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//------------------------------------------------------------------------------
// This file is part of the OpenStructure project <www.openstructure.org>
//
// Copyright (C) 2008-2020 by the OpenStructure authors
//
// This library is free software; you can redistribute it and/or modify it under
// the terms of the GNU Lesser General Public License as published by the Free
// Software Foundation; either version 3.0 of the License, or (at your option)
// any later version.
// This library is distributed in the hope that it will be useful, but WITHOUT
// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
// details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this library; if not, write to the Free Software Foundation, Inc.,
// 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
//------------------------------------------------------------------------------
#include <ost/geom/geom.hh>
#define BOOST_TEST_DYN_LINK
#include <boost/test/unit_test.hpp>
#include "helper.hh"
using namespace geom;
BOOST_AUTO_TEST_SUITE( geom );
BOOST_AUTO_TEST_CASE(init_quat)
{
// default
Quat q1;
BOOST_CHECK_CLOSE(Real(q1.w), Real(1.0), Real(1.0e-5));
BOOST_CHECK_CLOSE(Real(q1.x), Real(0.0), Real(1.0e-5));
BOOST_CHECK_CLOSE(Real(q1.y), Real(0.0), Real(1.0e-5));
BOOST_CHECK_CLOSE(Real(q1.z), Real(0.0), Real(1.0e-5));
Quat q2(2.0,3.0,4.0,5.0);
BOOST_CHECK_CLOSE(Real(q2.w), Real(2.0), Real(1.0e-5));
BOOST_CHECK_CLOSE(Real(q2.x), Real(3.0), Real(1.0e-5));
BOOST_CHECK_CLOSE(Real(q2.y), Real(4.0), Real(1.0e-5));
BOOST_CHECK_CLOSE(Real(q2.z), Real(5.0), Real(1.0e-5));
}
BOOST_AUTO_TEST_CASE(quat_rotate)
{
Vec3 v(1,0,0);
Quat q(30.0*M_PI/180.0,Vec3(0,1,0));
Vec3 vrot=q.Rotate(v);
BOOST_CHECK_CLOSE(Real(cos(30.0*M_PI/180.0)), Real(vrot[0]), Real(1e-5));
BOOST_CHECK_SMALL(vrot[1],Real(1e-5));
BOOST_CHECK_CLOSE(Real(-sin(30.0*M_PI/180.0)), Real(vrot[2]), Real(1e-5));
}
BOOST_AUTO_TEST_SUITE_END();
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