diff options
Diffstat (limited to 'test/src/TestMath.c')
| -rw-r--r-- | test/src/TestMath.c | 41 |
1 files changed, 41 insertions, 0 deletions
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; } |