mirror of
https://github.com/TorqueGameEngines/Torque3D.git
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63 lines
2.4 KiB
C++
63 lines
2.4 KiB
C++
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//-----------------------------------------------------------------------------
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// Copyright (c) 2014 GarageGames, LLC
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// of this software and associated documentation files (the "Software"), to
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// deal in the Software without restriction, including without limitation the
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// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
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// sell copies of the Software, and to permit persons to whom the Software is
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// furnished to do so, subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in
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// all copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
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// IN THE SOFTWARE.
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//-----------------------------------------------------------------------------
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#ifdef TORQUE_TESTS_ENABLED
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#include "testing/unitTesting.h"
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#include "math/mQuat.h"
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#include "math/mAngAxis.h"
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#include "math/mMatrix.h"
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/// For testing things that should be close to 0, but accounting for floating-
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/// point inaccuracy.
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static const F32 epsilon = 1e-3f;
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/// Test quaternions for equality by expecting the angle between them to be
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/// close to 0.
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#define EXPECT_QUAT_EQ(q1, q2) EXPECT_LT(q1.angleBetween(q2), epsilon)
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TEST(QuatF, AngleBetween)
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{
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QuatF p(QuatF::Identity), q(QuatF::Identity);
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EXPECT_LT(p.angleBetween(q), epsilon)
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<< "Angle between identity quaternions should be ~0.";
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p.set(EulerF(0.1, 0.15, -0.2));
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q = p;
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EXPECT_LT(p.angleBetween(q), epsilon)
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<< "Angle between identical quaternions should be ~0.";
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}
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/// Test conversion from EulerF.
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TEST(QuatF, Construction)
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{
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EulerF eId(0, 0, 0);
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EXPECT_QUAT_EQ(QuatF(eId), QuatF::Identity)
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<< "Quaternions constructed from identity EulerF and QuatF::Identity not equal.";
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EulerF eRot(0.0f, -0.0f, 1.5707963267948966f);
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MatrixF mat(eRot);
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AngAxisF aaRot(mat);
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EXPECT_QUAT_EQ(QuatF(eRot), QuatF(aaRot))
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<< "Quaternions constructed from EulerF and AngAxisF not equal.";
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}
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#endif
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