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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 <boost/qvm/quat.hpp>
- #include "test_qvm_quaternion.hpp"
- #include "test_qvm_matrix.hpp"
- #include "gold.hpp"
- namespace
- {
- template <class T,class U> struct same_type_tester;
- template <class T> struct same_type_tester<T,T> { };
- template <class T,class U> void test_same_type( T, U ) { same_type_tester<T,U>(); }
- void
- test()
- {
- using namespace boost::qvm;
- for( float a=0; a<6.28f; a+=0.2f )
- {
- test_qvm::quaternion<Q1> const qx=rotx_quat(a);
- test_qvm::quaternion<Q1> const qy=roty_quat(a);
- test_qvm::quaternion<Q1> const qz=rotz_quat(a);
- test_qvm::quaternion<Q1> const q1=qx*qy*qref(qz);
- test_qvm::matrix<M1,3,3> const mx=rotx_mat<3>(a);
- test_qvm::matrix<M1,3,3> const my=roty_mat<3>(a);
- test_qvm::matrix<M1,3,3> const mz=rotz_mat<3>(a);
- test_qvm::matrix<M1,3,3> const m=mx*my*mz;
- test_qvm::quaternion<Q1> const q2=convert_to< test_qvm::quaternion<Q1> >(m);
- test_same_type(qx,qx*qy);
- BOOST_QVM_TEST_CLOSE_QUAT(q1.a,q2.a,0.00001f);
- }
- }
- }
- int
- main()
- {
- test();
- return boost::report_errors();
- }
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