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