bool quaternion_test::run()
{
bool global_ok = true;
quaternion< double > q;
double QData[] = { 1., 6., 3., 8. };
for( size_t index = 0; index < 4; ++index )
{
q.array[ index ] = QData[ index ];
}
// operator==/!= tests
{
bool ok = true;
quaterniond qq, qqq;
qq.array[ 0 ] = qqq.array[ 0 ] = 1.0;
qq.array[ 1 ] = qqq.array[ 1 ] = 6.0;
qq.array[ 2 ] = qqq.array[ 2 ] = 3.0;
qq.array[ 3 ] = qqq.array[ 3 ] = 8.0;
TEST(qq == qqq);
log( "operator==, operator!=", ok );
}
// operator= tests
{
bool ok = true;
quaterniond tquaternion_test = q;
TEST(tquaternion_test == q );
tquaternion_test.iter_set< double* >( QData, QData + 4 );
if ( ok )
TEST(tquaternion_test == q);
log( "operator=", ok );
}
// ctor tests
{
bool ok = true;
quaterniond qq( q );
TEST(q == qq);
quaterniond t( 1., 6., 3., 8 );
if ( ok )
TEST(q == t);
vector< 3, double > xyz;
double xyzData[] = { 1., 6., 3. };
xyz = xyzData;
quaterniond s( xyz, 8 );
if ( ok )
TEST(q == s);
matrix< 3, 3, double > mat;
double matData[] = { 1., 0., 0., 0., 0., 1., 0., -1., 0. };
mat = matData;
const quaterniond u( mat );
TEST( u.w() == sqrt( 2. ) / 2. &&
u.x() == - ( 1 / sqrt( 2. ) ) &&
(u.y() == 0 && u.z() == 0 ) );
log( "constructors", ok );
}
// set test
{
bool ok = true;
quaterniond qqq;
qqq.set ( 1., 6., 3., 8. );
TEST( qqq == q );
log( "set( x,y,z,w )", ok );
}
// abs
{
bool ok = true;
TEST(q.abs() == sqrt( 110.0 ) && q.squared_abs() == 110);
log( "abs(), squared_abs()", ok );
}
//conjugate() test
{
bool ok = true;
quaterniond conj( -1., -6., -3., 8. );
TEST( q.get_conjugate() == conj );
conj.conjugate();
if ( ok )
TEST(q == conj);
log( "conjugate()", ok );
}
// quat / scalar operations
{
bool ok = true;
quaterniond t;
t.set( 1, 2, 3, 4 );
quaterniond t3;
t3.set( 3, 6, 9, 12 );
double f = 3.0;
double rf = 1./ f;
t *= f;
TEST(t == t3);
t.set( 1, 2, 3, 4 );
t /= rf;
if (ok)
TEST(t == t3);
t.set( 1, 2, 3, 4 );
if (ok)
TEST(t * f == t3);
t.set( 1, 2, 3, 4 );
if (ok)
TEST(t / rf == t3);
log( "quaternion / scalar operations: operator*, /, *=, /=", ok );
}
{
bool ok = true;
quaterniond qq;
qq.set( 8, 3, 6, 1 );
quaterniond qpqq;
qpqq.set( 9., 9., 9., 9. );
// +, +=
TEST(q + qq == qpqq );
qq += q;
if (ok)
TEST(qq == qpqq);
// -, -=
qq.set( 8, 3, 6, 1 );
if (ok)
TEST(qpqq - qq == q);
qpqq -= qq;
if (ok)
TEST(qpqq == q);
// *, *=
qq.set( 2, 3, 4, 1 );
quaterniond q2( 3, 2, 1, 4 );
quaterniond p = qq * q2;
quaterniond pCorrect( 6, 24, 12, -12 );
if (ok)
TEST(p == pCorrect);
p = qq;
p *= q2;
if (ok)
TEST(p == pCorrect);
log( "quaternion / quaternion operations: operator+, -, *, +=, -=, *=", ok );
}
{
bool ok = true;
quaterniond qq( 1, 2, 3, 4 );
quaterniond q2( -6, 5, -4, 2 );
vector< 3, double > v = qq.cross( q2 );
vector< 3, double > v0( 1, 2, 3 );
vector< 3, double > v1( -6, 5, -4 );
TEST( v == v0.cross( v1 ) );
log( "cross product ( vec3 = quat x quat ).", ok );
