Refactor base float type to f64 for accuracy and add gravity
This commit is contained in:
parent
e27ba9a558
commit
d9e4e06c78
5 changed files with 183 additions and 158 deletions
1
src/constants.zig
Normal file
1
src/constants.zig
Normal file
|
|
@ -0,0 +1 @@
|
|||
pub const g: f64 = 9.80665;
|
||||
|
|
@ -2,16 +2,16 @@ const vec3 = @import("./vec3.zig");
|
|||
const std = @import("std");
|
||||
|
||||
const Drone = struct {
|
||||
mass: f32,
|
||||
cg_inertial: vec3.Vec3F32,
|
||||
moment_of_inertia: vec3.Mat3F32,
|
||||
attitude: vec3.QuatF32,
|
||||
mass_kg: f64,
|
||||
center_of_gravity_inertial: vec3.Vec3F64,
|
||||
moment_of_inertia: vec3.Mat3F64,
|
||||
attitude: vec3.QuatF64,
|
||||
};
|
||||
|
||||
const Propeller = struct {
|
||||
cg_to_prop_body: vec3.Vec3F32,
|
||||
thrust_coefficient: f32,
|
||||
torque_drag_coefficient: f32,
|
||||
center_of_gravity_to_propeller_body: vec3.Vec3F64,
|
||||
thrust_coefficient: f64,
|
||||
torque_drag_coefficient: f64,
|
||||
};
|
||||
|
||||
const Simulation = struct {
|
||||
|
|
@ -20,28 +20,35 @@ const Simulation = struct {
|
|||
};
|
||||
|
||||
pub fn body_position_to_inertial(
|
||||
cg: vec3.Vec3F32,
|
||||
attitude: vec3.QuatF32,
|
||||
body_vec: vec3.Vec3F32,
|
||||
) vec3.Vec3F32 {
|
||||
const intertial_vec = vec3.quatApply(attitude, body_vec);
|
||||
return vec3.vec3Add(cg, intertial_vec);
|
||||
center_of_gravity: vec3.Vec3F64,
|
||||
attitude: vec3.QuatF64,
|
||||
body_vector: vec3.Vec3F64,
|
||||
) vec3.Vec3F64 {
|
||||
const inertial_offset = vec3.quatApply(attitude.conjugate(), body_vector);
|
||||
return vec3.vec3Add(center_of_gravity, inertial_offset);
|
||||
}
|
||||
|
||||
test "Body position to inertial" {
|
||||
const cg: vec3.Vec3F32 = .init(1, 1, 1);
|
||||
const body_vec: vec3.Vec3F32 = .init(1, 0, 0);
|
||||
const attitude = vec3.yawPitchRollToQuat(std.math.pi / 2.0, 0, 0);
|
||||
const center_of_gravity: vec3.Vec3F64 = .init(1, 1, 1);
|
||||
const body_vector: vec3.Vec3F64 = .init(1, 0, 0);
|
||||
|
||||
const inertial_vec = body_position_to_inertial(cg, attitude, body_vec);
|
||||
try std.testing.expect(std.math.approxEqAbs(f32, inertial_vec.x(), 1, 1e-7));
|
||||
try std.testing.expect(std.math.approxEqAbs(f32, inertial_vec.y(), 2, 1e-7));
|
||||
try std.testing.expect(std.math.approxEqAbs(f32, inertial_vec.z(), 1, 1e-7));
|
||||
var attitude = vec3.yawPitchRollToQuat(0, 0, 0);
|
||||
var inertial_position = body_position_to_inertial(center_of_gravity, attitude, body_vector);
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, inertial_position.x(), 2, 1e-12));
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, inertial_position.y(), 1, 1e-12));
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, inertial_position.z(), 1, 1e-12));
|
||||
|
||||
const attitude_2 = vec3.yawPitchRollToQuat(std.math.pi, 0, 0);
|
||||
const inertial_vec_2 = body_position_to_inertial(cg, attitude_2, body_vec);
|
||||
attitude = vec3.yawPitchRollToQuat(std.math.pi / 2.0, 0, 0);
