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Merge pull request #10712 from mikeller/cleanup_matrix_rotation

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Cleaned up matrix rotation.
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Michael Keller 2021-05-18 00:46:04 +12:00 • committed by GitHub
commit dfcd11bd69
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4 changed files with 5 additions and 56 deletions
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23
src/test/unit/maths_unittest.cc
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@ -202,29 +202,6 @@ void expectVectorsAreEqual(struct fp_vector *a, struct fp_vector *b, float absTo
EXPECT_NEAR(a->Z, b->Z, absTol);
}
TEST(MathsUnittest, TestRotateVectorWithNoAngle)
{
fp_vector vector = {1.0f, 0.0f, 0.0f};
fp_angles_t euler_angles = {.raw={0.0f, 0.0f, 0.0f}};
rotateV(&vector, &euler_angles);
fp_vector expected_result = {1.0f, 0.0f, 0.0f};
expectVectorsAreEqual(&vector, &expected_result, 1e-5);
}
TEST(MathsUnittest, TestRotateVectorAroundAxis)
{
// Rotate a vector <1, 0, 0> around an each axis x y and z.
fp_vector vector = {1.0f, 0.0f, 0.0f};
fp_angles_t euler_angles = {.raw={90.0f, 0.0f, 0.0f}};
rotateV(&vector, &euler_angles);
fp_vector expected_result = {1.0f, 0.0f, 0.0f};
expectVectorsAreEqual(&vector, &expected_result, 1e-5);
}
#if defined(FAST_MATH) || defined(VERY_FAST_MATH)
TEST(MathsUnittest, TestFastTrigonometrySinCos)
{