}
// TODO
// {
// // FIXME: find correct values -> actually test if you get the
// // correct values
// bool ok = true;
//
// quaterniond qq(1., 2., 3., 4.);
// quaterniond pp(1., 2., 3., 4.);
// double a = 0.;
//
// quaterniond x(1., 2., 3., 4.);
//
// quaterniond::slerp(a, qq, pp);
//
// quaterniond correct(0.0, 1.0, 1.0, 0.0);
//
// TEST(correct == x);
//
// log( "FIXME: todo slerp(a, p, q ).", ok );
// }
#if 0
Quaterniond rquaternion_test( 8. / 110., -1. / 110., -6. / 110., -3. / 110. );
if ( _quaternion.invert() != rquaternion_test )
{
cout << "test: Quaternion::invert() failed!" << endl;
failed();
assert( 0 );
}
if ( tquaternion_test.dot( _quaternion ) != 40. )
{
cout << "test: Quaternion::dot( quaternion ) failed!" << endl;
failed();
assert( 0 );
}
Vector3d vector3_test( -30., -4., 18. );
if ( tquaternion_test.cross( _quaternion ) != vector3_test )
{
cout << "test: Quaternion::cross( quaternion ) failed!" << endl;
failed();
assert( 0 );
}
Vector3d yaxis( 1., 0., 0. );
Quaterniond svector3_test( 0., 18., -30., -4. );
Quaterniond result_test( _quaternion.rotate( M_PI / 2.f, yaxis, vector3_test ) );
if ( abs( result_test.abs() - svector3_test.abs() ) > 1e-13 )
{
cout << "test: Quaternion::rotate( T, Vector3, Vector3 ) failed!" << endl;
failed();
assert( 0 );
}
if ( ok )
cout << "Quaternion: all tests passed!" << endl;
#endif
return global_ok;
}
bool QuaternionTest::test()
{
// ctor tests
Quaterniond tquaternion_test( 8., 1., 6., 3. );
for ( size_t i = 0; i < 4; ++i )
{
if ( _quaternion.wxyz[i] != tquaternion_test.wxyz[i] )
{
cout << "test: Quaternion::Quaternion( ... ) failed!" << endl;
failed();
assert( 0 );
}
}
Quaterniond squaternion_test( 8., Vector3d( 1., 6., 3. ) );
for ( size_t i = 0; i < 4; ++i )
{
if ( _quaternion.wxyz[i] != squaternion_test.wxyz[i] )
{
cout << "test: Quaternion::Quaternion( ... ) failed!" << endl;
failed();
assert( 0 );
}
}
Quaterniond uquaternion_test( Matrix3d( 1., 0., 0., 0., 0., 1., 0., -1., 0. ) );
for ( size_t i = 0; i < 4; ++i )
{
if ( i == 0 )
if ( uquaternion_test.wxyz[0] != ( sqrt( 2. ) / 2. ) )
{
cout << "test: Quaternion::Quaternion( ... ) failed!" << endl;
failed();
assert( 0 );
}
if ( i == 1 )
if ( uquaternion_test.wxyz[1] != - ( 1 / sqrt( 2. ) ) )
{
cout << "test: Quaternion::Quaternion( ... ) failed!" << endl;
failed();
assert( 0 );
}
if ( i != 0 && i != 1 )
if ( uquaternion_test.wxyz[i] != 0. )
{
cout << "test: Quaternion::Quaternion( ... ) failed!" << endl;
failed();
assert( 0 );
}
}
// set test
uquaternion_test.set ( 8., 1., 6., 3. );
for ( size_t i = 0; i < 4; ++i )
{
if ( _quaternion.wxyz[i] != uquaternion_test.wxyz[i] )
{
cout << "test: Quaternion::set( ... ) failed!" << endl;
failed();
assert( 0 );
}
}
// operator = tests
tquaternion_test = 1.;
Quaterniond IDENTITY( 1., 0., 0., 0. );
for ( size_t i = 0; i < 4; ++i )
