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 void
test()16 test()
17 {
18 using namespace boost::qvm;
19 for( float r=0; r<6.28f; r+=0.5f )
20 {
21 test_qvm::quaternion<Q1> q1=rotz_quat(r);
22 test_qvm::matrix<M1,3,3> m1=convert_to< test_qvm::matrix<M1,3,3> >(q1);
23 test_qvm::rotation_z(m1.b,r);
24 BOOST_QVM_TEST_CLOSE(m1.a,m1.b,0.000001f);
25 test_qvm::quaternion<Q2> q2(42,1);
26 set_rotz(q2,r);
27 test_qvm::matrix<M1,3,3> m2=convert_to< test_qvm::matrix<M1,3,3> >(q2);
28 test_qvm::rotation_z(m2.b,r);
29 BOOST_QVM_TEST_CLOSE(m2.a,m2.b,0.000001f);
30 test_qvm::quaternion<Q1> q3(42,1);
31 test_qvm::quaternion<Q1> r1=q3*q1;
32 rotate_z(q3,r);
33 BOOST_QVM_TEST_EQ(q3.a,r1.a);
34 }
35 rotz_quat(0.0f)+rotz_quat(0.0f);
36 -rotz_quat(0.0f);
37 }
38 }
39
40 int
main()41 main()
42 {
43 test();
44 return boost::report_errors();
45 }
46