102 lines
4.2 KiB
C++
102 lines
4.2 KiB
C++
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/********************************************************************************
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* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
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* Copyright (c) 2010-2013 Daniel Chappuis *
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*********************************************************************************
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* *
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* This software is provided 'as-is', without any express or implied warranty. *
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* In no event will the authors be held liable for any damages arising from the *
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* use of this software. *
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* *
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* Permission is granted to anyone to use this software for any purpose, *
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* including commercial applications, and to alter it and redistribute it *
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* freely, subject to the following restrictions: *
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* *
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* 1. The origin of this software must not be misrepresented; you must not claim *
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* that you wrote the original software. If you use this software in a *
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* product, an acknowledgment in the product documentation would be *
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* appreciated but is not required. *
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* *
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* 2. Altered source versions must be plainly marked as such, and must not be *
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* misrepresented as being the original software. *
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* *
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* 3. This notice may not be removed or altered from any source distribution. *
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* *
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********************************************************************************/
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#ifndef TEST_QUATERNION_H
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#define TEST_QUATERNION_H
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#endif
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// Libraries
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#include "../../Test.h"
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#include "../../../src/mathematics/Quaternion.h"
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using namespace reactphysics3d;
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/// Reactphysics3D namespace
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namespace reactphysics3d {
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// Class TestQuaternion
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/**
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* Unit test for the Quaternion class
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*/
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class TestQuaternion : public Test {
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private :
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// ---------- Atributes ---------- //
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/// Identity Quaternion
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Quaternion mIdentity;
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/// First test quaternion
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Quaternion mQuaternion1;
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public :
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// ---------- Methods ---------- //
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/// Constructor
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TestQuaternion() : mIdentity(Quaternion::identity()) {
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decimal sinA = sin(PI/8.0f);
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decimal cosA = cos(PI/8.0f);
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mQuaternion1 = Quaternion(sinA, sinA, sinA, cosA);
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}
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/// Run the tests
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void run() {
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testConstructors();
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}
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/// Test the constructors
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void testConstructors() {
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Quaternion quaternion1(mQuaternion1);
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test(mQuaternion1== quaternion1);
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Quaternion quaternion2(4, 5, 6, 7);
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test(quaternion2 == Quaternion(4, 5, 6, 7));
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Quaternion quaternion3(8, Vector3(3, 5, 2));
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test(quaternion3 == Quaternion(5, 6, 7, 4));
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Matrix3x3 matrix(2, 3, 4, 5, 6, 7, 8, 9, 10);
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Quaternion quaternion4(matrix);
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Matrix3x3 result = quaternion4.getMatrix();
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test(approxEqual(matrix.getValue(0, 0), result.getValue(0, 0), 0.1));
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std::cout << "matrix : " << matrix.getValue(0, 0) << ", " << result.getValue(0, 0) << std::endl;
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test(approxEqual(matrix.getValue(0, 1), result.getValue(0, 1), 0.1));
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test(approxEqual(matrix.getValue(0, 2), result.getValue(0, 2), 0.1));
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test(approxEqual(matrix.getValue(1, 0), result.getValue(1, 0), 0.1));
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test(approxEqual(matrix.getValue(1, 1), result.getValue(1, 1), 0.1));
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test(approxEqual(matrix.getValue(1, 2), result.getValue(1, 2), 0.1));
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test(approxEqual(matrix.getValue(2, 0), result.getValue(2, 0), 0.1));
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test(approxEqual(matrix.getValue(2, 1), result.getValue(2, 1), 0.1));
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test(approxEqual(matrix.getValue(2, 2), result.getValue(2, 2), 0.1));
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}
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};
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}
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