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vmath.hpp/untests/vmath_ext_tests.cpp
BlackMATov ff624384ad remove vec4 rotation by quaternion
2021-02-12 18:08:33 +07:00

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/*******************************************************************************
* This file is part of the "https://github.com/blackmatov/vmath.hpp"
* For conditions of distribution and use, see copyright notice in LICENSE.md
* Copyright (C) 2020-2021, by Matvey Cherevko (blackmatov@gmail.com)
******************************************************************************/
#include "vmath_tests.hpp"
#include <set>
#include <map>
#include <unordered_set>
#include <unordered_map>
namespace
{
using namespace vmath_hpp;
using namespace vmath_tests;
constexpr float pi = radians(180.f);
constexpr float pi_2 = radians(90.f);
constexpr float pi_4 = radians(45.f);
}
TEST_CASE("vmath/ext/units") {
STATIC_REQUIRE(zero2<int> == int2(0,0));
STATIC_REQUIRE(zero3<int> == int3(0,0,0));
STATIC_REQUIRE(zero4<int> == int4(0,0,0,0));
STATIC_REQUIRE(unit2<int> == int2(1,1));
STATIC_REQUIRE(unit2_x<int> == int2(1,0));
STATIC_REQUIRE(unit2_y<int> == int2(0,1));
STATIC_REQUIRE(unit3<int> == int3(1,1,1));
STATIC_REQUIRE(unit3_x<int> == int3(1,0,0));
STATIC_REQUIRE(unit3_y<int> == int3(0,1,0));
STATIC_REQUIRE(unit3_z<int> == int3(0,0,1));
STATIC_REQUIRE(unit4<int> == int4(1,1,1,1));
STATIC_REQUIRE(unit4_x<int> == int4(1,0,0,0));
STATIC_REQUIRE(unit4_y<int> == int4(0,1,0,0));
STATIC_REQUIRE(unit4_z<int> == int4(0,0,1,0));
STATIC_REQUIRE(unit4_w<int> == int4(0,0,0,1));
STATIC_REQUIRE(zero2x2<int> == int2x2(0,0,0,0));
STATIC_REQUIRE(zero3x3<int> == int3x3(0,0,0,0,0,0,0,0,0));
STATIC_REQUIRE(zero4x4<int> == int4x4(0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0));
STATIC_REQUIRE(unit2x2<int> == int2x2(1,1,1,1));
STATIC_REQUIRE(unit3x3<int> == int3x3(1,1,1,1,1,1,1,1,1));
STATIC_REQUIRE(unit4x4<int> == int4x4(1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1));
STATIC_REQUIRE(identity2x2<int> == int2x2());
STATIC_REQUIRE(identity3x3<int> == int3x3());
STATIC_REQUIRE(identity4x4<int> == int4x4());
}
TEST_CASE("vmath/ext/hash") {
SUBCASE("vector") {
REQUIRE(std::hash<int2>{}({1,2}) == std::hash<int2>{}({1,2}));
