuaternion1 = new XNAQuaternion(x1, y1, z1, w1);
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XNAQuaternion xnaQuaternion2 = new XNAQuaternion(x2, y2, z2, w2);
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xnaQuaternion1.Normalize();
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xnaQuaternion2.Normalize();
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ANXQuaternion anxQuaternion1 = new ANXQuaternion(x1, y1, z1, w1);
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ANXQuaternion anxQuaternion2 = new ANXQuaternion(x2, y2, z2, w2);
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anxQuaternion1.Normalize();
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anxQuaternion2.Normalize();
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XNAQuaternion xna = XNAQuaternion.Slerp(xnaQuaternion1, xnaQuaternion2, amount);
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ANXQuaternion anx = ANXQuaternion.Slerp(anxQuaternion1, anxQuaternion2, amount);
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@ -1,6 +1,6 @@
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#region Using Statements
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using System;
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using System.Globalization;
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#endregion // Using Statements
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#region License
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@ -94,7 +94,9 @@ namespace ANX.Framework
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#region public methods
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public static Quaternion Add(Quaternion quaternion1, Quaternion quaternion2)
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{
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throw new NotImplementedException();
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Quaternion result;
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Add(ref quaternion1, ref quaternion2, out result);
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return result;
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}
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public static void Add(ref Quaternion quaternion1, ref Quaternion quaternion2, out Quaternion result)
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@ -103,24 +105,25 @@ namespace ANX.Framework
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result.Y = quaternion1.Y + quaternion2.Y;
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result.Z = quaternion1.Z + quaternion2.Z;
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result.W = quaternion1.W + quaternion2.W;
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}
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public static Quaternion Concatenate(Quaternion value1, Quaternion value2)
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{
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throw new NotImplementedException();
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Quaternion result;
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Multiply(ref value2, ref value1, out result);
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return result;
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}
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public static void Concatenate(ref Quaternion value1, ref Quaternion value2, out Quaternion result)
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{
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throw new NotImplementedException();
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Multiply(ref value2, ref value1, out result);
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}
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public void Conjugate()
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{
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this.X = -this.X;
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this.Y = -this.Y;
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this.Z = -this.Z;
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this.W = -this.W;
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}
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public static Quaternion Conjugate(Quaternion value)
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@ -135,7 +138,7 @@ namespace ANX.Framework
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result.X = -value.X;
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result.Y = -value.Y;
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result.Z = -value.Z;
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result.W = -value.W;
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result.W = value.W;
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}
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public static Quaternion CreateFromAxisAngle(Vector3 axis, float angle)
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@ -177,7 +180,8 @@ namespace ANX.Framework
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public static void Divide(ref Quaternion quaternion1, ref Quaternion quaternion2, out Quaternion result)
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{
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result = Quaternion.Multiply(quaternion1, Quaternion.Inverse(quaternion2));
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Quaternion.Inverse(ref quaternion2, out quaternion2);
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Quaternion.Multiply(ref quaternion1, ref quaternion2, out result);
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}
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public static Quaternion Divide(Quaternion quaternion1, float divider)
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@ -193,17 +197,23 @@ namespace ANX.Framework
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}
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public static float Dot(Quaternion quaternion1, Quaternion quaternion2)
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{
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throw new NotImplementedException();
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return (quaternion1.X * quaternion2.X +
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quaternion1.Y * quaternion2.Y +
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quaternion1.Z * quaternion2.Z +
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quaternion1.W * quaternion2.W);
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}
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public static void Dot(ref Quaternion quaternion1, ref Quaternion quaternion2, out float result)
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{
