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- //Copyright (c) 2008-2016 Emil Dotchevski and Reverge Studios, Inc.
- //Distributed under the Boost Software License, Version 1.0. (See accompanying
- //file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
- #include <boost/qvm/quat_operations.hpp>
- #include <boost/qvm/mat_operations.hpp>
- #include "test_qvm_matrix.hpp"
- #include "test_qvm_quaternion.hpp"
- #include "test_qvm_vector.hpp"
- #include "gold.hpp"
- namespace
- {
- void
- test_x()
- {
- using namespace boost::qvm;
- test_qvm::vector<V1,3> axis; axis.a[0]=1;
- for( float r=0; r<6.28f; r+=0.5f )
- {
- test_qvm::quaternion<Q1> q1=rot_quat(axis,r);
- test_qvm::matrix<M1,3,3> x1=convert_to< test_qvm::matrix<M1,3,3> >(q1);
- test_qvm::rotation_x(x1.b,r);
- BOOST_QVM_TEST_CLOSE(x1.a,x1.b,0.000001f);
- test_qvm::quaternion<Q2> q2(42,1);
- set_rot(q2,axis,r);
- test_qvm::matrix<M2,3,3> x2=convert_to< test_qvm::matrix<M2,3,3> >(q2);
- test_qvm::rotation_x(x2.b,r);
- BOOST_QVM_TEST_CLOSE(x2.a,x2.b,0.000001f);
- test_qvm::quaternion<Q1> q3(42,1);
- test_qvm::quaternion<Q1> q4(42,1);
- rotate(q3,axis,r);
- q3 = q3*q1;
- BOOST_QVM_TEST_EQ(q3.a,q3.a);
- }
- }
- void
- test_y()
- {
- using namespace boost::qvm;
- test_qvm::vector<V1,3> axis; axis.a[1]=1;
- for( float r=0; r<6.28f; r+=0.5f )
- {
- test_qvm::quaternion<Q1> q1=rot_quat(axis,r);
- test_qvm::matrix<M1,3,3> x1=convert_to< test_qvm::matrix<M1,3,3> >(q1);
- test_qvm::rotation_y(x1.b,r);
- BOOST_QVM_TEST_CLOSE(x1.a,x1.b,0.000001f);
- test_qvm::quaternion<Q2> q2(42,1);
- set_rot(q2,axis,r);
- test_qvm::matrix<M2,3,3> x2=convert_to< test_qvm::matrix<M2,3,3> >(q2);
- test_qvm::rotation_y(x2.b,r);
- BOOST_QVM_TEST_CLOSE(x2.a,x2.b,0.000001f);
- test_qvm::quaternion<Q1> q3(42,1);
- test_qvm::quaternion<Q1> q4(42,1);
- rotate(q3,axis,r);
- q3 = q3*q1;
- BOOST_QVM_TEST_EQ(q3.a,q3.a);
- }
- }
- void
- test_z()
- {
- using namespace boost::qvm;
- test_qvm::vector<V1,3> axis; axis.a[2]=1;
- for( float r=0; r<6.28f; r+=0.5f )
- {
- test_qvm::quaternion<Q1> q1=rot_quat(axis,r);
- test_qvm::matrix<M1,3,3> x1=convert_to< test_qvm::matrix<M1,3,3> >(q1);
- test_qvm::rotation_z(x1.b,r);
- BOOST_QVM_TEST_CLOSE(x1.a,x1.b,0.000001f);
- test_qvm::quaternion<Q2> q2(42,1);
- set_rot(q2,axis,r);
- test_qvm::matrix<M2,3,3> x2=convert_to< test_qvm::matrix<M2,3,3> >(q2);
- test_qvm::rotation_z(x2.b,r);
- BOOST_QVM_TEST_CLOSE(x2.a,x2.b,0.000001f);
- test_qvm::quaternion<Q1> q3(42,1);
- test_qvm::quaternion<Q1> q4(42,1);
- rotate(q3,axis,r);
- q3 = q3*q1;
- BOOST_QVM_TEST_EQ(q3.a,q3.a);
- }
- }
- }
- int
- main()
- {
- test_x();
- test_y();
- test_z();
- return boost::report_errors();
- }
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