REQUIRE_FALSE(std::hash<int2>{}({1,2}) == std::hash<int2>{}({2,1}));
REQUIRE(std::hash<int3>{}({1,2,3}) == std::hash<int3>{}({1,2,3}));
REQUIRE_FALSE(std::hash<int3>{}({1,2,3}) == std::hash<int3>{}({3,2,1}));
REQUIRE(std::hash<int4>{}({1,2,3,4}) == std::hash<int4>{}({1,2,3,4}));
REQUIRE_FALSE(std::hash<int4>{}({1,2,3,4}) == std::hash<int4>{}({3,2,1,4}));
{
std::set<int2> s;
s.insert(int2(1,2));
REQUIRE(s.count(int2(1,2)) > 0);
REQUIRE_FALSE(s.count(int2(1,1)) > 0);
}
{
std::map<int2, int> s;
s.emplace(int2(1,2),3);
s.emplace(int2(2,3),5);
REQUIRE(s[int2(1,2)] == 3);
REQUIRE(s[int2(2,3)] == 5);
}
{
std::unordered_set<int2> s;
s.insert(int2(1,2));
REQUIRE(s.count(int2(1,2)) > 0);
REQUIRE_FALSE(s.count(int2(1,1)) > 0);
}
{
std::unordered_map<int2, int> s;
s.emplace(int2(1,2),3);
s.emplace(int2(2,3),5);
REQUIRE(s[int2(1,2)] == 3);
REQUIRE(s[int2(2,3)] == 5);
}
}
SUBCASE("matrix") {
REQUIRE(std::hash<int2x2>{}({1,2,3,4}) == std::hash<int2x2>{}({1,2,3,4}));
REQUIRE_FALSE(std::hash<int2x2>{}({1,2,3,4}) == std::hash<int2x2>{}({1,2,4,3}));
{
std::set<int2x2> s;
s.insert(int2x2(1,2,3,4));
REQUIRE(s.count(int2x2(1,2,3,4)) > 0);
REQUIRE_FALSE(s.count(int2x2(1,1,1,1)) > 0);
}
{
std::map<int2x2, int> s;
s.emplace(int2x2(1,2,3,4),3);
s.emplace(int2x2(2,3,4,5),5);
REQUIRE(s[int2x2(1,2,3,4)] == 3);
REQUIRE(s[int2x2(2,3,4,5)] == 5);
}
{
std::unordered_set<int2x2> s;
s.insert(int2x2(1,2,3,4));
REQUIRE(s.count(int2x2(1,2,3,4)) > 0);
REQUIRE_FALSE(s.count(int2x2(1,1,1,1)) > 0);
}
{
std::unordered_map<int2x2, int> s;
s.emplace(int2x2(1,2,3,4),3);
s.emplace(int2x2(2,3,4,5),5);
REQUIRE(s[int2x2(1,2,3,4)] == 3);
REQUIRE(s[int2x2(2,3,4,5)] == 5);
}
}
SUBCASE("quaternion") {
REQUIRE(std::hash<fqua>{}({1,2,3,4}) == std::hash<fqua>{}({1,2,3,4}));
REQUIRE_FALSE(std::hash<fqua>{}({1,2,3,4}) == std::hash<fqua>{}({3,2,1,4}));
{
std::set<qua<int>> s;
s.insert(qua(1,2,3,4));
REQUIRE(s.count(qua(1,2,3,4)) > 0);
REQUIRE_FALSE(s.count(qua(1,1,1,1)) > 0);
}
{
std::map<qua<int>, int> s;
s.emplace(qua(1,2,3,4),3);
s.emplace(qua(2,3,4,5),5);
REQUIRE(s[qua(1,2,3,4)] == 3);
REQUIRE(s[qua(2,3,4,5)] == 5);
}
{
std::unordered_set<qua<int>> s;
s.insert(qua(1,2,3,4));
REQUIRE(s.count(qua(1,2,3,4)) > 0);
REQUIRE_FALSE(s.count(qua(1,1,1,1)) > 0);
}
{
std::unordered_map<qua<int>, int> s;
