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