ceph/src/boost/libs/qvm/test/slerp_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/quat.hpp>
  11 #endif
  12
  13 #include "test_qvm_quaternion.hpp"
  14 #include "gold.hpp"
  15
  16 namespace
  17     {
  18     void
  19     test()
  20         {
  21         using namespace boost::qvm;
  22             {
  23             test_qvm::quaternion<Q1> a=rotx_quat(1.0f);
  24             test_qvm::quaternion<Q1> b=rotx_quat(.5f);
  25             test_qvm::quaternion<Q1> aa=slerp(a,b,0);
  26             test_qvm::quaternion<Q1> bb=slerp(a,b,1);
  27             BOOST_QVM_TEST_CLOSE(aa.a,a.a,0.0001f);
  28             BOOST_QVM_TEST_CLOSE(bb.a,b.a,0.0001f);
  29             }
  30         for( float a1=0; a1<6.28f; a1+=0.3f )
  31             {
  32             test_qvm::quaternion<Q1> const qx1=rotx_quat(a1);
  33             test_qvm::quaternion<Q1> const qy1=roty_quat(a1);
  34             test_qvm::quaternion<Q1> const qz1=rotz_quat(a1);
  35             for( float a2=0; a2<6.28f; a2+=0.05f )
  36                 {
  37                 test_qvm::quaternion<Q1> const qx2=rotx_quat(a2);
  38                 test_qvm::quaternion<Q1> const qy2=roty_quat(a2);
  39                 test_qvm::quaternion<Q1> const qz2=rotz_quat(a2);
  40                 for( float t=0; t<1; t+=0.03f )
  41                     {
  42                     test_qvm::quaternion<Q1> const qx=rotx_quat(a1*(1-t)+a2*t);
  43                     test_qvm::quaternion<Q1> const qy=roty_quat(a1*(1-t)+a2*t);
  44                     test_qvm::quaternion<Q1> const qz=rotz_quat(a1*(1-t)+a2*t);
  45                     test_qvm::quaternion<Q1> const qsx=slerp(qx1,qx2,t);
  46                     test_qvm::quaternion<Q1> const qsy=slerp(qref(qy1),qy2,t);
  47                     test_qvm::quaternion<Q1> const qsz=slerp(qz1,qref(qz2),t);
  48                     BOOST_QVM_TEST_CLOSE(qx.a,qsx.a,0.001f);
  49                     BOOST_QVM_TEST_CLOSE(qy.a,qsy.a,0.001f);
  50                     BOOST_QVM_TEST_CLOSE(qz.a,qsz.a,0.001f);
  51                     }
  52                 }
  53             }
  54         }
  55     }
  56
  57 int
  58 main()
  59     {
  60     test();
  61     return boost::report_errors();
  62     }