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// Copyright 2008-2024 Emil Dotchevski and Reverge Studios, Inc.
// Distributed under the Boost Software License, Version 1.0. (See accompanying
// file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
#ifdef BOOST_QVM_TEST_SINGLE_HEADER
# include BOOST_QVM_TEST_SINGLE_HEADER
#else
# include <boost/qvm/quat_operations.hpp>
# include <boost/qvm/mat_operations.hpp>
# include <boost/qvm/quat.hpp>
#endif
#include "test_qvm_quaternion.hpp"
#include "test_qvm_matrix.hpp"
#include "gold.hpp"
namespace
{
void
test()
{
using namespace boost::qvm;
for( float r=0; r<6.28f; r+=0.5f )
{
test_qvm::quaternion<Q1> q1=roty_quat(r);
test_qvm::matrix<M1,3,3> m1=convert_to< test_qvm::matrix<M1,3,3> >(q1);
test_qvm::rotation_y(m1.b,r);
BOOST_QVM_TEST_CLOSE(m1.a,m1.b,0.000001f);
test_qvm::quaternion<Q2> q2(42,1);
set_roty(q2,r);
test_qvm::matrix<M1,3,3> m2=convert_to< test_qvm::matrix<M1,3,3> >(q2);
test_qvm::rotation_y(m2.b,r);
BOOST_QVM_TEST_CLOSE(m2.a,m2.b,0.000001f);
test_qvm::quaternion<Q1> q3(42,1);
test_qvm::quaternion<Q1> r1=q3*q1;
rotate_y(q3,r);
BOOST_QVM_TEST_CLOSE(q3.a,r1.a,0.00001f);
}
roty_quat(0.0f)+roty_quat(0.0f);
-roty_quat(0.0f);
}
}
int
main()
{
test();
return boost::report_errors();
}
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