{
if ( IDENTITY.wxyz[i] != tquaternion_test.wxyz[i] )
{
cout << "test: Quaternion::operator=( ... ) failed!" << endl;
failed();
assert( 0 );
}
}
uquaternion_test = _quaternion;
for ( size_t i = 0; i < 4; ++i )
{
if ( _quaternion.wxyz[i] != uquaternion_test.wxyz[i] )
{
cout << "test: Quaternion::operator=( ... ) failed!" << endl;
failed();
assert( 0 );
}
}
//quaternion == / != tests
if ( tquaternion_test != 1. )
{
cout << "test: Quaternion::operator ==() / !=() failed!" << endl;
failed();
assert( 0 );
}
if ( _quaternion != uquaternion_test )
{
cout << "test: Quaternion::operator ==() / !=() failed!" << endl;
failed();
assert( 0 );
}
if ( _quaternion == tquaternion_test )
{
cout << "test: Quaternion::operator ==() / !=() failed!" << endl;
failed();
assert( 0 );
}
//abs() test
if ( _quaternion.abs() != sqrt( 110 ) )
{
cout << "test: Quaternion::abs() failed!" << endl;
failed();
assert( 0 );
}
//conjug() test
Quaterniond cquaternion_test( 8., -1., -6., -3. );
if ( _quaternion.conjug() != cquaternion_test )
{
cout << "test: Quaternion::conjug() failed!" << endl;
failed();
assert( 0 );
}
//quaternion/scalar tests
tquaternion_test.set( 1., 2., 3., 4. );
Quaterniond vquaternion_test( 3., 6., 9., 12. );
tquaternion_test = tquaternion_test * 3.0;
if ( tquaternion_test - vquaternion_test != 0.0 )
{
cout << "test: Quaternion::operator*/( scalar ) failed!" << endl;
cout << tquaternion_test << endl;
failed();
assert( 0 );
}
// quaternion/quaternion tests
tquaternion_test.set( 1., 2., 3., 4. );
if ( tquaternion_test + tquaternion_test + tquaternion_test -vquaternion_test != 0.0f )
{
cout << "test: Quaternion::operator+-( quaternion ) failed!" << endl;
failed();
assert( 0 );
}
squaternion_test.set( -24., 2., 28., 44 );
if ( squaternion_test != tquaternion_test * uquaternion_test )
{
cout << "test: Quaternion::operator*( quaternion ) failed!" << endl;
failed();
assert( 0 );
}
Quaterniond rquaternion_test( 8. / 110., -1. / 110., -6. / 110., -3. / 110. );
if ( _quaternion.invert() != rquaternion_test )
{
cout << "test: Quaternion::invert() failed!" << endl;
failed();
assert( 0 );
}
if ( tquaternion_test.dot( _quaternion ) != 40. )
{
cout << "test: Quaternion::dot( quaternion ) failed!" << endl;
failed();
assert( 0 );
}
Vector3d vector3_test( -30., -4., 18. );
if ( tquaternion_test.cross( _quaternion ) != vector3_test )
{
cout << "test: Quaternion::cross( quaternion ) failed!" << endl;
failed();
assert( 0 );
}
Vector3d yaxis( 1., 0., 0. );
Quaterniond svector3_test( 0., 18., -30., -4. );
Quaterniond result_test( _quaternion.rotate( M_PI / 2.f, yaxis, vector3_test ) );
if ( abs( result_test.abs() - svector3_test.abs() ) > 1e-13 )
{
cout << "test: Quaternion::rotate( T, Vector3, Vector3 ) failed!" << endl;
failed();
assert( 0 );
}
if ( ok )
cout << "Quaternion: all tests passed!" << endl;
return ok;
}