s.emplace(qua(1,2,3,4),3);
s.emplace(qua(2,3,4,5),5);
REQUIRE(s[qua(1,2,3,4)] == 3);
REQUIRE(s[qua(2,3,4,5)] == 5);
}
}
}
TEST_CASE("vmath/ext/cast") {
SUBCASE("cast_to") {
constexpr auto i = cast_to<int>(1.5f);
STATIC_REQUIRE(i == 1);
STATIC_REQUIRE(std::is_same_v<decltype(i), const int>);
constexpr auto v = cast_to<int>(float2(1.5f));
STATIC_REQUIRE(v == int2(1));
STATIC_REQUIRE(std::is_same_v<decltype(v)::component_type, int>);
constexpr auto m = cast_to<int>(float2x2(1.5f));
STATIC_REQUIRE(m == int2x2(1));
STATIC_REQUIRE(std::is_same_v<decltype(m)::row_type, int2>);
constexpr auto q = cast_to<int>(fqua(1.5f, 2.2f, 3.6f, 4.5f));
STATIC_REQUIRE(q == qua(1,2,3,4));
STATIC_REQUIRE(std::is_same_v<decltype(q)::component_type, int>);
}
}
TEST_CASE("vmath/ext/access") {
SUBCASE("component") {
STATIC_REQUIRE(component(int2{1,2}, 0) == 1);
STATIC_REQUIRE(component(int2{1,2}, 1) == 2);
STATIC_REQUIRE(component(int2{0,0}, 0, 1) == int2{1,0});
STATIC_REQUIRE(component(int2{0,0}, 1, 2) == int2{0,2});
}
SUBCASE("row") {
STATIC_REQUIRE(row(int2x2(1,2,3,4), 0) == int2(1,2));
STATIC_REQUIRE(row(int2x2(1,2,3,4), 1) == int2(3,4));
STATIC_REQUIRE(row(int2x2(), 0, {1,2}) == int2x2(1,2,0,1));
STATIC_REQUIRE(row(int2x2(), 1, {3,4}) == int2x2(1,0,3,4));
}
SUBCASE("column") {
STATIC_REQUIRE(column(int2x2(1,2,3,4), 0) == int2(1,3));
STATIC_REQUIRE(column(int2x2(1,2,3,4), 1) == int2(2,4));
STATIC_REQUIRE(column(int2x2(), 0, {2,3}) == int2x2(2,0,3,1));
STATIC_REQUIRE(column(int2x2(), 1, {3,4}) == int2x2(1,3,0,4));
}
SUBCASE("real") {
STATIC_REQUIRE(real(qua{1,2,3,4}) == 4);
STATIC_REQUIRE(real(qua{1,2,3,4}, 5) == qua{1,2,3,5});
}
SUBCASE("imag") {
STATIC_REQUIRE(imag(qua{1,2,3,4}) == vec{1,2,3});
STATIC_REQUIRE(imag(qua{1,2,3,4}, {4,3,2}) == qua{4,3,2,4});
}
}
TEST_CASE("vmath/ext/matrix_transform") {
SUBCASE("translate") {
STATIC_REQUIRE(float3(2.f,3.f,1.f) * translate(float2{1.f,2.f}) == uapprox3(3.f,5.f,1.f));
STATIC_REQUIRE(float3(2.f,3.f,1.f) * translate(translate(float2{1.f,2.f}), float2{1.f,2.f}) == uapprox3(4.f,7.f,1.f));
STATIC_REQUIRE(float4(2.f,3.f,4.f,1.f) * translate(float3{1.f,2.f,3.f}) == uapprox4(3.f,5.f,7.f,1.f));
STATIC_REQUIRE(float4(2.f,3.f,4.f,1.f) * translate(translate(float3{1.f,2.f,3.f}), float3{1.f,2.f,3.f}) == uapprox4(4.f,7.f,10.f,1.f));
}