|
||||
inertial_position = body_position_to_inertial(center_of_gravity, attitude, body_vector);
|
||||
|
||||
try std.testing.expect(std.math.approxEqAbs(f32, inertial_vec_2.x(), 0, 1e-7));
|
||||
try std.testing.expect(std.math.approxEqAbs(f32, inertial_vec_2.y(), 1, 1e-7));
|
||||
try std.testing.expect(std.math.approxEqAbs(f32, inertial_vec_2.z(), 1, 1e-7));
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, inertial_position.x(), 1, 1e-12));
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, inertial_position.y(), 0, 1e-12));
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, inertial_position.z(), 1, 1e-12));
|
||||
|
||||
attitude = vec3.yawPitchRollToQuat(std.math.pi, 0, 0);
|
||||
inertial_position = body_position_to_inertial(center_of_gravity, attitude, body_vector);
|
||||
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, inertial_position.x(), 0, 1e-12));
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, inertial_position.y(), 1, 1e-12));
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, inertial_position.z(), 1, 1e-12));
|
||||
}
|
||||
|
|
|
|||
15
src/forces.zig
Normal file
15
src/forces.zig
Normal file
|
|
@ -0,0 +1,15 @@
|
|||
const constants = @import("./constants.zig");
|
||||
const vec3 = @import("./vec3.zig");
|
||||
const std = @import("std");
|
||||
|
||||
pub fn gravity(mass: f64) vec3.Vec3F64 {
|
||||
return .init(0, 0, mass * constants.g);
|
||||
}
|
||||
|
||||
test "gravity is correct" {
|
||||
const mass = 10;
|
||||
const fg = gravity(mass);
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, fg.x(), 0, 1e-12));
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, fg.y(), 0, 1e-12));
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, fg.z(), constants.g * mass, 1e-12));
|
||||
}
|
||||
|
|
@ -3,4 +3,5 @@ const std = @import("std");
|
|||
test "main" {
|
||||
_ = @import("./drone.zig");
|
||||
_ = @import("./vec3.zig");
|
||||
_ = @import("./forces.zig");
|
||||
}
|
||||
|
|
|
|||
267
src/vec3.zig
267
src/vec3.zig
|
|
@ -1,51 +1,51 @@
|
|||
const std = @import("std");
|
||||
|
||||
pub const Vec3F32 = struct {
|
||||
data: @Vector(4, f32),
|
||||
pub const Vec3F64 = struct {
|
||||
data: @Vector(4, f64),
|
||||
|
||||
pub fn init(_x: f32, _y: f32, _z: f32) Vec3F32 {
|
||||
return .{ .data = .{ _x, _y, _z, 0 } };
|
||||
pub fn init(x_value: f64, y_value: f64, z_value: f64) Vec3F64 {
|
||||
return .{ .data = .{ x_value, y_value, z_value, 0 } };
|
||||
}
|
||||
|
||||
pub fn x(self: Vec3F32) f32 {
|
||||
pub fn x(self: Vec3F64) f64 {
|
||||
return self.data[0];
|
||||
}
|
||||
|
||||
pub fn y(self: Vec3F32) f32 {
|
||||
pub fn y(self: Vec3F64) f64 {
|
||||
return self.data[1];
|
||||
}
|
||||
|
||||
pub fn z(self: Vec3F32) f32 {
|
||||
pub fn z(self: Vec3F64) f64 {
|
||||
return self.data[2];
|
||||
}
|
||||
};
|
||||
|
||||
pub fn vec3Add(a: Vec3F32, b: Vec3F32) Vec3F32 {
|
||||
pub fn vec3Add(a: Vec3F64, b: Vec3F64) Vec3F64 {
|
||||
return .{ .data = a.data + b.data };
