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Quaternion shortest equivalent (#6472)

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* Added new helper functions to get the shortest equivalent of the rotation. In case the w component of the quaternion is negative the rotation is > 180° and taking the longer path. The quaternion will be inverted in that case to take the shortest path of rotation.
* Added unit test.
* Renamed the angle parameter of the CreateRotationX/Y/Z() functions into angleInRadians.

Signed-off-by: Benjamin Jillich <jillich@amazon.com>
This commit is contained in:
Benjamin Jillich
2022-01-03 10:20:27 +01:00
committed by GitHub
parent 48260486fb
commit 79dd65e1cc
3 changed files with 51 additions and 13 deletions
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Code/Framework/AzCore/Tests/Math/QuaternionTests.cpp
+16 -3
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@@ -11,6 +11,7 @@
#include <AzCore/Math/Matrix3x3.h>
#include <AzCore/Math/Transform.h>
#include <AzCore/UnitTest/TestTypes.h>
#include <AZTestShared/Math/MathTestHelpers.h>
using namespace AZ;
@@ -453,7 +454,7 @@ namespace UnitTest
AZ::Quaternion backFromScaledAxisAngle = AZ::Quaternion::CreateFromScaledAxisAngle(scaledAxisAngle);
// Compare the original quaternion with the one after the conversion.
EXPECT_TRUE(testQuat.IsClose(backFromScaledAxisAngle, 1e-6f));
EXPECT_THAT(testQuat, IsCloseTolerance(backFromScaledAxisAngle, 1e-6f));
}
TEST_P(QuaternionScaledAxisAngleConversionFixture, AxisAngleQuatRoundtripTests)
@@ -467,7 +468,7 @@ namespace UnitTest
// Convert the axis-angle back into a quaternion and compare the original quaternion with the one after the conversion.
const AZ::Quaternion backFromAxisAngle = AZ::Quaternion::CreateFromAxisAngle(axis, angle);
EXPECT_TRUE(testQuat.IsClose(backFromAxisAngle, 1e-6f));
EXPECT_THAT(testQuat, IsCloseTolerance(backFromAxisAngle, 1e-6f));
}
TEST_P(QuaternionScaledAxisAngleConversionFixture, CompareAxisAngleConversionTests)
@@ -506,8 +507,20 @@ namespace UnitTest
}
const AZ::Quaternion backFromAxisAngle = AZ::Quaternion::CreateFromAxisAngle(axisFromScaledResult, angleFromScaledResult);
EXPECT_TRUE(testQuat.IsClose(backFromAxisAngle, 1e-6f));
EXPECT_THAT(testQuat, IsCloseTolerance(backFromAxisAngle, 1e-6f));
}
INSTANTIATE_TEST_CASE_P(MATH_Quaternion, QuaternionScaledAxisAngleConversionFixture, ::testing::ValuesIn(RotationRepresentationConversionTestQuats));
TEST(MATH_Quaternion, ShortestEquivalent)
{
const AZ::Quaternion testQuat = AZ::Quaternion::CreateRotationX(AZ::Constants::HalfPi * 3.0f);
AZ::Quaternion absQuat = testQuat;
absQuat.ShortestEquivalent();
EXPECT_THAT(testQuat.GetShortestEquivalent(), IsCloseTolerance(absQuat, 1e-6f));
const float angle = absQuat.GetEulerRadians().GetX();
EXPECT_THAT(angle, testing::FloatEq(-AZ::Constants::HalfPi));
}
}