added implementation of euler_to_quat_lh and fixed the tests. Now I g…

…otta decide what to name the macros for controlling lefthand and also make call functions for rh and lh conditionally declared

include/cglm/handed/euler_to_quat_lh.h

@@ -31,6 +31,17 @@
 CGLM_INLINE
 void
 glm_euler_xyz_quat_lh(vec3 angles, versor dest) {
+  float xc, yc, zc,
+        xs, ys, zs;
+
+  xs =  sinf(angles[0] * 0.5f); xc = cosf(angles[0] * 0.5f);
+  ys =  sinf(angles[1] * 0.5f); yc = cosf(angles[1] * 0.5f);
+  zs = -sinf(angles[2] * 0.5f); zc = cosf(angles[2] * 0.5f);
+
+  dest[0] = xc * ys * zs + xs * yc * zc;
+  dest[1] = xc * ys * zc - xs * yc * zs;
+  dest[2] = xc * yc * zs + xs * ys * zc;
+  dest[3] = xc * yc * zc - xs * ys * zs;
 }
 
 /*!
@@ -43,7 +54,17 @@ glm_euler_xyz_quat_lh(vec3 angles, versor dest) {
 CGLM_INLINE
 void
 glm_euler_xzy_quat_lh(vec3 angles, versor dest) {
+  float xc, yc, zc,
+        xs, ys, zs;
 
+  xs =  sinf(angles[0] * 0.5f); xc = cosf(angles[0] * 0.5f);
+  ys =  sinf(angles[1] * 0.5f); yc = cosf(angles[1] * 0.5f);
+  zs = -sinf(angles[2] * 0.5f); zc = cosf(angles[2] * 0.5f);
+
+  dest[0] = -xc * zs * ys + xs * zc * yc;
+  dest[1] =  xc * zc * ys - xs * zs * yc;
+  dest[2] =  xc * zs * yc + xs * zc * ys;
+  dest[3] =  xc * zc * yc + xs * zs * ys;  
 }
 
 /*!
@@ -56,7 +77,17 @@ glm_euler_xzy_quat_lh(vec3 angles, versor dest) {
 CGLM_INLINE
 void
 glm_euler_yxz_quat_lh(vec3 angles, versor dest) {
+  float xc, yc, zc,
+        xs, ys, zs;
+
+  xs =  sinf(angles[0] * 0.5f); xc = cosf(angles[0] * 0.5f);
+  ys =  sinf(angles[1] * 0.5f); yc = cosf(angles[1] * 0.5f);
+  zs = -sinf(angles[2] * 0.5f); zc = cosf(angles[2] * 0.5f);
 
+  dest[0] =  yc * xs * zc + ys * xc * zs;
+  dest[1] = -yc * xs * zs + ys * xc * zc;
+  dest[2] =  yc * xc * zs - ys * xs * zc;
+  dest[3] =  yc * xc * zc + ys * xs * zs;
 }
 
 /*!
@@ -69,7 +100,17 @@ glm_euler_yxz_quat_lh(vec3 angles, versor dest) {
 CGLM_INLINE
 void
 glm_euler_yzx_quat_lh(vec3 angles, versor dest) {
+  float xc, yc, zc,
+        xs, ys, zs;
 
+  xs =  sinf(angles[0] * 0.5f); xc = cosf(angles[0] * 0.5f);
+  ys =  sinf(angles[1] * 0.5f); yc = cosf(angles[1] * 0.5f);
+  zs = -sinf(angles[2] * 0.5f); zc = cosf(angles[2] * 0.5f);
+
+  dest[0] = yc * zc * xs + ys * zs * xc;
+  dest[1] = yc * zs * xs + ys * zc * xc;
+  dest[2] = yc * zs * xc - ys * zc * xs;
+  dest[3] = yc * zc * xc - ys * zs * xs;
 }
 
 /*!
@@ -82,6 +123,17 @@ glm_euler_yzx_quat_lh(vec3 angles, versor dest) {
 CGLM_INLINE
 void
 glm_euler_zxy_quat_lh(vec3 angles, versor dest) {
+  float xc, yc, zc,
+        xs, ys, zs;
+
+  xs =  sinf(angles[0] * 0.5f); xc = cosf(angles[0] * 0.5f);
+  ys =  sinf(angles[1] * 0.5f); yc = cosf(angles[1] * 0.5f);
+  zs = -sinf(angles[2] * 0.5f); zc = cosf(angles[2] * 0.5f);
+
+  dest[0] = zc * xs * yc - zs * xc * ys;
+  dest[1] = zc * xc * ys + zs * xs * yc;
+  dest[2] = zc * xs * ys + zs * xc * yc;
+  dest[3] = zc * xc * yc - zs * xs * ys;
 }
 