|
||||
}
|
||||
|
||||
pub fn vec3Sub(a: Vec3F32, b: Vec3F32) Vec3F32 {
|
||||
pub fn vec3Sub(a: Vec3F64, b: Vec3F64) Vec3F64 {
|
||||
return .{ .data = a.data - b.data };
|
||||
}
|
||||
|
||||
pub fn vec3Dot(a: Vec3F32, b: Vec3F32) f32 {
|
||||
pub fn vec3Dot(a: Vec3F64, b: Vec3F64) f64 {
|
||||
return @reduce(.Add, a.data * b.data);
|
||||
}
|
||||
|
||||
pub fn vec3Cross(a: Vec3F32, b: Vec3F32) Vec3F32 {
|
||||
const x = a.y() * b.z() - a.z() * b.y();
|
||||
const y = a.z() * b.x() - a.x() * b.z();
|
||||
const z = a.x() * b.y() - a.y() * b.x();
|
||||
return .init(x, y, z);
|
||||
pub fn vec3Cross(a: Vec3F64, b: Vec3F64) Vec3F64 {
|
||||
const x_component = a.y() * b.z() - a.z() * b.y();
|
||||
const y_component = a.z() * b.x() - a.x() * b.z();
|
||||
const z_component = a.x() * b.y() - a.y() * b.x();
|
||||
return .init(x_component, y_component, z_component);
|
||||
}
|
||||
|
||||
pub const Mat3F32 = struct {
|
||||
row1: Vec3F32,
|
||||
row2: Vec3F32,
|
||||
row3: Vec3F32,
|
||||
pub const Mat3F64 = struct {
|
||||
row1: Vec3F64,
|
||||
row2: Vec3F64,
|
||||
row3: Vec3F64,
|
||||
};
|
||||
|
||||
pub fn mat3Add(a: Mat3F32, b: Mat3F32) Mat3F32 {
|
||||
pub fn mat3Add(a: Mat3F64, b: Mat3F64) Mat3F64 {
|
||||
return .{
|
||||
.row1 = vec3Add(a.row1, b.row1),
|
||||
.row2 = vec3Add(a.row2, b.row2),
|
||||
|
|
@ -53,7 +53,7 @@ pub fn mat3Add(a: Mat3F32, b: Mat3F32) Mat3F32 {
|
|||
};
|
||||
}
|
||||
|
||||
pub fn mat3Sub(a: Mat3F32, b: Mat3F32) Mat3F32 {
|
||||
pub fn mat3Sub(a: Mat3F64, b: Mat3F64) Mat3F64 {
|
||||
return .{
|
||||
.row1 = vec3Sub(a.row1, b.row1),
|
||||
.row2 = vec3Sub(a.row2, b.row2),
|
||||
|
|
@ -61,20 +61,20 @@ pub fn mat3Sub(a: Mat3F32, b: Mat3F32) Mat3F32 {
|
|||
};
|
||||
}
|
||||
|
||||
pub fn mat3Mul(a: Mat3F32, b: Mat3F32) Mat3F32 {
|
||||
const c_row1: Vec3F32 = .init(
|
||||
pub fn mat3Mul(a: Mat3F64, b: Mat3F64) Mat3F64 {
|
||||
const c_row1: Vec3F64 = .init(
|
||||
a.row1.x() * b.row1.x() + a.row1.y() * b.row2.x() + a.row1.z() * b.row3.x(),
|
||||
a.row1.x() * b.row1.y() + a.row1.y() * b.row2.y() + a.row1.z() * b.row3.y(),
|
||||
a.row1.x() * b.row1.z() + a.row1.y() * b.row2.z() + a.row1.z() * b.row3.z(),
|
||||
);
|
||||
|
||||
const c_row2: Vec3F32 = .init(
|
||||
const c_row2: Vec3F64 = .init(
|
||||
a.row2.x() * b.row1.x() + a.row2.y() * b.row2.x() + a.row2.z() * b.row3.x(),
|
||||
a.row2.x() * b.row1.y() + a.row2.y() * b.row2.y() + a.row2.z() * b.row3.y(),
|
||||
a.row2.x() * b.row1.z() + a.row2.y() * b.row2.z() + a.row2.z() * b.row3.z(),
|
||||
);
|
||||
|
||||
const c_row3: Vec3F32 = .init(
|
||||
const c_row3: Vec3F64 = .init(
|
||||
a.row3.x() * b.row1.x() + a.row3.y() * b.row2.x() + a.row3.z() * b.row3.x(),
|
||||
a.row3.x() * b.row1.y() + a.row3.y() * b.row2.y() + a.row3.z() * b.row3.y(),
|
||||
a.row3.x() * b.row1.z() + a.row3.y() * b.row2.z() + a.row3.z() * b.row3.z(),
|
||||
|
|
@ -83,7 +83,7 @@ pub fn mat3Mul(a: Mat3F32, b: Mat3F32) Mat3F32 {
|
|||
