Fixed quaternion set from euler.

Engine/source/math/test/mQuatTest.cpp

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