//Copyright (c) 2008-2016 Emil Dotchevski and Reverge Studios, Inc.



//Distributed under the Boost Software License, Version 1.0. (See accompanying

//file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)



#include <boost/qvm/operations.hpp>

#include <boost/qvm/vec.hpp>

#include "test_qvm_quaternion.hpp"

#include "test_qvm_matrix.hpp"

#include "test_qvm_vector.hpp"

#include "gold.hpp"



namespace

    {

    template <class T,class U> struct same_type_tester;

    template <class T> struct same_type_tester<T,T> { };

    template <class T,class U> void test_same_type( T, U ) { same_type_tester<T,U>(); }



    void

    test()

        {

        using namespace boost::qvm;

        for( float a=0; a<6.28f; a+=0.2f )

            {

            test_qvm::quaternion<Q1> const qx=rotx_quat(a);

            test_qvm::quaternion<Q1> const qy=roty_quat(a);

            test_qvm::quaternion<Q1> const qz=rotz_quat(a);

            test_qvm::matrix<M1,3,3> const mx=rotx_mat<3>(a);

            test_qvm::matrix<M1,3,3> const my=roty_mat<3>(a);

            test_qvm::matrix<M1,3,3> const mz=rotz_mat<3>(a);

            test_qvm::vector<V1,3> const v(42,1);

            test_same_type(vec<float,3>(),qx*v);

            test_qvm::vector<V1,3> const q_vx=qx*v;

            test_qvm::vector<V1,3> const m_vx=mx*v;

            test_qvm::vector<V1,3> const q_vy=qy*v;

            test_qvm::vector<V1,3> const m_vy=my*v;

            test_qvm::vector<V1,3> const q_vz=qz*v;

            test_qvm::vector<V1,3> const m_vz=mz*v;

            BOOST_QVM_TEST_CLOSE(q_vx.a,m_vx.a,0.001f);

            BOOST_QVM_TEST_CLOSE(q_vy.a,m_vy.a,0.001f);

            BOOST_QVM_TEST_CLOSE(q_vz.a,m_vz.a,0.001f);

            }

        }

    }



int

main()

    {

    test();

    return boost::report_errors();

    }