return .{ .row1 = c_row1, .row2 = c_row2, .row3 = c_row3 };
|
||||
}
|
||||
|
||||
pub fn vec3MulMat3(a: Mat3F32, b: Vec3F32) Vec3F32 {
|
||||
pub fn vec3MulMat3(a: Mat3F64, b: Vec3F64) Vec3F64 {
|
||||
return .init(
|
||||
vec3Dot(a.row1, b),
|
||||
vec3Dot(a.row2, b),
|
||||
|
|
@ -94,56 +94,57 @@ pub fn vec3MulMat3(a: Mat3F32, b: Vec3F32) Vec3F32 {
|
|||
// Uses the Quaternion definition of q = w + xi + yj + zk
|
||||
// and with i^2 = j^2 = k^2 = ijk = -1
|
||||
// I grabbed a lot of this math from https://imadrahmoune.com/rotations-with-quaternions/
|
||||
pub const QuatF32 = struct {
|
||||
data: @Vector(4, f32),
|
||||
pub fn init(_x: f32, _y: f32, _z: f32, _w: f32) QuatF32 {
|
||||
return .{ .data = .{ _x, _y, _z, _w } };
|
||||
pub const QuatF64 = struct {
|
||||
data: @Vector(4, f64),
|
||||
pub fn init(x_value: f64, y_value: f64, z_value: f64, w_value: f64) QuatF64 {
|
||||
return .{ .data = .{ x_value, y_value, z_value, w_value } };
|
||||
}
|
||||
pub fn x(self: QuatF32) f32 {
|
||||
pub fn x(self: QuatF64) f64 {
|
||||
return self.data[0];
|
||||
}
|
||||
|
||||
pub fn y(self: QuatF32) f32 {
|
||||
pub fn y(self: QuatF64) f64 {
|
||||
return self.data[1];
|
||||
}
|
||||
|
||||
pub fn z(self: QuatF32) f32 {
|
||||
pub fn z(self: QuatF64) f64 {
|
||||
return self.data[2];
|
||||
}
|
||||
pub fn w(self: QuatF32) f32 {
|
||||
pub fn w(self: QuatF64) f64 {
|
||||
return self.data[3];
|
||||
}
|
||||
pub fn mag(q: QuatF32) f32 {
|
||||
pub fn mag(q: QuatF64) f64 {
|
||||
return std.math.sqrt(@reduce(.Add, q.data * q.data));
|
||||
}
|
||||
|
||||
pub fn normalized(q: QuatF32) QuatF32 {
|
||||
pub fn normalized(q: QuatF64) QuatF64 {
|
||||
const magnitude = q.mag();
|
||||
return .{ .data = q.data / @as(@Vector(4, f32), @splat(magnitude)) };
|
||||
return .{ .data = q.data / @as(@Vector(4, f64), @splat(magnitude)) };
|
||||
}
|
||||
|
||||
pub fn conjugate(q: QuatF32) QuatF32 {
|
||||
return .{ .data = q.data * @as(@Vector(4, f32), .{ -1, -1, -1, 1 }) };
|
||||
pub fn conjugate(q: QuatF64) QuatF64 {
|
||||
return .{ .data = q.data * @as(@Vector(4, f64), .{ -1, -1, -1, 1 }) };
|
||||
}
|
||||
};
|
||||
|
||||
pub fn yawPitchRollToQuat(yaw: f32, pitch: f32, roll: f32) QuatF32 {
|
||||
const cx = @cos(roll / 2);
|
||||
const sx = @sin(roll / 2);
|
||||
const cy = @cos(pitch / 2);
|
||||
const sy = @sin(pitch / 2);
|
||||
const cz = @cos(yaw / 2);
|
||||
const sz = @sin(yaw / 2);
|
||||
pub fn yawPitchRollToQuat(yaw_radians: f64, pitch_radians: f64, roll_radians: f64) QuatF64 {
|
||||
const cos_roll = @cos(roll_radians / 2);
|
||||
const sin_roll = @sin(roll_radians / 2);
|
||||
const cos_pitch = @cos(pitch_radians / 2);
|
||||
const sin_pitch = @sin(pitch_radians / 2);
|
||||
const cos_yaw = @cos(yaw_radians / 2);
|
||||
const sin_yaw = @sin(yaw_radians / 2);
|
||||
|
||||
return .init(
|
||||
sx * cy * cz - cx * sy * sz,
|
||||
cx * sy * cz + sx * cy * sz,
|
||||
cx * cy * sz - sx * sy * cz,
|
||||
cx * cy * cz + sx * sy * sz,
|
||||
