mQuatTest.cpp

Detailed Description

 1
 2//-----------------------------------------------------------------------------
 3// Copyright (c) 2014 GarageGames, LLC
 4//
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16// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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22//-----------------------------------------------------------------------------
23
24#ifdef TORQUE_TESTS_ENABLED
25#include "testing/unitTesting.h"
26#include "math/mQuat.h"
27#include "math/mAngAxis.h"
28#include "math/mMatrix.h"
29
30/// For testing things that should be close to 0, but accounting for floating-
31/// point inaccuracy.
32static const F32 epsilon = 1e-3f;
33
34/// Test quaternions for equality by expecting the angle between them to be
35/// close to 0.
36#define EXPECT_QUAT_EQ(q1, q2) EXPECT_LT(q1.angleBetween(q2), epsilon)
37
38TEST(QuatF, AngleBetween)
39{
40   QuatF p(QuatF::Identity), q(QuatF::Identity);
41   EXPECT_LT(p.angleBetween(q), epsilon)
42      << "Angle between identity quaternions should be ~0.";
43
44   p.set(EulerF(0.1, 0.15, -0.2));
45   q = p;
46   EXPECT_LT(p.angleBetween(q), epsilon)
47      << "Angle between identical quaternions should be ~0.";
48}
49
50/// Test conversion from EulerF.
51TEST(QuatF, Construction)
52{
53   EulerF eId(0, 0, 0);
54   EXPECT_QUAT_EQ(QuatF(eId), QuatF::Identity)
55      << "Quaternions constructed from identity EulerF and QuatF::Identity not equal.";
56
57   EulerF eRot(0.0f, -0.0f, 1.5707963267948966f);
58   MatrixF mat(eRot);
59   AngAxisF aaRot(mat);
60   EXPECT_QUAT_EQ(QuatF(eRot), QuatF(aaRot))
61      << "Quaternions constructed from EulerF and AngAxisF not equal.";
62}
63
64#endif
65