ceph/src/boost/libs/qvm/test/rot_quat_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_matrix.hpp"
  14 #include "test_qvm_quaternion.hpp"
  15 #include "test_qvm_vector.hpp"
  16 #include "gold.hpp"
  17
  18 namespace
  19     {
  20     void
  21     test_x()
  22         {
  23         using namespace boost::qvm;
  24         test_qvm::vector<V1,3> axis; axis.a[0]=1;
  25         for( float r=0; r<6.28f; r+=0.5f )
  26             {
  27             test_qvm::quaternion<Q1> q1=rot_quat(axis,r);
  28             test_qvm::matrix<M1,3,3> x1=convert_to< test_qvm::matrix<M1,3,3> >(q1);
  29             test_qvm::rotation_x(x1.b,r);
  30             BOOST_QVM_TEST_CLOSE(x1.a,x1.b,0.000001f);
  31             test_qvm::quaternion<Q2> q2(42,1);
  32             set_rot(q2,axis,r);
  33             test_qvm::matrix<M2,3,3> x2=convert_to< test_qvm::matrix<M2,3,3> >(q2);
  34             test_qvm::rotation_x(x2.b,r);
  35             BOOST_QVM_TEST_CLOSE(x2.a,x2.b,0.000001f);
  36             test_qvm::quaternion<Q1> q3(42,1);
  37             test_qvm::quaternion<Q1> q4(42,1);
  38             rotate(q3,axis,r);
  39             q3 = q3*q1;
  40             BOOST_QVM_TEST_EQ(q3.a,q3.a);
  41             }
  42         }
  43
  44     void
  45     test_y()
  46         {
  47         using namespace boost::qvm;
  48         test_qvm::vector<V1,3> axis; axis.a[1]=1;
  49         for( float r=0; r<6.28f; r+=0.5f )
  50             {
  51             test_qvm::quaternion<Q1> q1=rot_quat(axis,r);
  52             test_qvm::matrix<M1,3,3> x1=convert_to< test_qvm::matrix<M1,3,3> >(q1);
  53             test_qvm::rotation_y(x1.b,r);
  54             BOOST_QVM_TEST_CLOSE(x1.a,x1.b,0.000001f);
  55             test_qvm::quaternion<Q2> q2(42,1);
  56             set_rot(q2,axis,r);
  57             test_qvm::matrix<M2,3,3> x2=convert_to< test_qvm::matrix<M2,3,3> >(q2);
  58             test_qvm::rotation_y(x2.b,r);
  59             BOOST_QVM_TEST_CLOSE(x2.a,x2.b,0.000001f);
  60             test_qvm::quaternion<Q1> q3(42,1);
  61             test_qvm::quaternion<Q1> q4(42,1);
  62             rotate(q3,axis,r);
  63             q3 = q3*q1;
  64             BOOST_QVM_TEST_EQ(q3.a,q3.a);
  65             }
  66         }
  67
  68     void
  69     test_z()
  70         {
  71         using namespace boost::qvm;
  72         test_qvm::vector<V1,3> axis; axis.a[2]=1;
  73         for( float r=0; r<6.28f; r+=0.5f )
  74             {
  75             test_qvm::quaternion<Q1> q1=rot_quat(axis,r);
  76             test_qvm::matrix<M1,3,3> x1=convert_to< test_qvm::matrix<M1,3,3> >(q1);
  77             test_qvm::rotation_z(x1.b,r);
  78             BOOST_QVM_TEST_CLOSE(x1.a,x1.b,0.000001f);
  79             test_qvm::quaternion<Q2> q2(42,1);
  80             set_rot(q2,axis,r);
  81             test_qvm::matrix<M2,3,3> x2=convert_to< test_qvm::matrix<M2,3,3> >(q2);
  82             test_qvm::rotation_z(x2.b,r);
  83             BOOST_QVM_TEST_CLOSE(x2.a,x2.b,0.000001f);
  84             test_qvm::quaternion<Q1> q3(42,1);
  85             test_qvm::quaternion<Q1> q4(42,1);
  86             rotate(q3,axis,r);
  87             q3 = q3*q1;
  88             BOOST_QVM_TEST_EQ(q3.a,q3.a);
  89             }
  90         }
  91     }
  92
  93 int
  94 main()
  95     {
  96     test_x();
  97     test_y();
  98     test_z();
  99     return boost::report_errors();
 100     }