const quat: QuatF64 = .init(
|
||||
sin_roll * cos_pitch * cos_yaw - cos_roll * sin_pitch * sin_yaw,
|
||||
cos_roll * sin_pitch * cos_yaw + sin_roll * cos_pitch * sin_yaw,
|
||||
cos_roll * cos_pitch * sin_yaw - sin_roll * sin_pitch * cos_yaw,
|
||||
cos_roll * cos_pitch * cos_yaw + sin_roll * sin_pitch * sin_yaw,
|
||||
);
|
||||
return quat.normalized();
|
||||
}
|
||||
|
||||
pub fn quatMul(a: QuatF32, b: QuatF32) QuatF32 {
|
||||
pub fn quatMul(a: QuatF64, b: QuatF64) QuatF64 {
|
||||
return .init(
|
||||
a.w() * b.x() + a.x() * b.w() + a.y() * b.z() - a.z() * b.y(),
|
||||
a.w() * b.y() - a.x() * b.z() + a.y() * b.w() + a.z() * b.x(),
|
||||
|
|
@ -152,37 +153,37 @@ pub fn quatMul(a: QuatF32, b: QuatF32) QuatF32 {
|
|||
);
|
||||
}
|
||||
|
||||
pub fn quatApply(a: QuatF32, b: Vec3F32) Vec3F32 {
|
||||
const quat_v = quatMul(quatMul(a, .init(b.x(), b.y(), b.z(), 0)), a.conjugate());
|
||||
return .init(quat_v.data[0], quat_v.data[1], quat_v.data[2]);
|
||||
pub fn quatApply(a: QuatF64, b: Vec3F64) Vec3F64 {
|
||||
const rotated_quat = quatMul(quatMul(a, .init(b.x(), b.y(), b.z(), 0)), a.conjugate());
|
||||
return .init(rotated_quat.data[0], rotated_quat.data[1], rotated_quat.data[2]);
|
||||
}
|
||||
|
||||
test "vec3Add adds properly" {
|
||||
const a = Vec3F32.init(1, 2, 3);
|
||||
const b = Vec3F32.init(3, 1, 0);
|
||||
const a = Vec3F64.init(1, 2, 3);
|
||||
const b = Vec3F64.init(3, 1, 0);
|
||||
const c = vec3Add(a, b);
|
||||
|
||||
try std.testing.expect(std.math.approxEqAbs(f32, c.x(), 4, 1e-7));
|
||||
try std.testing.expect(std.math.approxEqAbs(f32, c.y(), 3, 1e-7));
|
||||
try std.testing.expect(std.math.approxEqAbs(f32, c.z(), 3, 1e-7));
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, c.x(), 4, 1e-12));
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, c.y(), 3, 1e-12));
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, c.z(), 3, 1e-12));
|
||||
}
|
||||
test "vec3Sub subs properly" {
|
||||
const a = Vec3F32.init(1, 2, 3);
|
||||
const b = Vec3F32.init(3, 1, 0);
|
||||
const a = Vec3F64.init(1, 2, 3);
|
||||
const b = Vec3F64.init(3, 1, 0);
|
||||
const c = vec3Sub(a, b);
|
||||
|
||||
try std.testing.expect(std.math.approxEqAbs(f32, c.x(), -2, 1e-7));
|
||||
try std.testing.expect(std.math.approxEqAbs(f32, c.y(), 1, 1e-7));
|
||||
try std.testing.expect(std.math.approxEqAbs(f32, c.z(), 3, 1e-7));
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, c.x(), -2, 1e-12));
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, c.y(), 1, 1e-12));
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, c.z(), 3, 1e-12));
|
||||
}
|
||||
test "vec3Dot dots properly" {
|
||||
const a = Vec3F32.init(1, 2, 3);
|
||||
const b = Vec3F32.init(3, 1, 0);
|
||||
try std.testing.expect(std.math.approxEqAbs(f32, vec3Dot(a, b), 5, 1e-7));
|
||||
const a = Vec3F64.init(1, 2, 3);
|
||||
const b = Vec3F64.init(3, 1, 0);
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, vec3Dot(a, b), 5, 1e-12));
|
||||
}
|
