1 files changed, 131 insertions, 0 deletions
diff --git a/test/src/TestQuat.c b/test/src/TestQuat.c
new file mode 100644
index 0000000..55e86d5
--- /dev/null
+++ b/test/src/TestQuat.c
@@ -0,0 +1,131 @@
+#include <BH/Math.h>
+#include <BH/Unit.h>
+
+
+#define ACCEPTABLE_DELTA 0.0001f
+
+
+BH_UNIT_TEST(Identity)
+{
+    float r[4];
+
+    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);
+
+    return 0;
+}
+
+
+BH_UNIT_TEST(Conjugate)
+{
+    float a[4], r[4];
+
+    a[0] = -0.9018f; a[1] = -0.0010f; a[2] = -0.4099f; a[3] = 0.1370f;
+
+    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);
+
+    return 0;
+}
+
+
+BH_UNIT_TEST(ToEuler)
+{
+    float a[4];
+    float roll, pitch, yaw;
+
+    a[0] = -0.9018f; a[1] = -0.0010f; a[2] = -0.4099f; a[3] = 0.1370f;
+
+    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);
+
+    return 0;
+}
+
+
+BH_UNIT_TEST(FromEuler)
+{
+    float r[4];
+
+    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);
+
+    return 0;
+}
+
+
+BH_UNIT_TEST(ToAxis)
+{
+    float a[4], r[3];
+    float angle;
+
+    a[0] = -0.9018f; a[1] = -0.0010f; a[2] = -0.4099f; a[3] = 0.1370f;
+
+    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;
+}
+
+
+BH_UNIT_TEST(FromAxis)
+{
+    float a[3], r[4];
+    a[0] = -0.9104f; a[1] = -0.0010f; a[2] = -0.4138f;
+
+    BH_Quat4fFromAxis(a, 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);
+
+    return 0;
+}
+
+
+BH_UNIT_TEST(InverseMultiply)
+{
+    float a[4], r[4];
+
+    a[0] = -0.9018f; a[1] = -0.0010f; a[2] = -0.4099f; a[3] = 0.1370f;
+
+    BH_Quat4fInverse(a, r);
+    BH_Quat4fMul(a, r, 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);
+
+    return 0;
+}
+
+
+int main(int argc, char **argv)
+{
+    (void)argc;
+    (void)argv;
+
+    BH_UNIT_ADD(Identity);
+    BH_UNIT_ADD(Conjugate);
+    BH_UNIT_ADD(ToEuler);
+    BH_UNIT_ADD(FromEuler);
+    BH_UNIT_ADD(ToAxis);
+    BH_UNIT_ADD(FromAxis);
+    BH_UNIT_ADD(InverseMultiply);
+
+    return BH_UnitRun();
+}