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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_quaternion.hpp" | |
9 | #include "test_qvm_matrix.hpp" | |
10 | #include "gold.hpp" | |
11 | ||
12 | namespace | |
13 | { | |
14 | template <class T,class U> struct same_type_tester; | |
15 | template <class T> struct same_type_tester<T,T> { }; | |
16 | template <class T,class U> void test_same_type( T, U ) { same_type_tester<T,U>(); } | |
17 | ||
18 | void | |
19 | test() | |
20 | { | |
21 | using namespace boost::qvm; | |
22 | for( float a=0; a<6.28f; a+=0.2f ) | |
23 | { | |
24 | test_qvm::quaternion<Q1> const qx=rotx_quat(a); | |
25 | test_qvm::quaternion<Q1> const qy=roty_quat(a); | |
26 | test_qvm::quaternion<Q1> const qz=rotz_quat(a); | |
27 | test_qvm::quaternion<Q1> q1=identity_quat<float>(); | |
28 | q1 *= qx; | |
29 | q1 *= qy; | |
30 | q1 *= qref(qz); | |
31 | test_qvm::matrix<M1,3,3> const mx=rotx_mat<3>(a); | |
32 | test_qvm::matrix<M1,3,3> const my=roty_mat<3>(a); | |
33 | test_qvm::matrix<M1,3,3> const mz=rotz_mat<3>(a); | |
34 | test_qvm::matrix<M1,3,3> const m=mx*my*mz; | |
35 | test_qvm::quaternion<Q1> const q2=convert_to< test_qvm::quaternion<Q1> >(m); | |
36 | BOOST_QVM_TEST_CLOSE_QUAT(q1.a,q2.a,0.00001f); | |
37 | } | |
38 | } | |
39 | } | |
40 | ||
41 | int | |
42 | main() | |
43 | { | |
44 | test(); | |
45 | return boost::report_errors(); | |
46 | } |