||||
test "vec3Cross crosses properly" {
|
||||
const a = Vec3F32.init(1, 2, 3);
|
||||
const b = Vec3F32.init(3, 1, 0);
|
||||
const a = Vec3F64.init(1, 2, 3);
|
||||
const b = Vec3F64.init(3, 1, 0);
|
||||
|
||||
const c = vec3Cross(a, b);
|
||||
|
||||
|
|
@ -192,15 +193,15 @@ test "vec3Cross crosses properly" {
|
|||
}
|
||||
|
||||
test "Mat3 add works" {
|
||||
const a: Mat3F32 = .{
|
||||
.row1 = Vec3F32.init(1, 2, 3),
|
||||
.row2 = Vec3F32.init(0, 1, 5),
|
||||
.row3 = Vec3F32.init(0, 0, 9),
|
||||
const a: Mat3F64 = .{
|
||||
.row1 = Vec3F64.init(1, 2, 3),
|
||||
.row2 = Vec3F64.init(0, 1, 5),
|
||||
.row3 = Vec3F64.init(0, 0, 9),
|
||||
};
|
||||
const b: Mat3F32 = .{
|
||||
.row1 = Vec3F32.init(0, 1, 0),
|
||||
.row2 = Vec3F32.init(0, 1, 1),
|
||||
.row3 = Vec3F32.init(0, 0, 1),
|
||||
const b: Mat3F64 = .{
|
||||
.row1 = Vec3F64.init(0, 1, 0),
|
||||
.row2 = Vec3F64.init(0, 1, 1),
|
||||
.row3 = Vec3F64.init(0, 0, 1),
|
||||
};
|
||||
|
||||
const c = mat3Add(a, b);
|
||||
|
|
@ -217,15 +218,15 @@ test "Mat3 add works" {
|
|||
}
|
||||
|
||||
test "Mat3 sub works" {
|
||||
const a: Mat3F32 = .{
|
||||
.row1 = Vec3F32.init(1, 2, 3),
|
||||
.row2 = Vec3F32.init(0, 1, 5),
|
||||
.row3 = Vec3F32.init(0, 0, 9),
|
||||
const a: Mat3F64 = .{
|
||||
.row1 = Vec3F64.init(1, 2, 3),
|
||||
.row2 = Vec3F64.init(0, 1, 5),
|
||||
.row3 = Vec3F64.init(0, 0, 9),
|
||||
};
|
||||
const b: Mat3F32 = .{
|
||||
.row1 = Vec3F32.init(0, 1, 0),
|
||||
.row2 = Vec3F32.init(0, 1, 1),
|
||||
.row3 = Vec3F32.init(0, 0, 1),
|
||||
const b: Mat3F64 = .{
|
||||
.row1 = Vec3F64.init(0, 1, 0),
|
||||
.row2 = Vec3F64.init(0, 1, 1),
|
||||
.row3 = Vec3F64.init(0, 0, 1),
|
||||
};
|
||||
|
||||
const c = mat3Sub(a, b);
|
||||
|
|
@ -242,15 +243,15 @@ test "Mat3 sub works" {
|
|||
}
|
||||
|
||||
test "Mat3 mul works" {
|
||||
const a: Mat3F32 = .{
|
||||
.row1 = Vec3F32.init(1, 2, 3),
|
||||
.row2 = Vec3F32.init(0, 1, 5),
|
||||
.row3 = Vec3F32.init(0, 0, 9),
|
||||
const a: Mat3F64 = .{
|
||||
.row1 = Vec3F64.init(1, 2, 3),
|
||||
.row2 = Vec3F64.init(0, 1, 5),
|
||||
.row3 = Vec3F64.init(0, 0, 9),
|
||||
};
|
||||
const b: Mat3F32 = .{
|
||||
.row1 = Vec3F32.init(0, 1, 0),
|
||||
.row2 = Vec3F32.init(0, 1, 1),
|
||||
.row3 = Vec3F32.init(0, 0, 1),
|
||||
const b: Mat3F64 = .{
|
||||
.row1 = Vec3F64.init(0, 1, 0),
|
||||
.row2 = Vec3F64.init(0, 1, 1),
|
||||
.row3 = Vec3F64.init(0, 0, 1),
|
||||
};
|
||||
|
||||
const c = mat3Mul(a, b);
|
||||
|
|
@ -267,28 +268,28 @@ test "Mat3 mul works" {
|
|||
}
|
||||
|
||||
test "vec3 mul mat3 works" {
|
||||
const b: Mat3F32 = .{
|
||||
.row1 = Vec3F32.init(0, 1, 0),
|
||||
.row2 = Vec3F32.init(0, 1, 1),
|
||||
.row3 = Vec3F32.init(0, 0, 1),
|
||||
const b: Mat3F64 = .{
|
||||
.row1 = Vec3F64.init(0, 1, 0),
|
||||
.row2 = Vec3F64.init(0, 1, 1),
|
||||
.row3 = Vec3F64.init(0, 0, 1),
|
||||
};
|
||||
const a = Vec3F32.init(1, 2, 3);
|
||||
const a = Vec3F64.init(1, 2, 3);
|
||||
|
||||
const c = vec3MulMat3(b, a);