SUBCASE("rotate") {
REQUIRE(float4(0.f,1.f,0.f,1.f) * rotate_x(pi_2) == uapprox4(0.f,0.f,1.f,1.f));
REQUIRE(float4(0.f,0.f,1.f,1.f) * rotate_y(pi_2) == uapprox4(1.f,0.f,0.f,1.f));
REQUIRE(float4(1.f,0.f,0.f,1.f) * rotate_z(pi_2) == uapprox4(0.f,1.f,0.f,1.f));
REQUIRE(float4(0.f,1.f,0.f,1.f) * rotate_x(rotate_x(pi_4),pi_4) == uapprox4(0.f,0.f,1.f,1.f));
REQUIRE(float4(0.f,0.f,1.f,1.f) * rotate_y(rotate_y(pi_4),pi_4) == uapprox4(1.f,0.f,0.f,1.f));
REQUIRE(float4(1.f,0.f,0.f,1.f) * rotate_z(rotate_z(pi_4),pi_4) == uapprox4(0.f,1.f,0.f,1.f));
REQUIRE(float3(2.f,3.f,1.f) * rotate(pi) == uapprox3(-2.f,-3.f,1.f));
REQUIRE(float4(2.f,3.f,4.f,1.f) * rotate(pi,{0.f,0.f,1.f}) == uapprox4(-2.f,-3.f,4.f,1.f));
REQUIRE(float4(2.f,3.f,4.f,1.f) * rotate(pi,float3{0.f,0.f,1.f}) == uapprox4(-2.f,-3.f,4.f,1.f));
REQUIRE(float4(2.f,3.f,4.f,1.f) * rotate(qrotate(pi,float3{0.f,0.f,1.f})) == uapprox4(-2.f,-3.f,4.f,1.f));
REQUIRE(float3(2.f,3.f,1.f) * rotate(rotate(pi_2),pi_2) == uapprox3(-2.f,-3.f,1.f));
REQUIRE(float4(2.f,3.f,4.f,1.f) * rotate(rotate(pi_2,{0.f,0.f,1.f}),pi_2,{0.f,0.f,1.f}) == uapprox4(-2.f,-3.f,4.f,1.f));
REQUIRE(float4(2.f,3.f,4.f,1.f) * rotate(rotate(pi_2,float3{0.f,0.f,1.f}),pi_2,float3{0.f,0.f,1.f}) == uapprox4(-2.f,-3.f,4.f,1.f));
REQUIRE(float4(2.f,3.f,4.f,1.f) * rotate(rotate(qrotate(pi_2,float3{0.f,0.f,1.f})),qrotate(pi_2,float3{0.f,0.f,1.f})) == uapprox4(-2.f,-3.f,4.f,1.f));
}
SUBCASE("scale") {
STATIC_REQUIRE(float3(2.f,3.f,1.f) * scale(float2{2.f,3.f}) == uapprox3(4.f,9.f,1.f));
STATIC_REQUIRE(float4(2.f,3.f,4.f,1.f) * scale(float3{2.f,3.f,4.f}) == uapprox4(4.f,9.f,16.f,1.f));
STATIC_REQUIRE(float4(2.f,3.f,4.f,1.f) * scale(float3{2.f,3.f,4.f}) == uapprox4(4.f,9.f,16.f,1.f));
STATIC_REQUIRE(float3(2.f,3.f,1.f) * scale(scale(float2{2.f,2.f}), {2.f,3.f}) == uapprox3(8.f,18.f,1.f));
STATIC_REQUIRE(float4(2.f,3.f,4.f,1.f) * scale(scale(float3{2.f,2.f,2.f}), {2.f,3.f,4.f}) == uapprox4(8.f,18.f,32.f,1.f));
STATIC_REQUIRE(float4(2.f,3.f,4.f,1.f) * scale(scale(float3{2.f,2.f,2.f}), float3{2.f,3.f,4.f}) == uapprox4(8.f,18.f,32.f,1.f));
}
SUBCASE("shear") {
STATIC_REQUIRE(float3(2.f,3.f,1.f) * shear_x(0.f) == uapprox3(2.f,3.f,1.f));
STATIC_REQUIRE(float3(2.f,3.f,1.f) * shear_x(1.f) == uapprox3(5.f,3.f,1.f));