 /*!
@@ -94,7 +146,17 @@ glm_euler_zxy_quat_lh(vec3 angles, versor dest) {
 CGLM_INLINE
 void
 glm_euler_zyx_quat_lh(vec3 angles, versor dest) {
+  float xc, yc, zc,
+        xs, ys, zs;
+
+  xs =  sinf(angles[0] * 0.5f); xc = cosf(angles[0] * 0.5f);
+  ys =  sinf(angles[1] * 0.5f); yc = cosf(angles[1] * 0.5f);
+  zs = -sinf(angles[2] * 0.5f); zc = cosf(angles[2] * 0.5f);
 
+  dest[0] =  zc * yc * xs - zs * ys * xc;
+  dest[1] =  zc * ys * xc + zs * yc * xs;
+  dest[2] = -zc * ys * xs + zs * yc * xc;
+  dest[3] =  zc * yc * xc + zs * ys * xs;
 }
 
 #endif /*cglm_euler_to_quat_lh_h*/

test/src/test_euler_to_quat_lh.h

@@ -23,8 +23,6 @@ TEST_IMPL(GLM_PREFIX, euler_xyz_quat_lh) {
   versor result;
   versor tmp;
 
-  mat4 expected_mat4;
-
   /* 100 randomized tests */
   for (int i = 0; i < 100; i++) {
     test_rand_vec3(angles);
@@ -213,12 +211,6 @@ TEST_IMPL(GLM_PREFIX, euler_yxz_quat_lh) {
 
     /* verify that it acts the same as rotating by 3 axis quaternions */
     ASSERTIFY(test_assert_quat_eq(result, expected))
-
-    /* verify that it acts the same as glm_euler_by_order */
-    glm_euler_by_order(angles, GLM_EULER_YXZ, expected_mat4);
-    glm_mat4_quat(expected_mat4, expected);   
-
-    ASSERTIFY(test_assert_quat_eq_abs(result, expected));
   }
 
 
@@ -252,12 +244,6 @@ TEST_IMPL(GLM_PREFIX, euler_yxz_quat_lh) {
         ASSERT(test_eq(glm_quat_norm(result), 1.0f))
 
         ASSERTIFY(test_assert_quat_eq(result, expected))
-
-        /* verify that it acts the same as glm_euler_by_order */
-        glm_euler_by_order(angles, GLM_EULER_YXZ, expected_mat4);
-        glm_mat4_quat(expected_mat4, expected);   
-
-        ASSERTIFY(test_assert_quat_eq_abs(result, expected));
       }
     }
   }
@@ -305,12 +291,6 @@ TEST_IMPL(GLM_PREFIX, euler_yzx_quat_lh) {
 
     /* verify that it acts the same as rotating by 3 axis quaternions */
     ASSERTIFY(test_assert_quat_eq(result, expected))
-
-    /* verify that it acts the same as glm_euler_by_order */
-    glm_euler_by_order(angles, GLM_EULER_YZX, expected_mat4);
-    glm_mat4_quat(expected_mat4, expected);   
-
-    ASSERTIFY(test_assert_quat_eq_abs(result, expected));
   }
 
 
@@ -344,12 +324,6 @@ TEST_IMPL(GLM_PREFIX, euler_yzx_quat_lh) {
         ASSERT(test_eq(glm_quat_norm(result), 1.0f))
 
         ASSERTIFY(test_assert_quat_eq(result, expected))
-
-        /* verify that it acts the same as glm_euler_by_order */
-        glm_euler_by_order(angles, GLM_EULER_YZX, expected_mat4);
-        glm_mat4_quat(expected_mat4, expected);   
-
-        ASSERTIFY(test_assert_quat_eq_abs(result, expected));
       }
     }
   }

test/src/tests.c

@@ -40,6 +40,7 @@
 #include "test_cam_rh_no.h"
 #include "test_cam_rh_zo.h"
 #include "test_euler_to_quat_rh.h"
+#include "test_euler_to_quat_lh.h"
 
 #undef GLM
 #undef GLM_PREFIX
@@ -78,6 +79,7 @@
 #include "test_cam_rh_no.h"
 #include "test_cam_rh_zo.h"
 #include "test_euler_to_quat_rh.h"
+#include "test_euler_to_quat_lh.h"
 
 #undef GLM
 #undef GLM_PREFIX