source: trunk/test/unit/quat.cpp @ 1305

Last change on this file since 1305 was 1305, checked in by sam, 9 years ago

math: chage quaternion constructor to wxyz order because it matches the
mathematical writing, and add static constructors to create quaternions
from a rotation.

  • Property svn:keywords set to Id
File size: 3.8 KB
Line 
1//
2// Lol Engine
3//
4// Copyright: (c) 2010-2011 Sam Hocevar <sam@hocevar.net>
5//   This program is free software; you can redistribute it and/or
6//   modify it under the terms of the Do What The Fuck You Want To
7//   Public License, Version 2, as published by Sam Hocevar. See
8//   http://sam.zoy.org/projects/COPYING.WTFPL for more details.
9//
10
11#if defined HAVE_CONFIG_H
12#   include "config.h"
13#endif
14
15#include "core.h"
16#include "lol/unit.h"
17
18namespace lol
19{
20
21LOLUNIT_FIXTURE(QuaternionTest)
22{
23    void SetUp() {}
24
25    void TearDown() {}
26
27    LOLUNIT_TEST(Equality)
28    {
29        quat a4(1.0f, 2.0f, 3.0f, 4.0f);
30        quat b4(0.0f, 2.0f, 3.0f, 4.0f);
31        quat c4(1.0f, 0.0f, 3.0f, 4.0f);
32        quat d4(1.0f, 2.0f, 0.0f, 4.0f);
33        quat e4(1.0f, 2.0f, 3.0f, 0.0f);
34
35        LOLUNIT_ASSERT_EQUAL(a4, a4);
36        LOLUNIT_ASSERT_NOT_DIFFERENT(a4, a4);
37
38        LOLUNIT_ASSERT_DIFFERENT(a4, b4);
39        LOLUNIT_ASSERT_NOT_EQUAL(a4, b4);
40        LOLUNIT_ASSERT_DIFFERENT(a4, c4);
41        LOLUNIT_ASSERT_NOT_EQUAL(a4, c4);
42        LOLUNIT_ASSERT_DIFFERENT(a4, d4);
43        LOLUNIT_ASSERT_NOT_EQUAL(a4, d4);
44        LOLUNIT_ASSERT_DIFFERENT(a4, e4);
45        LOLUNIT_ASSERT_NOT_EQUAL(a4, e4);
46    }
47
48    LOLUNIT_TEST(UnaryMinus)
49    {
50        quat a(1.0f, 3.0f, 2.0f, 4.0f);
51        quat b(-1.0f, -3.0f, -2.0f, -4.0f);
52
53        LOLUNIT_ASSERT_EQUAL(a, -b);
54        LOLUNIT_ASSERT_EQUAL(-a, b);
55    }
56
57    LOLUNIT_TEST(Conjugate)
58    {
59        quat a(1.0f, 3.0f, 2.0f, 4.0f);
60        quat b(1.0f, -3.0f, -2.0f, -4.0f);
61
62        LOLUNIT_ASSERT_EQUAL(a, ~b);
63        LOLUNIT_ASSERT_EQUAL(~a, b);
64    }
65
66    LOLUNIT_TEST(Norm)
67    {
68        quat a(2.0f, -2.0f, -8.0f, 3.0f);
69
70        LOLUNIT_ASSERT_EQUAL(norm(a), 81.0f);
71
72        quat b = a * ~a;
73        quat c(norm(a), 0.0f, 0.0f, 0.0f);
74
75        LOLUNIT_ASSERT_EQUAL(b, c);
76
77        quat d(2.0f, 3.0f, -4.0f, -1.0f);
78
79        LOLUNIT_ASSERT_EQUAL(norm(a * d), norm(a) * norm(d));
80    }
81
82    LOLUNIT_TEST(Base)
83    {
84        quat i(0.0f, 1.0f, 0.0f, 0.0f);
85        quat j(0.0f, 0.0f, 1.0f, 0.0f);
86        quat k(0.0f, 0.0f, 0.0f, 1.0f);
87        quat one(1.0f, 0.0f, 0.0f, 0.0f);
88
89        LOLUNIT_ASSERT_EQUAL(norm(i), 1.0f);
90        LOLUNIT_ASSERT_EQUAL(norm(j), 1.0f);
91        LOLUNIT_ASSERT_EQUAL(norm(k), 1.0f);
92        LOLUNIT_ASSERT_EQUAL(norm(one), 1.0f);
93
94        LOLUNIT_ASSERT_EQUAL(i * i, -one);
95        LOLUNIT_ASSERT_EQUAL(j * j, -one);
96        LOLUNIT_ASSERT_EQUAL(k * k, -one);
97        LOLUNIT_ASSERT_EQUAL(i * j * k, -one);
98
99        LOLUNIT_ASSERT_EQUAL(i * j, k);
100        LOLUNIT_ASSERT_EQUAL(j * i, -k);
101        LOLUNIT_ASSERT_EQUAL(j * k, i);
102        LOLUNIT_ASSERT_EQUAL(k * j, -i);
103        LOLUNIT_ASSERT_EQUAL(k * i, j);
104        LOLUNIT_ASSERT_EQUAL(i * k, -j);
105    }
106
107    LOLUNIT_TEST(Normalize)
108    {
109        quat a(2.0f, -2.0f, -8.0f, 3.0f);
110        quat b = normalize(a);
111
112        LOLUNIT_ASSERT_DOUBLES_EQUAL(norm(b), 1.0, 1e-8);
113    }
114
115    LOLUNIT_TEST(Reciprocal)
116    {
117        quat a(2.0f, -2.0f, -8.0f, 3.0f);
118        quat b = re(a);
119
120        quat m1 = a * b;
121        quat m2 = b * a;
122        LOLUNIT_ASSERT_DOUBLES_EQUAL(m1.x, m2.x, 1e-8);
123        LOLUNIT_ASSERT_DOUBLES_EQUAL(m1.y, m2.y, 1e-8);
124        LOLUNIT_ASSERT_DOUBLES_EQUAL(m1.z, m2.z, 1e-8);
125        LOLUNIT_ASSERT_DOUBLES_EQUAL(m1.w, m2.w, 1e-8);
126
127        LOLUNIT_ASSERT_DOUBLES_EQUAL(m1.x, 0.0, 1e-8);
128        LOLUNIT_ASSERT_DOUBLES_EQUAL(m1.y, 0.0, 1e-8);
129        LOLUNIT_ASSERT_DOUBLES_EQUAL(m1.z, 0.0, 1e-8);
130        LOLUNIT_ASSERT_DOUBLES_EQUAL(m1.w, 1.0, 1e-8);
131    }
132
133    LOLUNIT_TEST(Rotation)
134    {
135        quat a = quat::rotate(10.0f, vec3(1, 0, 0));
136        quat b = quat::rotate(20.0f, vec3(1, 0, 0));
137        quat c = a * a;
138
139        LOLUNIT_ASSERT_DOUBLES_EQUAL(a.w, a.w, 1e-8);
140        LOLUNIT_ASSERT_DOUBLES_EQUAL(a.x, a.x, 1e-8);
141        LOLUNIT_ASSERT_DOUBLES_EQUAL(a.y, a.y, 1e-8);
142        LOLUNIT_ASSERT_DOUBLES_EQUAL(a.z, a.z, 1e-8);
143    }
144};
145
146} /* namespace lol */
147
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