49 lines
No EOL
1.5 KiB
Rust
49 lines
No EOL
1.5 KiB
Rust
use std::cmp::FuzzyEq;
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use numeric::*;
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use mat::*;
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use quat::*;
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use vec::*;
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// TODO
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#[test]
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fn test_quat() {
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let a = Quat { s: 1.0, v: Vec3 { x: 2.0, y: 3.0, z: 4.0 } };
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assert!(a == quat::from_sv(1.0, vec3::new(2.0, 3.0, 4.0)));
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assert!(a == quat::new(1.0, 2.0, 3.0, 4.0));
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assert!(quat::zero() == quat::new(0.0, 0.0, 0.0, 0.0));
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assert!(quat::identity() == quat::new(1.0, 0.0, 0.0, 0.0));
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assert!(a.s == 1.0);
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assert!(a.v.x == 2.0);
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assert!(a.v.y == 3.0);
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assert!(a.v.z == 4.0);
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assert!(a[0] == 1.0);
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assert!(a[1] == 2.0);
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assert!(a[2] == 3.0);
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assert!(a[3] == 4.0);
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// TODO
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}
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#[test]
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fn test_quat_2() {
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let v = vec3::new(1f32, 0f32, 0f32);
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let q = quat::from_angle_axis(radians(-45f32), &vec3::new(0f32, 0f32, -1f32));
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// http://www.wolframalpha.com/input/?i={1,0}+rotate+-45+degrees
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assert!(q.mul_v(&v).fuzzy_eq(&vec3::new(1f32/sqrt(2f32), 1f32/sqrt(2f32), 0f32)));
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assert!(q.mul_v(&v).length() == v.length());
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assert!(q.to_mat3().fuzzy_eq(&mat3::new( 1f32/sqrt(2f32), 1f32/sqrt(2f32), 0f32,
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-1f32/sqrt(2f32), 1f32/sqrt(2f32), 0f32,
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0f32, 0f32, 1f32)));
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}
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#[test]
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fn test_quat_fuzzy_eq() {
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assert!(!quat::new(0.000001, 0.000001, 0.000001, 0.000001).fuzzy_eq(&quat::new(0.0, 0.0, 0.0, 0.0)));
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assert!(quat::new(0.0000001, 0.0000001, 0.0000001, 0.0000001).fuzzy_eq(&quat::new(0.0, 0.0, 0.0, 0.0)));
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} |