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throw new NotImplementedException();
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result = (quaternion1.X * quaternion2.X +
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quaternion1.Y * quaternion2.Y +
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quaternion1.Z * quaternion2.Z +
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quaternion1.W * quaternion2.W);
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}
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public override int GetHashCode()
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{
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return this.X.GetHashCode() ^ this.Y.GetHashCode() ^ this.Z.GetHashCode() ^ this.W.GetHashCode();
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return this.X.GetHashCode() + this.Y.GetHashCode() + this.Z.GetHashCode() + this.W.GetHashCode();
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}
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public static Quaternion Inverse(Quaternion quaternion)
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@ -215,16 +225,19 @@ namespace ANX.Framework
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public static void Inverse(ref Quaternion quaternion, out Quaternion result)
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{
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//(a + i b + j c + k d)-1= (a - i b - j c - k d) / (a2 + b2 + c2 + d2)
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float magnitude = quaternion.Length();
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result = Quaternion.Conjugate(quaternion) / (magnitude * magnitude);
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float lengthSqrt = quaternion.LengthSquared();
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float invLength = 1.0f / lengthSqrt;
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result.X = -quaternion.X * invLength;
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result.Y = -quaternion.Y * invLength;
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result.Z = -quaternion.Z * invLength;
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result.W = quaternion.W * invLength;
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}
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public float Length()
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{
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return (float)Math.Sqrt(this.X * this.X + this.Y * this.Y + this.Z * this.Z + this.W * this.W);
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return (float)Math.Sqrt((double)(this.X * this.X + this.Y * this.Y + this.Z * this.Z + this.W * this.W));
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}
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public float LengthSquared()
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@ -251,11 +264,10 @@ namespace ANX.Framework
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public static void Multiply(ref Quaternion quaternion1, ref Quaternion quaternion2, out Quaternion result)
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{
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//z1 * z2= a*e - b*f - c*g- d*h + i (b*e + a*f + c*h - d*g) + j (a*g - b*h + c*e + d*f) + k (a*h + b*g - c*f + d*e)
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result.X = quaternion1.X * quaternion2.X - quaternion1.Y * quaternion2.Y - quaternion1.Z * quaternion2.Z - quaternion1.W * quaternion2.W;
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result.Y = quaternion1.Y * quaternion2.X + quaternion1.X * quaternion2.Y + quaternion1.Z * quaternion2.W - quaternion1.W * quaternion2.Z;
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result.Z = quaternion1.X * quaternion2.Z - quaternion1.Y * quaternion2.W + quaternion1.Z * quaternion2.X + quaternion1.W * quaternion2.Y;
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result.W = quaternion1.X * quaternion2.W + quaternion1.Y * quaternion2.Z - quaternion1.Z * quaternion2.Y + quaternion1.W * quaternion2.X;
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result.X = quaternion1.W * quaternion2.X + quaternion1.X * quaternion2.W + quaternion1.Y * quaternion2.Z - quaternion1.Z * quaternion2.Y;
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result.Y = quaternion1.W * quaternion2.Y - quaternion1.X * quaternion2.Z + quaternion1.Y * quaternion2.W + quaternion1.Z * quaternion2.X;
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result.Z = quaternion1.W * quaternion2.Z + quaternion1.X * quaternion2.Y - quaternion1.Y * quaternion2.X + quaternion1.Z * quaternion2.W;
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result.W = quaternion1.W * quaternion2.W - quaternion1.X * quaternion2.X - quaternion1.Y * quaternion2.Y - quaternion1.Z * quaternion2.Z;
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}
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public static Quaternion Multiply(Quaternion quaternion1, float scaleFactor)
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@ -283,18 +295,19 @@ namespace ANX.Framework
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public static void Negate(ref Quaternion quaternion, out Quaternion result)
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{
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result = Quaternion.Conjugate(quaternion);
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result.X = -result.X;
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result.X = -quaternion.X;
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result.Y = -quaternion.Y;
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result.Z = -quaternion.Z;
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result.W = -quaternion.W;
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}
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public void Normalize()
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{
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float norm = this.Length();
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float scaler = 1.0f / norm;
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this.X *= scaler;
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this.Y *= scaler;
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this.Z *= scaler;
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this.W *= scaler;
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float invLength = 1.0f / this.Length();
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this.X *= invLength;
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this.Y *= invLength;
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this.Z *= invLength;
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this.W *= invLength;
