| 1 | // Copyright 2008-2022 Emil Dotchevski and Reverge Studios, Inc. |
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| 2 | |
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| 3 | // Distributed under the Boost Software License, Version 1.0. (See accompanying |
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| 4 | // file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt) |
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| 5 | |
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| 6 | #ifdef BOOST_QVM_TEST_SINGLE_HEADER |
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| 7 | # include BOOST_QVM_TEST_SINGLE_HEADER |
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| 8 | #else |
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| 9 | # include <boost/qvm/quat_operations.hpp> |
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| 10 | # include <boost/qvm/mat_operations.hpp> |
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| 11 | # include <boost/qvm/quat.hpp> |
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| 12 | #endif |
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| 13 | |
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| 14 | #include "test_qvm_quaternion.hpp" |
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| 15 | #include "test_qvm_matrix.hpp" |
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| 16 | #include "gold.hpp" |
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| 17 | |
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| 18 | namespace |
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| 19 | { |
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| 20 | void |
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| 21 | test() |
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| 22 | { |
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| 23 | using namespace boost::qvm; |
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| 24 | for( float r=0; r<6.28f; r+=0.5f ) |
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| 25 | { |
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| 26 | test_qvm::quaternion<Q1> q1=rotz_quat(angle: r); |
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| 27 | test_qvm::matrix<M1,3,3> m1=convert_to< test_qvm::matrix<M1,3,3> >(q: q1); |
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| 28 | test_qvm::rotation_z(r&: m1.b,angle: r); |
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| 29 | BOOST_QVM_TEST_CLOSE(m1.a,m1.b,0.000001f); |
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| 30 | test_qvm::quaternion<Q2> q2(42,1); |
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| 31 | set_rotz(a&: q2,angle: r); |
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| 32 | test_qvm::matrix<M1,3,3> m2=convert_to< test_qvm::matrix<M1,3,3> >(q: q2); |
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| 33 | test_qvm::rotation_z(r&: m2.b,angle: r); |
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| 34 | BOOST_QVM_TEST_CLOSE(m2.a,m2.b,0.000001f); |
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| 35 | test_qvm::quaternion<Q1> q3(42,1); |
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| 36 | test_qvm::quaternion<Q1> r1=q3*q1; |
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| 37 | rotate_z(a&: q3,angle: r); |
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| 38 | BOOST_QVM_TEST_CLOSE(q3.a,r1.a,0.000001f); |
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| 39 | } |
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| 40 | rotz_quat(angle: 0.0f)+rotz_quat(angle: 0.0f); |
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| 41 | -rotz_quat(angle: 0.0f); |
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| 42 | } |
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| 43 | } |
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| 44 | |
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| 45 | int |
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| 46 | main() |
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| 47 | { |
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| 48 | test(); |
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| 49 | return boost::report_errors(); |
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| 50 | } |
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| 51 | |
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