ceph/src/boost/libs/qvm/test/mul_eq_qq_test.cpp

   1 // Copyright 2008-2022 Emil Dotchevski and Reverge Studios, Inc.
   2
   3 // Distributed under the Boost Software License, Version 1.0. (See accompanying
   4 // file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
   5
   6 #ifdef BOOST_QVM_TEST_SINGLE_HEADER
   7 #   include BOOST_QVM_TEST_SINGLE_HEADER
   8 #else
   9 #   include <boost/qvm/quat_operations.hpp>
  10 #   include <boost/qvm/mat_operations.hpp>
  11 #endif
  12
  13 #include "test_qvm_quaternion.hpp"
  14 #include "test_qvm_matrix.hpp"
  15 #include "gold.hpp"
  16
  17 namespace
  18     {
  19     template <class T,class U> struct same_type_tester;
  20     template <class T> struct same_type_tester<T,T> { };
  21     template <class T,class U> void test_same_type( T, U ) { same_type_tester<T,U>(); }
  22
  23     void
  24     test()
  25         {
  26         using namespace boost::qvm;
  27         for( float a=0; a<6.28f; a+=0.2f )
  28             {
  29             test_qvm::quaternion<Q1> const qx=rotx_quat(a);
  30             test_qvm::quaternion<Q1> const qy=roty_quat(a);
  31             test_qvm::quaternion<Q1> const qz=rotz_quat(a);
  32             test_qvm::quaternion<Q1> q1=identity_quat<float>();
  33             q1 *= qx;
  34             q1 *= qy;
  35             q1 *= qref(qz);
  36             test_qvm::matrix<M1,3,3> const mx=rotx_mat<3>(a);
  37             test_qvm::matrix<M1,3,3> const my=roty_mat<3>(a);
  38             test_qvm::matrix<M1,3,3> const mz=rotz_mat<3>(a);
  39             test_qvm::matrix<M1,3,3> const m=mx*my*mz;
  40             test_qvm::quaternion<Q1> const q2=convert_to< test_qvm::quaternion<Q1> >(m);
  41             BOOST_QVM_TEST_CLOSE_QUAT(q1.a,q2.a,0.00001f);
  42             }
  43         }
  44     }
  45
  46 int
  47 main()
  48     {
  49     test();
  50     return boost::report_errors();
  51     }