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quaternion multiplication

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* convert quaternion multiplication to xyzw
* previous implementation may be wrong, wikipedia version implemented
* implement SSE version
This commit is contained in:
Recep Aslantas
2018-04-09 23:56:09 +03:00
parent 93a08fce17
commit 6f69da361b
7 changed files with 116 additions and 40 deletions
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18
test/src/test_common.c
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@@ -92,10 +92,18 @@ test_assert_vec3_eq(vec3 v1, vec3 v2) {
}
void
test_assert_quat_eq(versor v1, versor v2) {
assert_true(fabsf(v1[0] - v2[0]) <= 0.0009); /* rounding errors */
assert_true(fabsf(v1[1] - v2[1]) <= 0.0009);
assert_true(fabsf(v1[2] - v2[2]) <= 0.0009);
assert_true(fabsf(v1[3] - v2[3]) <= 0.0009);
test_assert_quat_eq_abs(versor v1, versor v2) {
assert_true(fabsf(fabsf(v1[0]) - fabsf(v2[0])) <= 0.0009); /* rounding errors */
assert_true(fabsf(fabsf(v1[1]) - fabsf(v2[1])) <= 0.0009);
assert_true(fabsf(fabsf(v1[2]) - fabsf(v2[2])) <= 0.0009);
assert_true(fabsf(fabsf(v1[3]) - fabsf(v2[3])) <= 0.0009);
}
void
test_assert_quat_eq(versor v1, versor v2) {
assert_true(fabsf(v1[0] - v2[0]) <= 0.0000009); /* rounding errors */
assert_true(fabsf(v1[1] - v2[1]) <= 0.0000009);
assert_true(fabsf(v1[2] - v2[2]) <= 0.0000009);
assert_true(fabsf(v1[3] - v2[3]) <= 0.0000009);
}