ceph/src/boost/libs/qvm/test/rot_quat_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 "test_qvm_matrix.hpp"
   9 #include "test_qvm_quaternion.hpp"
  10 #include "test_qvm_vector.hpp"
  11 #include "gold.hpp"
  12
  13 namespace
  14     {
  15     void
  16     test_x()
  17         {
  18         using namespace boost::qvm;
  19         test_qvm::vector<V1,3> axis; axis.a[0]=1;
  20         for( float r=0; r<6.28f; r+=0.5f )
  21             {
  22             test_qvm::quaternion<Q1> q1=rot_quat(axis,r);
  23             test_qvm::matrix<M1,3,3> x1=convert_to< test_qvm::matrix<M1,3,3> >(q1);
  24             test_qvm::rotation_x(x1.b,r);
  25             BOOST_QVM_TEST_CLOSE(x1.a,x1.b,0.000001f);
  26             test_qvm::quaternion<Q2> q2(42,1);
  27             set_rot(q2,axis,r);
  28             test_qvm::matrix<M2,3,3> x2=convert_to< test_qvm::matrix<M2,3,3> >(q2);
  29             test_qvm::rotation_x(x2.b,r);
  30             BOOST_QVM_TEST_CLOSE(x2.a,x2.b,0.000001f);
  31             test_qvm::quaternion<Q1> q3(42,1);
  32             test_qvm::quaternion<Q1> q4(42,1);
  33             rotate(q3,axis,r);
  34             q3 = q3*q1;
  35             BOOST_QVM_TEST_EQ(q3.a,q3.a);
  36             }
  37         }
  38
  39     void
  40     test_y()
  41         {
  42         using namespace boost::qvm;
  43         test_qvm::vector<V1,3> axis; axis.a[1]=1;
  44         for( float r=0; r<6.28f; r+=0.5f )
  45             {
  46             test_qvm::quaternion<Q1> q1=rot_quat(axis,r);
  47             test_qvm::matrix<M1,3,3> x1=convert_to< test_qvm::matrix<M1,3,3> >(q1);
  48             test_qvm::rotation_y(x1.b,r);
  49             BOOST_QVM_TEST_CLOSE(x1.a,x1.b,0.000001f);
  50             test_qvm::quaternion<Q2> q2(42,1);
  51             set_rot(q2,axis,r);
  52             test_qvm::matrix<M2,3,3> x2=convert_to< test_qvm::matrix<M2,3,3> >(q2);
  53             test_qvm::rotation_y(x2.b,r);
  54             BOOST_QVM_TEST_CLOSE(x2.a,x2.b,0.000001f);
  55             test_qvm::quaternion<Q1> q3(42,1);
  56             test_qvm::quaternion<Q1> q4(42,1);
  57             rotate(q3,axis,r);
  58             q3 = q3*q1;
  59             BOOST_QVM_TEST_EQ(q3.a,q3.a);
  60             }
  61         }
  62
  63     void
  64     test_z()
  65         {
  66         using namespace boost::qvm;
  67         test_qvm::vector<V1,3> axis; axis.a[2]=1;
  68         for( float r=0; r<6.28f; r+=0.5f )
  69             {
  70             test_qvm::quaternion<Q1> q1=rot_quat(axis,r);
  71             test_qvm::matrix<M1,3,3> x1=convert_to< test_qvm::matrix<M1,3,3> >(q1);
  72             test_qvm::rotation_z(x1.b,r);
  73             BOOST_QVM_TEST_CLOSE(x1.a,x1.b,0.000001f);
  74             test_qvm::quaternion<Q2> q2(42,1);
  75             set_rot(q2,axis,r);
  76             test_qvm::matrix<M2,3,3> x2=convert_to< test_qvm::matrix<M2,3,3> >(q2);
  77             test_qvm::rotation_z(x2.b,r);
  78             BOOST_QVM_TEST_CLOSE(x2.a,x2.b,0.000001f);
  79             test_qvm::quaternion<Q1> q3(42,1);
  80             test_qvm::quaternion<Q1> q4(42,1);
  81             rotate(q3,axis,r);
  82             q3 = q3*q1;
  83             BOOST_QVM_TEST_EQ(q3.a,q3.a);
  84             }
  85         }
  86     }
  87
  88 int
  89 main()
  90     {
  91     test_x();
  92     test_y();
  93     test_z();
  94     return boost::report_errors();
  95     }