ceph/src/boost/libs/qvm/test/slerp_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/quat.hpp>
   8 #include "test_qvm_quaternion.hpp"
   9 #include "gold.hpp"
  10
  11 namespace
  12     {
  13     void
  14     test()
  15         {
  16         using namespace boost::qvm;
  17             {
  18             test_qvm::quaternion<Q1> a=rotx_quat(1.0f);
  19             test_qvm::quaternion<Q1> b=rotx_quat(.5f);
  20             test_qvm::quaternion<Q1> aa=slerp(a,b,0);
  21             test_qvm::quaternion<Q1> bb=slerp(a,b,1);
  22             BOOST_QVM_TEST_CLOSE(aa.a,a.a,0.0001f);
  23             BOOST_QVM_TEST_CLOSE(bb.a,b.a,0.0001f);
  24             }
  25         for( float a1=0; a1<6.28f; a1+=0.3f )
  26             {
  27             test_qvm::quaternion<Q1> const qx1=rotx_quat(a1);
  28             test_qvm::quaternion<Q1> const qy1=roty_quat(a1);
  29             test_qvm::quaternion<Q1> const qz1=rotz_quat(a1);
  30             for( float a2=0; a2<6.28f; a2+=0.05f )
  31                 {
  32                 test_qvm::quaternion<Q1> const qx2=rotx_quat(a2);
  33                 test_qvm::quaternion<Q1> const qy2=roty_quat(a2);
  34                 test_qvm::quaternion<Q1> const qz2=rotz_quat(a2);
  35                 for( float t=0; t<1; t+=0.03f )
  36                     {
  37                     test_qvm::quaternion<Q1> const qx=rotx_quat(a1*(1-t)+a2*t);
  38                     test_qvm::quaternion<Q1> const qy=roty_quat(a1*(1-t)+a2*t);
  39                     test_qvm::quaternion<Q1> const qz=rotz_quat(a1*(1-t)+a2*t);
  40                     test_qvm::quaternion<Q1> const qsx=slerp(qx1,qx2,t);
  41                     test_qvm::quaternion<Q1> const qsy=slerp(qref(qy1),qy2,t);
  42                     test_qvm::quaternion<Q1> const qsz=slerp(qz1,qref(qz2),t);
  43                     BOOST_QVM_TEST_CLOSE(qx.a,qsx.a,0.001f);
  44                     BOOST_QVM_TEST_CLOSE(qy.a,qsy.a,0.001f);
  45                     BOOST_QVM_TEST_CLOSE(qz.a,qsz.a,0.001f);
  46                     }
  47                 }
  48             }
  49         }
  50     }
  51
  52 int
  53 main()
  54     {
  55     test();
  56     return boost::report_errors();
  57     }