12 files changed, 58 insertions, 0 deletions
diff --git a/.gitignore b/.gitignore
index f1c4374..f1c4374 100755..100644
--- a/.gitignore
+++ b/.gitignore
diff --git a/include/BH/Algo.h b/include/BH/Algo.h
index 2e5320e..2e5320e 100755..100644
--- a/include/BH/Algo.h
+++ b/include/BH/Algo.h
diff --git a/include/BH/Hashmap.h b/include/BH/Hashmap.h
index 615e747..615e747 100755..100644
--- a/include/BH/Hashmap.h
+++ b/include/BH/Hashmap.h
diff --git a/include/BH/Queue.h b/include/BH/Queue.h
index 5d6af58..5d6af58 100755..100644
--- a/include/BH/Queue.h
+++ b/include/BH/Queue.h
diff --git a/src/Algo.c b/src/Algo.c
index 7d0abcd..7d0abcd 100755..100644
--- a/src/Algo.c
+++ b/src/Algo.c
diff --git a/src/Hashmap.c b/src/Hashmap.c
index ad8e7bd..ad8e7bd 100755..100644
--- a/src/Hashmap.c
+++ b/src/Hashmap.c
diff --git a/src/Queue.c b/src/Queue.c
index 4b9d06e..4b9d06e 100755..100644
--- a/src/Queue.c
+++ b/src/Queue.c
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 19d1cae..19d1cae 100755..100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
diff --git a/test/src/TestMath.c b/test/src/TestMath.c
index e03ca96..a6fa15c 100644
--- a/test/src/TestMath.c
+++ b/test/src/TestMath.c
@@ -408,6 +408,47 @@ static int checkVec2i(void)
 
 static int checkQuat(void)
 {
+    float a[4], b[3], r[4];
+    float roll, pitch, yaw, angle;
+
+    a[0] = -0.9018f; a[1] = -0.0010f; a[2] = -0.4099f; a[3] = 0.1370f;
+    b[0] = -0.9104f; b[1] = -0.0010f; b[2] = -0.4138f;
+
+    BH_Quat4fIdentity(r);
+    BH_VERIFY_DELTA(r[0], 0.000f, ACCEPTABLE_DELTA);
+    BH_VERIFY_DELTA(r[1], 0.000f, ACCEPTABLE_DELTA);
+    BH_VERIFY_DELTA(r[2], 0.000f, ACCEPTABLE_DELTA);
+    BH_VERIFY_DELTA(r[3], 1.000f, ACCEPTABLE_DELTA);
+
+    BH_Quat4fConjugate(a, r);
+    BH_VERIFY_DELTA(r[0], 0.9018f, ACCEPTABLE_DELTA);
+    BH_VERIFY_DELTA(r[1], 0.0010f, ACCEPTABLE_DELTA);
+    BH_VERIFY_DELTA(r[2], 0.4099f, ACCEPTABLE_DELTA);
+    BH_VERIFY_DELTA(r[3], 0.1370f, ACCEPTABLE_DELTA);
+
+    BH_Quat4fToEuler(a, &roll, &pitch, &yaw);
+    BH_VERIFY_DELTA(roll,  -2.7671f, ACCEPTABLE_DELTA);
+    BH_VERIFY_DELTA(pitch, -0.8324f, ACCEPTABLE_DELTA);
+    BH_VERIFY_DELTA(yaw,   -0.1649f, ACCEPTABLE_DELTA);
+
+    BH_Quat4fFromEuler(-2.7671f, -0.8324f, -0.1649f, r);
+    BH_VERIFY_DELTA(r[0], -0.9018f, ACCEPTABLE_DELTA);
+    BH_VERIFY_DELTA(r[1], -0.0010f, ACCEPTABLE_DELTA);
+    BH_VERIFY_DELTA(r[2], -0.4099f, ACCEPTABLE_DELTA);
+    BH_VERIFY_DELTA(r[3],  0.1370f, ACCEPTABLE_DELTA);
+
+    BH_Quat4fFromAxis(b, 2.8668f, r);
+    BH_VERIFY_DELTA(r[0], -0.9018f, ACCEPTABLE_DELTA);
+    BH_VERIFY_DELTA(r[1], -0.0010f, ACCEPTABLE_DELTA);
+    BH_VERIFY_DELTA(r[2], -0.4099f, ACCEPTABLE_DELTA);
+    BH_VERIFY_DELTA(r[3],  0.1370f, ACCEPTABLE_DELTA);
+
+    BH_Quat4fToAxis(a, r, &angle);
+    BH_VERIFY_DELTA(r[0], -0.9104f, ACCEPTABLE_DELTA);
+    BH_VERIFY_DELTA(r[1], -0.0010f, ACCEPTABLE_DELTA);
+    BH_VERIFY_DELTA(r[2], -0.4138f, ACCEPTABLE_DELTA);
+    BH_VERIFY_DELTA(angle, 2.8668f, ACCEPTABLE_DELTA);
+
     return 0;
 }
 
diff --git a/unit/CMakeLists.txt b/unit/CMakeLists.txt
index 42e9ffb..42e9ffb 100755..100644
--- a/unit/CMakeLists.txt
+++ b/unit/CMakeLists.txt
diff --git a/unit/include/BH/Unit.h b/unit/include/BH/Unit.h
index 3b3b2b6..3b3b2b6 100755..100644
--- a/unit/include/BH/Unit.h
+++ b/unit/include/BH/Unit.h
diff --git a/unit/src/Unit.c b/unit/src/Unit.c
index ead5449..57d80b1 100755..100644
--- a/unit/src/Unit.c
+++ b/unit/src/Unit.c
@@ -12,6 +12,21 @@ typedef struct BH_Unit
 static BH_Unit *root = NULL;
 
 
+static void BH_UnitCleanup(void)
+{
+    BH_Unit *current;
+
+    current = root;
+    while (current)
+    {
+        BH_Unit *next = current->next;
+
+        free(current);
+        current = next;
+    }
+}
+
+
 void BH_UnitAdd(const char *name, BH_UnitCallback cb)
 {
     BH_Unit *unit, *current;
@@ -49,6 +64,7 @@ int BH_UnitRun(void)
         if (current->cb())
         {
             printf("\tFAIL\n");
+            BH_UnitCleanup();
             return -1;
         }
         printf("\tPASS\n");
@@ -56,6 +72,7 @@ int BH_UnitRun(void)
         current = current->next;
     }
 
+    BH_UnitCleanup();
     return 0;
 }