88 lines
3.1 KiB
Rust
88 lines
3.1 KiB
Rust
// Copyright 2013-2014 The CGMath Developers. For a full listing of the authors,
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// refer to the Cargo.toml file at the top-level directory of this distribution.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#![feature(core)]
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extern crate cgmath;
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use cgmath::{ToMatrix4, ToMatrix3};
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use cgmath::Quaternion;
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use cgmath::{Rad, rad, ApproxEq};
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use cgmath::Rotation3;
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use std::f32;
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#[test]
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fn to_matrix4()
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{
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let quaternion = Quaternion::new(2f32, 3f32, 4f32, 5f32);
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let matrix_short = quaternion.to_matrix4();
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let matrix_long = quaternion.to_matrix3().to_matrix4();
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assert!(matrix_short == matrix_long);
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}
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#[test]
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fn to_and_from_quaternion()
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{
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fn eq(a: (Rad<f32>, Rad<f32>, Rad<f32>), b: (Rad<f32>, Rad<f32>, Rad<f32>)) {
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let (ax, ay, az) = a;
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let (bx, by, bz) = b;
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if !(ax.approx_eq_eps(&bx, &0.001) &&
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ay.approx_eq_eps(&by, &0.001) &&
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az.approx_eq_eps(&bz, &0.001)) {
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panic!("{:?} != {:?}", a, b)
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}
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}
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let hpi = f32::consts::FRAC_PI_2;
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let zero: Quaternion<f32> = Rotation3::from_euler(rad(0f32), rad(0f32), rad(0f32));
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eq((rad(0f32), rad(0f32), rad(0f32)), zero.to_euler());
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let x_1: Quaternion<f32> = Rotation3::from_euler(rad(1f32), rad(0f32), rad(0f32));
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eq((rad(1f32), rad(0f32), rad(0f32)), x_1.to_euler());
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let y_1: Quaternion<f32> = Rotation3::from_euler(rad(0f32), rad(1f32), rad(0f32));
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eq((rad(0f32), rad(1f32), rad(0f32)), y_1.to_euler());
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let z_1: Quaternion<f32> = Rotation3::from_euler(rad(0f32), rad(0f32), rad(1f32));
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eq((rad(0f32), rad(0f32), rad(1f32)), z_1.to_euler());
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let x_n1: Quaternion<f32> = Rotation3::from_euler(rad(-1f32), rad(0f32), rad(0f32));
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eq((rad(-1f32), rad(0f32), rad(0f32)), x_n1.to_euler());
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let y_n1: Quaternion<f32> = Rotation3::from_euler(rad(0f32), rad(-1f32), rad(0f32));
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eq((rad(0f32), rad(-1f32), rad(0f32)), y_n1.to_euler());
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let z_n1: Quaternion<f32> = Rotation3::from_euler(rad(0f32), rad(0f32), rad(-1f32));
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eq((rad(0f32), rad(0f32), rad(-1f32)), z_n1.to_euler());
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let xzy_1: Quaternion<f32> = Rotation3::from_euler(rad(1f32), rad(1f32), rad(1f32));
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eq((rad(1f32), rad(1f32), rad(1f32)), xzy_1.to_euler());
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let xzy_n1: Quaternion<f32> = Rotation3::from_euler(rad(-1f32), rad(-1f32), rad(-1f32));
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eq((rad(-1f32), rad(-1f32), rad(-1f32)), xzy_n1.to_euler());
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let xzy_hp: Quaternion<f32> = Rotation3::from_euler(rad(0f32), rad(hpi), rad(1f32));
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eq((rad(0f32), rad(hpi), rad(1f32)), xzy_hp.to_euler());
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let xzy_nhp: Quaternion<f32> = Rotation3::from_euler(rad(0f32), rad(-hpi), rad(1f32));
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eq((rad(0f32), rad(-hpi), rad(1f32)), xzy_nhp.to_euler());
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}
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