49 lines
No EOL
1.5 KiB
Rust
49 lines
No EOL
1.5 KiB
Rust
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: 1f, v: Vec3 { x: 2f, y: 3f, z: 4f } };
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assert a == Quat::from_sv(1f, Vec3::new(2f, 3f, 4f));
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assert a == Quat::new(1f, 2f, 3f, 4f);
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assert Quat::zero() == Quat::new(0f, 0f, 0f, 0f);
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assert Quat::identity() == Quat::new(1f, 0f, 0f, 0f);
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assert a.s == 1f;
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assert a.v.x == 2f;
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assert a.v.y == 3f;
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assert a.v.z == 4f;
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assert a[0] == 1f;
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assert a[1] == 2f;
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assert a[2] == 3f;
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assert a[3] == 4f;
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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(1.0, 0.0, 0.0);
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// let q: Quat<float> = rot::Rotation::from_angle_axis(Degrees(-45.0), &Vec3::new(0.0, 0.0, -1.0));
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let q = Quat::from_angle_axis(radians(-45.0), &Vec3::new(0.0, 0.0, -1.0));
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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(1.0/sqrt(2.0), 1.0/sqrt(2.0), 0.0));
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assert q.mul_v(&v).length() == v.length();
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assert q.to_mat3().fuzzy_eq(&Mat3::new( 1.0/sqrt(2.0), 1.0/sqrt(2.0), 0.0,
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-1.0/sqrt(2.0), 1.0/sqrt(2.0), 0.0,
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0.0, 0.0, 1.0));
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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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} |