46 lines
1.3 KiB
C++
46 lines
1.3 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 <boost/qvm/quat.hpp>
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#include "test_qvm_quaternion.hpp"
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#include "test_qvm_matrix.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()
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{
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using namespace boost::qvm;
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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=rotz_quat(r);
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test_qvm::matrix<M1,3,3> m1=convert_to< test_qvm::matrix<M1,3,3> >(q1);
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test_qvm::rotation_z(m1.b,r);
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BOOST_QVM_TEST_CLOSE(m1.a,m1.b,0.000001f);
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test_qvm::quaternion<Q2> q2(42,1);
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set_rotz(q2,r);
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test_qvm::matrix<M1,3,3> m2=convert_to< test_qvm::matrix<M1,3,3> >(q2);
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test_qvm::rotation_z(m2.b,r);
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BOOST_QVM_TEST_CLOSE(m2.a,m2.b,0.000001f);
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test_qvm::quaternion<Q1> q3(42,1);
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test_qvm::quaternion<Q1> r1=q3*q1;
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rotate_z(q3,r);
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BOOST_QVM_TEST_EQ(q3.a,r1.a);
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}
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rotz_quat(0.0f)+rotz_quat(0.0f);
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-rotz_quat(0.0f);
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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();
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return boost::report_errors();
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}
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