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

   1 //Copyright (c) 2008-2016 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 #include <boost/qvm/quat_operations.hpp>
   7 #include <boost/qvm/mat_operations.hpp>
   8 #include <boost/qvm/quat.hpp>
   9 #include "test_qvm_quaternion.hpp"
  10 #include "test_qvm_matrix.hpp"
  11 #include "gold.hpp"
  12
  13 namespace
  14     {
  15     template <class T,class U> struct same_type_tester;
  16     template <class T> struct same_type_tester<T,T> { };
  17     template <class T,class U> void test_same_type( T, U ) { same_type_tester<T,U>(); }
  18
  19     void
  20     test()
  21         {
  22         using namespace boost::qvm;
  23         for( float a=0; a<6.28f; a+=0.2f )
  24             {
  25             test_qvm::quaternion<Q1> const qx=rotx_quat(a);
  26             test_qvm::quaternion<Q1> const qy=roty_quat(a);
  27             test_qvm::quaternion<Q1> const qz=rotz_quat(a);
  28             test_qvm::quaternion<Q1> const q1=qx*qy*qref(qz);
  29             test_qvm::matrix<M1,3,3> const mx=rotx_mat<3>(a);
  30             test_qvm::matrix<M1,3,3> const my=roty_mat<3>(a);
  31             test_qvm::matrix<M1,3,3> const mz=rotz_mat<3>(a);
  32             test_qvm::matrix<M1,3,3> const m=mx*my*mz;
  33             test_qvm::quaternion<Q1> const q2=convert_to< test_qvm::quaternion<Q1> >(m);
  34             test_same_type(qx,qx*qy);
  35             BOOST_QVM_TEST_CLOSE_QUAT(q1.a,q2.a,0.00001f);
  36             }
  37         }
  38     }
  39
  40 int
  41 main()
  42     {
  43     test();
  44     return boost::report_errors();
  45     }