STATIC_REQUIRE(float3(2.f,3.f,1.f) * shear_x(2.f) == uapprox3(8.f,3.f,1.f));
STATIC_REQUIRE(float3(2.f,3.f,1.f) * shear_x(shear_x(1.f),1.f) == uapprox3(8.f,3.f,1.f));
STATIC_REQUIRE(float3(2.f,3.f,1.f) * shear_y(0.f) == uapprox3(2.f,3.f,1.f));
STATIC_REQUIRE(float3(2.f,3.f,1.f) * shear_y(1.f) == uapprox3(2.f,5.f,1.f));
STATIC_REQUIRE(float3(2.f,3.f,1.f) * shear_y(2.f) == uapprox3(2.f,7.f,1.f));
STATIC_REQUIRE(float3(2.f,3.f,1.f) * shear_y(shear_y(1.f),1.f) == uapprox3(2.f,7.f,1.f));
STATIC_REQUIRE(float3(2.f,3.f,1.f) * shear(float2(0.f,0.f)) == uapprox3(2.f,3.f,1.f));
STATIC_REQUIRE(float3(2.f,3.f,1.f) * shear(float2(2.f,0.f)) == uapprox3(8.f,3.f,1.f));
STATIC_REQUIRE(float3(2.f,3.f,1.f) * shear(float2(0.f,2.f)) == uapprox3(2.f,7.f,1.f));
STATIC_REQUIRE(float3(2.f,3.f,1.f) * shear(shear(float2(1.f,0.f)),float2(1.f,0.f)) == uapprox3(8.f,3.f,1.f));
STATIC_REQUIRE(float3(2.f,3.f,1.f) * shear(shear(float2(0.f,1.f)),float2(0.f,1.f)) == uapprox3(2.f,7.f,1.f));
}
SUBCASE("matrix look_at") {
(void)look_at_lh(float3(1,2,3), float3(0,0,0), float3(0,2,0));
(void)look_at_rh(float3(1,2,3), float3(0,0,0), float3(0,2,0));
}
}
TEST_CASE("vmath/ext/matrix_projections") {
SUBCASE("orthographic") {
REQUIRE(all(approx(
orthographic_lh(800.f, 600.f, 5.f, 10.f),
scale(1.f,1.f,-1.f) * orthographic_rh(800.f, 600.f, 5.f, 10.f))));
REQUIRE(all(approx(
orthographic_lh(100.f, 800.f, 50.f, 640.f, 5.f, 10.f),
scale(1.f,1.f,-1.f) * orthographic_rh(100.f, 800.f, 50.f, 640.f, 5.f, 10.f))));
}
SUBCASE("perspective") {
REQUIRE(all(approx(
perspective_lh(800.f, 600.f, 5.f, 10.f),
scale(1.f,1.f,-1.f) * perspective_rh(800.f, 600.f, 5.f, 10.f))));
REQUIRE(all(approx(
perspective_fov_lh(1.5f, 1.3f, 0.f, 10.f),
scale(1.f,1.f,-1.f) * perspective_fov_rh(1.5f, 1.3f, 0.f, 10.f))));
REQUIRE(all(approx(
perspective_lh(100.f, 800.f, 50.f, 600.f, 5.f, 10.f),
scale(1.f,1.f,-1.f) * perspective_rh(100.f, 800.f, 50.f, 600.f, 5.f, 10.f))));
}
}
TEST_CASE("vmath/ext/vector_transform") {
SUBCASE("angle") {
REQUIRE(angle(float2(2.f,0.f), float2(0.f,1.f)) == uapprox(radians(90.f)));
REQUIRE(angle(float2(0.f,3.f), float2(1.f,0.f)) == uapprox(radians(90.f)));
REQUIRE(angle(float2(0.5f,0.f), float2(-1.f,0.f)) == uapprox(radians(180.f)));
REQUIRE(angle(float2(-0.2f,0.f), float2(1.f,0.f)) == uapprox(radians(180.f)));