|
||||
|
||||
try std.testing.expect(std.math.approxEqAbs(f32, c.x(), 2, 1e-7));
|
||||
try std.testing.expect(std.math.approxEqAbs(f32, c.y(), 5, 1e-7));
|
||||
try std.testing.expect(std.math.approxEqAbs(f32, c.z(), 3, 1e-7));
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, c.x(), 2, 1e-12));
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, c.y(), 5, 1e-12));
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, c.z(), 3, 1e-12));
|
||||
}
|
||||
|
||||
test "quat magnitude" {
|
||||
const q: QuatF32 = .init(1.0, 2.0, 3.0, 4.0);
|
||||
try std.testing.expect(std.math.approxEqAbs(f32, q.mag(), std.math.sqrt(30.0), 1e-7));
|
||||
const q: QuatF64 = .init(1.0, 2.0, 3.0, 4.0);
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, q.mag(), std.math.sqrt(30.0), 1e-12));
|
||||
}
|
||||
|
||||
test "quat normalized" {
|
||||
const q: QuatF32 = .init(1.0, 2.0, 3.0, 4.0);
|
||||
const expected: QuatF32 = .init(
|
||||
const q: QuatF64 = .init(1.0, 2.0, 3.0, 4.0);
|
||||
const expected: QuatF64 = .init(
|
||||
1.0 / std.math.sqrt(30.0),
|
||||
2.0 / std.math.sqrt(30.0),
|
||||
3.0 / std.math.sqrt(30.0),
|
||||
|
|
@ -297,52 +298,52 @@ test "quat normalized" {
|
|||
|
||||
const normalized = q.normalized();
|
||||
|
||||
try std.testing.expect(std.math.approxEqAbs(f32, normalized.x(), expected.x(), 1e-7));
|
||||
try std.testing.expect(std.math.approxEqAbs(f32, normalized.y(), expected.y(), 1e-7));
|
||||
try std.testing.expect(std.math.approxEqAbs(f32, normalized.z(), expected.z(), 1e-7));
|
||||
try std.testing.expect(std.math.approxEqAbs(f32, normalized.w(), expected.w(), 1e-7));
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, normalized.x(), expected.x(), 1e-12));
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, normalized.y(), expected.y(), 1e-12));
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, normalized.z(), expected.z(), 1e-12));
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, normalized.w(), expected.w(), 1e-12));
|
||||
}
|
||||
|
||||
test "quat mul" {
|
||||
const a: QuatF32 = .init(2, 3, 4, 1);
|
||||
const b: QuatF32 = .init(0, 1, 0, 1);
|
||||
const a: QuatF64 = .init(2, 3, 4, 1);
|
||||
const b: QuatF64 = .init(0, 1, 0, 1);
|
||||
|
||||
const c = quatMul(a, b);
|
||||
|
||||
try std.testing.expect(std.math.approxEqAbs(f32, c.w(), -2, 1e-7));
|
||||
try std.testing.expect(std.math.approxEqAbs(f32, c.x(), -2, 1e-7));
|
||||
try std.testing.expect(std.math.approxEqAbs(f32, c.y(), 4, 1e-7));
|
||||
try std.testing.expect(std.math.approxEqAbs(f32, c.z(), 6, 1e-7));
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, c.w(), -2, 1e-12));
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, c.x(), -2, 1e-12));
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, c.y(), 4, 1e-12));
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, c.z(), 6, 1e-12));
|
||||
}
|
||||
|
||||
test "quat euler" {
|
||||
const quat = yawPitchRollToQuat(0.5, 0.5, 1);
|
||||
