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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@123 92aac97c-a6ce-11dd-a772-7fcde58d38e6

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chappuis.daniel 2009-04-10 15:35:52 +00:00
parent b642211025
commit b4091a9c6f
1 changed files with 22 additions and 0 deletions
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22
sources/reactphysics3d/testing/testing_mathematics/QuaternionTest.h
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@ -24,6 +24,7 @@
// Libraries // Libraries
#include "../TestSuite/Test.h" #include "../TestSuite/Test.h"
#include "../../mathematics/Quaternion.h" #include "../../mathematics/Quaternion.h"
#include "../../mathematics/constants.h"
#include <stdexcept> #include <stdexcept>
#include <iostream> #include <iostream>
@ -51,6 +52,8 @@ class QuaternionTest : public TestSuite::Test {
testGetConjugate(); testGetConjugate();
testGetInverse(); testGetInverse();
testScalarProduct(); testScalarProduct();
testgetRotationAngleAxis();
testSlerp();
testOperatorAddition(); testOperatorAddition();
testOperatorSubstraction(); testOperatorSubstraction();
testOperatorMultiplicationWithConstant(); testOperatorMultiplicationWithConstant();
@ -270,6 +273,25 @@ class QuaternionTest : public TestSuite::Test {
test_(result == 110.0); test_(result == 110.0);
} }
// Test the getRotationAngleAxis() method
void testgetRotationAngleAxis() {
Quaternion quaternion(1.0, 2.0, 3.0, 0.0);
double invAxisLength = 1.0/sqrt(1.0 + 2.0*2.0 + 3.0*3.0);
double angle;
Vector3D axis;
quaternion.getRotationAngleAxis(angle, axis);
test_(equal(angle, PI));
test_(equal(axis.getX(), 1.0*invAxisLength));
test_(equal(axis.getY(), 2.0*invAxisLength));
test_(equal(axis.getZ(), 3.0*invAxisLength));
}
// Test the slerp() method
void testSlerp() {
// TODO : Test the Quaternion::slerp() method
}
// Test operator+() // Test operator+()
void testOperatorAddition() { void testOperatorAddition() {
Quaternion result = quaternion1 + quaternion2; Quaternion result = quaternion1 + quaternion2;