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}
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public static Quaternion Normalize(Quaternion quaternion)
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@ -306,22 +319,35 @@ namespace ANX.Framework
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public static void Normalize(ref Quaternion quaternion, out Quaternion result)
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{
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float norm = quaternion.Length();
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float scaler = 1.0f / norm;
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result.X = quaternion.X * scaler;
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result.Y = quaternion.Y * scaler;
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result.Z = quaternion.Z * scaler;
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result.W = quaternion.W * scaler;
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float invLength = 1.0f / quaternion.Length();
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result.X = quaternion.X * invLength;
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result.Y = quaternion.Y * invLength;
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result.Z = quaternion.Z * invLength;
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result.W = quaternion.W * invLength;
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}
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public static Quaternion Slerp(Quaternion quaternion1, Quaternion quaternion2, float amount)
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{
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throw new NotImplementedException();
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Quaternion result;
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Slerp(ref quaternion1, ref quaternion2, amount, out result);
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return result;
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}
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public static void Slerp(ref Quaternion quaternion1, ref Quaternion quaternion2, float amount, out Quaternion result)
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{
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throw new NotImplementedException();
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float cosAlpha;
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Dot(ref quaternion1, ref quaternion2, out cosAlpha);
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float alpha = (float)Math.Acos(cosAlpha);
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float invSinAlphaInv = 1.0f / (float)Math.Sin(alpha);
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float amount1 = (float)Math.Sin((1.0f - amount) * alpha) * invSinAlphaInv;
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float amount2 = (float)Math.Sin(amount * alpha) * invSinAlphaInv;
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result.X = quaternion1.X * amount1 + quaternion2.X * amount2;
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result.Y = quaternion1.Y * amount1 + quaternion2.Y * amount2;
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result.Z = quaternion1.Z * amount1 + quaternion2.Z * amount2;
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result.W = quaternion1.W * amount1 + quaternion2.W * amount2;
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}
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public static Quaternion Subtract(Quaternion quaternion1, Quaternion quaternion2)
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@ -341,7 +367,14 @@ namespace ANX.Framework
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public override string ToString()
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{
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return "{X:" + this.X + " Y:" + this.Y + " Z:" + this.Z + " W:" + this.W + "}";
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CultureInfo currentCulture = CultureInfo.CurrentCulture;
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return string.Format(currentCulture, "{{X:{0} Y:{1} Z:{2} W:{3}}}", new object[]
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{
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this.X.ToString(currentCulture),
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this.Y.ToString(currentCulture),
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this.Z.ToString(currentCulture),
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this.W.ToString(currentCulture)
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});
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}
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#endregion
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@ -360,12 +393,16 @@ namespace ANX.Framework
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#region operator overloading
|
||||
public static Quaternion operator +(Quaternion quaternion1, Quaternion quaternion2)
|
||||
{
|
||||
return Quaternion.Add(quaternion1, quaternion2);
|
||||
Quaternion result;
|
||||
Add(ref quaternion1, ref quaternion2, out result);
|
||||
return result;
|
||||
}
|
||||
|
||||
public static Quaternion operator /(Quaternion quaternion1, Quaternion quaternion2)
|
||||
{
|
||||
return Quaternion.Divide(quaternion1, quaternion2);
|
||||
Quaternion result;
|
||||
Divide(ref quaternion1, ref quaternion2, out result);
|
||||
return result;
|
||||
}
|
||||
|
||||
public static Quaternion operator /(Quaternion quaternion1, float divider)
|
||||
@ -391,22 +428,30 @@ namespace ANX.Framework
|
||||
|
||||
public static Quaternion operator *(Quaternion quaternion1, Quaternion quaternion2)
|
||||
{
|
||||
return Quaternion.Multiply(quaternion1, quaternion2);
|
||||
Quaternion result;
|
||||
Multiply(ref quaternion1, ref quaternion2, out result);
|
||||
return result;
|
||||
}
|
||||
|
||||
public static Quaternion operator *(Quaternion quaternion1, float scaleFactor)
|
||||
{
|
||||
return Quaternion.Multiply(quaternion1, scaleFactor);
|
||||
Quaternion result;
|
||||
Multiply(ref quaternion1, scaleFactor, out result);
|
||||
return result;
|
||||
}
|
||||
|
||||
public static Quaternion operator -(Quaternion quaternion1, Quaternion quaternion2)
|
||||
{
|
||||
return Quaternion.Subtract(quaternion1, quaternion2);
|
||||
Quaternion result;
|
||||
Subtract(ref quaternion1, ref quaternion2, out result);
|
||||
return result;
|
||||
}
|
||||
|
||||
public static Quaternion operator -(Quaternion quaternion)
|
||||
{
|
||||
return Quaternion.Negate(quaternion);
|
||||
Quaternion result;
|
||||
Negate(ref quaternion, out result);
|
||||
return result;
|
||||
}
|
||||
#endregion
|
||||
}
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user