feat(math): 3D Math Extension — Quaternion (RF5.1)#67
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LyeZinho
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enhancement
…ator assertions, CF_ASSERT signal handling - Fix Quat::toEuler() pitch/yaw swap (ZYX extraction formulas were inverted) - Replace .epsilon(0.001f) with .margin(0.001f) for FP comparisons near zero - Fix PoolAllocator stress test: correct freeSlots() expectations based on maxSlots - Fix CF_ASSERT debug test: use sigsetjmp/siglongjmp to catch SIGILL instead of try/catch - Add mathematical documentation with formulas to all Quat functions - Add FailureSummaryListener to test output
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Summary
Extensão da biblioteca matemática da Fase 1 com Quaternion para rotações 3D. Implementa operações completas de quaternions: construção (axis-angle, Euler, lookAt, matrix), interpolação (SLERP/NLERP), conversões (toEuler, toMatrix), e rotação de vetores.
📦 Files Created
src/math/Quat.hpp— Full Quaternion struct with 24 inline methods:fromAxisAngle,fromEuler,lookAt,fromMatrix— constructorsslerp,nlerp— spherical & normalized linear interpolationtoEuler,toMatrix— conversionsrotate,conjugate,inverse,normalized,length— operationsoperator*— Quat composition & vector rotationCaffeinenamespace (same as Vec3, Mat4)🔧 Files Modified
src/math/Math.hpp— AddedPI_HALFconstantsrc/Caffeine.hpp— IncludedQuat.hpptests/test_math.cpp— 24 test cases covering all Quat operationsdocs/fase5/3d-math.md— Updated status to ✅ Implementado✅ Acceptance Criteria
Quat::slerpproduces correct interpolation between any two orientationsquat.toMatrix()produces same matrix asMat4::fromAxisAngleQuat * Vec3rotates correctlyApprox().epsilon(0.001f)🧪 Tests (24 cases)
Identity, axis-angle, Euler, composition, vector rotation, conjugate, inverse, normalization, SLERP, NLERP, matrix conversion, lookAt, roundtrip conversion.