REQUIRE(angle(float3(0.f,2.f,0.f), float3(0.f,0.f,1.f)) == uapprox(radians(90.f)));
REQUIRE(angle(float3(0.f,0.f,3.f), float3(0.f,1.f,0.f)) == uapprox(radians(90.f)));
}
SUBCASE("rotate") {
REQUIRE(rotate(float2(2.f,0.f), radians(90.f)) == uapprox2(0.f,2.f));
REQUIRE(rotate(float2(1.5f,0.f), radians(-90.f)) == uapprox2(0.f,-1.5f));
REQUIRE(rotate_x(float3(0.f,1.5f,0.f), radians(90.f)) == uapprox3(0.f,0.f,1.5f));
REQUIRE(rotate_y(float3(0.f,0.f,1.5f), radians(90.f)) == uapprox3(1.5f,0.f,0.f));
REQUIRE(rotate_z(float3(1.5f,0.f,0.f), radians(90.f)) == uapprox3(0.f,1.5f,0.f));
REQUIRE(rotate(float3(1.5f,0.f,0.f), qrotate_z(radians(90.f))) == uapprox3(0.f,1.5f,0.f));
REQUIRE(rotate(float3(1.5f,0.f,0.f), radians(90.f), float3(0,0,1)) == uapprox3(0.f,1.5f,0.f));
}
SUBCASE("project") {
STATIC_REQUIRE(project(float2(2.f, 2.f), float2(0.f, 1.f)) == uapprox2(0.f, 2.f));
STATIC_REQUIRE(project(float3(2.f, 2.f, 2.f), float3(0.f, 0.f, 1.f)) == uapprox3(0.f, 0.f, 2.f));
}
SUBCASE("perpendicular") {
STATIC_REQUIRE(perpendicular(float2(2.f, 2.f), float2(0.f, 1.f)) == uapprox2(2.f, 0.f));
STATIC_REQUIRE(perpendicular(float3(2.f, 2.f, 2.f), float3(0.f, 0.f, 1.f)) == uapprox3(2.f, 2.f, 0.f));
}
}
TEST_CASE("vmath/ext/quaternion_transform") {
SUBCASE("qrotate(m)") {
REQUIRE(all(approx(
vec{4.f,3.f,2.f,1.f} * rotate(qrotate(float3x3(rotate(0.f, vec{1.f,2.f,3.f})))),
vec{4.f,3.f,2.f,1.f} * rotate(0.f, vec{1.f,2.f,3.f}), 0.001f)));
REQUIRE(all(approx(
vec{4.f,3.f,2.f,1.f} * rotate(qrotate(float3x3(rotate(radians(12.5f), vec{1.f,2.f,3.f})))),
vec{4.f,3.f,2.f,1.f} * rotate(radians(12.5f), vec{1.f,2.f,3.f}), 0.001f)));
REQUIRE(all(approx(
vec{4.f,3.f,2.f,1.f} * rotate(qrotate(float3x3(rotate(radians(-190.5f), vec{1.f,2.f,3.f})))),
vec{4.f,3.f,2.f,1.f} * rotate(radians(-190.5f), vec{1.f,2.f,3.f}), 0.001f)));
}
SUBCASE("qrotate(q, m)") {
REQUIRE(all(approx(
vec{4.f,3.f,2.f} * qrotate(
qrotate(float3x3(rotate(0.f, vec{1.f,2.f,3.f}))),
float3x3(rotate(0.f, vec{3.f,2.f,1.f}))),
vec{4.f,3.f,2.f} *
float3x3(rotate(0.f, vec{1.f,2.f,3.f})) *
float3x3(rotate(0.f, vec{3.f,2.f,1.f})))));
}
SUBCASE("qrotate(from, to)") {
REQUIRE(+unit3_x<float> * qrotate(-unit3_x<float>, +unit3_x<float>) == uapprox3(-unit3_x<float>));
REQUIRE(-unit3_y<float> * qrotate(+unit3_y<float>, -unit3_y<float>) == uapprox3(+unit3_y<float>));
REQUIRE(+unit3_z<float> * qrotate(-unit3_z<float>, +unit3_z<float>) == uapprox3(-unit3_z<float>));
REQUIRE(vec{1.f,2.f,3.f} * qrotate(vec{1.f,2.f,3.f}, vec{-2.f,1.f,3.f}) == uapprox3(-2.f,1.f,3.f));
REQUIRE(vec{-2.f,1.f,3.f} * qrotate(vec{-2.f,1.f,3.f}, vec{1.f,2.f,3.f}) == uapprox3(1.f,2.f,3.f));
}
SUBCASE("qrotate(q, from, to)") {
REQUIRE(vec{1.f,2.f,3.f} *
inverse(qrotate(float3x3(rotate(radians(12.f), {2.f,2.f,2.f})))) *
qrotate(
qrotate(float3x3(rotate(radians(12.f), {2.f,2.f,2.f}))),
vec{1.f,2.f,3.f},
vec{-2.f,1.f,3.f}) == uapprox3(vec{-2.f,1.f,3.f}));
}
SUBCASE("qrotate(angle, axis)") {
REQUIRE(all(approx(
rotate(12.3f, float3(1.f,2.f,3.f)),
rotate(qrotate(12.3f, float3(1.f,2.f,3.f)) * 2.f))));
REQUIRE(float3(0.f,1.f,0.f) * qrotate_x(pi_2) == uapprox3(0.f,0.f,1.f));
REQUIRE(float3(0.f,0.f,1.f) * qrotate_y(pi_2) == uapprox3(1.f,0.f,0.f));
REQUIRE(float3(1.f,0.f,0.f) * qrotate_z(pi_2) == uapprox3(0.f,1.f,0.f));
REQUIRE(float3(2.f,3.f,4.f) * qrotate(pi,{0.f,0.f,1.f}) == uapprox3(-2.f,-3.f,4.f));
REQUIRE(float3(2.f,3.f,4.f) * qrotate(pi,float3{0.f,0.f,1.f}) == uapprox3(-2.f,-3.f,4.f));
REQUIRE(qrotate_x(12.3f) == qrotate(12.3f, unit3_x<float> * 2.f));
REQUIRE(qrotate_y(12.3f) == qrotate(12.3f, unit3_y<float> * 2.f));
REQUIRE(qrotate_z(12.3f) == qrotate(12.3f, unit3_z<float> * 2.f));
}
SUBCASE("qrotate(q, angle, axis)") {
REQUIRE(float3(0.f,1.f,0.f) * qrotate_x(qrotate_x(pi_4),pi_4) == uapprox3(0.f,0.f,1.f));
REQUIRE(float3(0.f,0.f,1.f) * qrotate_y(qrotate_y(pi_4),pi_4) == uapprox3(1.f,0.f,0.f));
REQUIRE(float3(1.f,0.f,0.f) * qrotate_z(qrotate_z(pi_4),pi_4) == uapprox3(0.f,1.f,0.f));
REQUIRE(float3(2.f,3.f,4.f) * qrotate(qrotate(pi_2,{0.f,0.f,1.f}),pi_2,{0.f,0.f,1.f}) == uapprox3(-2.f,-3.f,4.f));
REQUIRE(float3(2.f,3.f,4.f) * qrotate(qrotate(pi_2,float3{0.f,0.f,1.f}),pi_2,float3{0.f,0.f,1.f}) == uapprox3(-2.f,-3.f,4.f));
}
SUBCASE("qlook_at") {
REQUIRE(all(approx(
qlook_at_lh(float3(1.f,2.f,3.f), float3(0,1,0)),
qrotate(float3x3(look_at_lh(float3(), float3(1.f,2.f,3.f), float3(0,1,0)))))));
REQUIRE(all(approx(
qlook_at_rh(float3(1.f,2.f,3.f), float3(0,1,0)),
qrotate(float3x3(look_at_rh(float3(), float3(1.f,2.f,3.f), float3(0,1,0)))))));
}
}
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