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#include <BH/Math/Quat.h>
#include <BH/Math/Mat4f.h>
#include <BH/Unit.h>
#define ACCEPTABLE_DELTA 0.0001f
BH_UNIT_TEST(QuatMat4fParity)
{
float a[16], b[16], c[4];
BH_Mat4fFromEuler(-2.7671f, -0.8324f, -0.1649f, a);
BH_Quat4fFromEuler(-2.7671f, -0.8324f, -0.1649f, c);
BH_VERIFY_DELTA(c[0], -0.9018f, ACCEPTABLE_DELTA);
BH_VERIFY_DELTA(c[1], -0.0010f, ACCEPTABLE_DELTA);
BH_VERIFY_DELTA(c[2], -0.4099f, ACCEPTABLE_DELTA);
BH_VERIFY_DELTA(c[3], 0.1370f, ACCEPTABLE_DELTA);
BH_Quat4fToMat4f(c, b);
BH_VERIFY_DELTA(a[0], b[0], ACCEPTABLE_DELTA);
BH_VERIFY_DELTA(a[1], b[1], ACCEPTABLE_DELTA);
BH_VERIFY_DELTA(a[2], b[2], ACCEPTABLE_DELTA);
BH_VERIFY_DELTA(a[3], b[3], ACCEPTABLE_DELTA);
BH_VERIFY_DELTA(a[4], b[4], ACCEPTABLE_DELTA);
BH_VERIFY_DELTA(a[5], b[5], ACCEPTABLE_DELTA);
BH_VERIFY_DELTA(a[6], b[6], ACCEPTABLE_DELTA);
BH_VERIFY_DELTA(a[7], b[7], ACCEPTABLE_DELTA);
BH_VERIFY_DELTA(a[8], b[8], ACCEPTABLE_DELTA);
BH_VERIFY_DELTA(a[9], b[9], ACCEPTABLE_DELTA);
BH_VERIFY_DELTA(a[10], b[10], ACCEPTABLE_DELTA);
BH_VERIFY_DELTA(a[11], b[11], ACCEPTABLE_DELTA);
BH_VERIFY_DELTA(a[12], b[12], ACCEPTABLE_DELTA);
BH_VERIFY_DELTA(a[13], b[13], ACCEPTABLE_DELTA);
BH_VERIFY_DELTA(a[14], b[14], ACCEPTABLE_DELTA);
BH_VERIFY_DELTA(a[15], b[15], ACCEPTABLE_DELTA);
return 0;
}
int main(int argc, char **argv)
{
(void)argc;
(void)argv;
BH_UNIT_ADD(QuatMat4fParity);
return BH_UnitRun();
}
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