diff --git a/src/Magnum/Math/Test/DualQuaternionTest.cpp b/src/Magnum/Math/Test/DualQuaternionTest.cpp index 578342963..17b062651 100644 --- a/src/Magnum/Math/Test/DualQuaternionTest.cpp +++ b/src/Magnum/Math/Test/DualQuaternionTest.cpp @@ -479,15 +479,20 @@ void DualQuaternionTest::transformPointNormalized() { } void DualQuaternionTest::sclerp() { - const DualQuaternion from = DualQuaternion::translation(Vector3{20.0f, .0f, .0f})*DualQuaternion::rotation(180.0_degf, Vector3{.0f, 1.0f, .0f}); - const DualQuaternion to = DualQuaternion::translation(Vector3{42.0f, 42.0f, 42.0f})*DualQuaternion::rotation(75.0_degf, Vector3{1.0f, .0f, .0f}); - - constexpr DualQuaternion expected1{Quaternion{{.23296291314453416f, .9238795325112867f, .0f}, .303603179340959f}, - Quaternion{{2.235619101917766f, 2.8169719855488395f, 10.722240915237789f}, -10.287636336847847f}}; - constexpr DualQuaternion expected2{Quaternion{{.4437679833315842f, .6845471059286887f, .0f}, .5783296955322937f}, - Quaternion{{5.764394870292371f, 11.161306653193549f, 9.671267015501789f}, -17.634394590712066f}}; - constexpr DualQuaternion expected3{Quaternion{{.5979785904506439f, .18738131458572468f, .0f}, .7793008714910992f}, - Quaternion{{13.409627907069353f, 25.452124456683414f, 5.681581047706807f}, -16.409481115504978f}}; + auto from = DualQuaternion::translation({20.0f, 0.0f, 0.0f})* + DualQuaternion::rotation(180.0_degf, Vector3::yAxis()); + auto to = DualQuaternion::translation({42.0f, 42.0f, 42.0f})* + DualQuaternion::rotation(75.0_degf, Vector3::xAxis()); + + DualQuaternion expected1{ + {{0.23296291f, 0.92387953f, 0.0f}, 0.30360317f}, + {{2.23561910f, 2.81697198f, 10.72224091f}, -10.28763633f}}; + DualQuaternion expected2{ + {{0.44376798f, 0.68454710f, 0.0f}, 0.57832969f}, + {{5.76439487f, 11.16130665f, 9.67126701f}, -17.63439459f}}; + DualQuaternion expected3{ + {{0.59797859f, 0.18738131f, 0.0f}, 0.77930087f}, + {{13.40962790f, 25.45212445f, 5.68158104f}, -16.40948111f}}; const DualQuaternion interp1 = Math::sclerp(from, to, 0.25f); const DualQuaternion interp2 = Math::sclerp(from, to, 0.52f); @@ -501,12 +506,13 @@ void DualQuaternionTest::sclerp() { /* Dual quaternions with identical rotation */ CORRADE_COMPARE(Math::sclerp(from, from, 0.42f), from); - CORRADE_COMPARE(Math::sclerp(from, DualQuaternion(-from.real(), from.dual()), 0.42f), from); + CORRADE_COMPARE(Math::sclerp(from, {-from.real(), from.dual()}, 0.42f), from); /* No difference in rotation, but in translation */ - const auto rotation = DualQuaternion::rotation(35.0_degf, Vector3{0.3f, 0.2f, 0.1f}); - CORRADE_COMPARE(Math::sclerp(DualQuaternion::translation(Vector3{1.0f, 2.0f, 4.0f})*rotation, DualQuaternion::translation(Vector3{5, -6, 2})*rotation, 0.25f), - DualQuaternion::translation(Vector3{2.0f, 0.0f, 3.5f})*rotation); + const auto rotation = DualQuaternion::rotation(35.0_degf, {0.3f, 0.2f, 0.1f}); + CORRADE_COMPARE(Math::sclerp( + DualQuaternion::translation({1.0f, 2.0f, 4.0f})*rotation, DualQuaternion::translation({5.0f, -6.0f, 2.0f})*rotation, 0.25f), + DualQuaternion::translation({2.0f, 0.0f, 3.5f})*rotation); } void DualQuaternionTest::debug() {