try std.testing.expect(std.math.approxEqAbs(f32, quat.x(), 0.3963648, 1e-7));
|
||||
try std.testing.expect(std.math.approxEqAbs(f32, quat.y(), 0.3252922, 1e-7));
|
||||
try std.testing.expect(std.math.approxEqAbs(f32, quat.z(), 0.0954433, 1e-7));
|
||||
try std.testing.expect(std.math.approxEqAbs(f32, quat.w(), 0.8532119, 1e-7));
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, quat.x(), 0.3963648, 1e-6));
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, quat.y(), 0.3252922, 1e-6));
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, quat.z(), 0.0954433, 1e-6));
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, quat.w(), 0.8532119, 1e-6));
|
||||
}
|
||||
|
||||
test "quat conjugate" {
|
||||
const quat: QuatF32 = .init(1, 1, 1, 1);
|
||||
const quat: QuatF64 = .init(1, 1, 1, 1);
|
||||
const conj = quat.conjugate();
|
||||
try std.testing.expect(std.math.approxEqAbs(f32, conj.x(), -1, 1e-7));
|
||||
try std.testing.expect(std.math.approxEqAbs(f32, conj.y(), -1, 1e-7));
|
||||
try std.testing.expect(std.math.approxEqAbs(f32, conj.z(), -1, 1e-7));
|
||||
try std.testing.expect(std.math.approxEqAbs(f32, conj.w(), 1, 1e-7));
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, conj.x(), -1, 1e-12));
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, conj.y(), -1, 1e-12));
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, conj.z(), -1, 1e-12));
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, conj.w(), 1, 1e-12));
|
||||
}
|
||||
|
||||
test "quat apply to vec " {
|
||||
const quat: QuatF32 = yawPitchRollToQuat(std.math.pi / 2.0, 0, 0);
|
||||
const quat: QuatF64 = yawPitchRollToQuat(std.math.pi / 2.0, 0, 0);
|
||||
|
||||
try std.testing.expect(std.math.approxEqAbs(f32, quat.x(), 0, 1e-6));
|
||||
try std.testing.expect(std.math.approxEqAbs(f32, quat.y(), 0, 1e-6));
|
||||
try std.testing.expect(std.math.approxEqAbs(f32, quat.z(), @sin(std.math.pi / 4.0), 1e-6));
|
||||
try std.testing.expect(std.math.approxEqAbs(f32, quat.w(), @cos(std.math.pi / 4.0), 1e-6));
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, quat.x(), 0, 1e-12));
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, quat.y(), 0, 1e-12));
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, quat.z(), @sin(std.math.pi / 4.0), 1e-12));
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, quat.w(), @cos(std.math.pi / 4.0), 1e-12));
|
||||
|
||||
const rotated = quatApply(quat, .init(1, 2, 1));
|
||||
|
||||
try std.testing.expect(std.math.approxEqAbs(f32, rotated.x(), -2, 1e-6));
|
||||
try std.testing.expect(std.math.approxEqAbs(f32, rotated.y(), 1, 1e-6));
|
||||
try std.testing.expect(std.math.approxEqAbs(f32, rotated.z(), 1, 1e-6));
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, rotated.x(), -2, 1e-12));
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, rotated.y(), 1, 1e-12));
|
||||
try std.testing.expect(std.math.approxEqAbs(f64, rotated.z(), 1, 1e-12));
|
||||
}
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue