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Implimented the quaternion class and added unit tests

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This commit is contained in:
Quinn
2025-02-06 23:44:55 -05:00
parent 6e480dce86
commit 742749457c
3 changed files with 82 additions and 1 deletions
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51
unit-tests/quaternion-tests.cpp
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@@ -52,4 +52,55 @@ TEST_CASE("Vector Math", "Vector")
REQUIRE(q6.v3 == 3);
REQUIRE(q6.w == 4);
}
SECTION("Array access")
{
REQUIRE(q1[0] == 1);
REQUIRE(q1[1] == 2);
REQUIRE(q1[2] == 3);
REQUIRE(q1[3] == 4);
}
SECTION("Addition")
{
Quaternion q3 = q1 + q2;
REQUIRE(q3.v1 == 5);
REQUIRE(q3.v2 == 12);
REQUIRE(q3.v3 == 21);
REQUIRE(q3.w == 32);
}
SECTION("Rotation")
{
Quaternion q3;
q1.Rotate(q2, q3);
REQUIRE(q3.v1 == -24);
REQUIRE(q3.v2 == 48);
REQUIRE(q3.v3 == 48);
REQUIRE(q3.w == -6);
}
SECTION("Euler Angles")
{
Matrix<1, 3> angles;
q1.ToEulerAngles(angles);
REQUIRE_THAT(angles.Get(0, 0), Catch::Matchers::WithinRel(-0.1973956f, 1e-6f));
REQUIRE_THAT(angles.Get(0, 1), Catch::Matchers::WithinRel(0.823212f, 1e-6f));
REQUIRE_THAT(angles.Get(0, 2), Catch::Matchers::WithinRel(1.3734008f, 1e-6f));
}
SECTION("Rotation Matrix")
{
Matrix<3, 3> rotationMatrix;
q1.ToRotationMatrix(rotationMatrix);
REQUIRE_THAT(rotationMatrix.Get(0, 0), Catch::Matchers::WithinRel(0.1333333f, 1e-6f));
REQUIRE_THAT(rotationMatrix.Get(0, 1), Catch::Matchers::WithinRel(-0.6666667f, 1e-6f));
REQUIRE_THAT(rotationMatrix.Get(0, 2), Catch::Matchers::WithinRel(0.7333333f, 1e-6f));
REQUIRE_THAT(rotationMatrix.Get(1, 0), Catch::Matchers::WithinRel(0.9333333f, 1e-6f));
REQUIRE_THAT(rotationMatrix.Get(1, 1), Catch::Matchers::WithinRel(0.3333333f, 1e-6f));
REQUIRE_THAT(rotationMatrix.Get(1, 2), Catch::Matchers::WithinRel(0.1333333f, 1e-6f));
REQUIRE_THAT(rotationMatrix.Get(2, 0), Catch::Matchers::WithinRel(-0.3333333f, 1e-6f));
REQUIRE_THAT(rotationMatrix.Get(2, 1), Catch::Matchers::WithinRel(0.6666667f, 1e-6f));
REQUIRE_THAT(rotationMatrix.Get(2, 2), Catch::Matchers::WithinRel(0.6666667f, 1e-6f));
}
}