*

Dependencies/LMath/lmath_test/lm_quaternion_test.cpp

@@ -0,0 +1,51 @@
+#include "stdafx.h"
+#include "CppUnitTest.h"
+#include "../Src/lmath/lmath.h"
+
+using namespace Microsoft::VisualStudio::CppUnitTestFramework;
+using namespace lm;
+
+namespace lmath_test {
+	TEST_CLASS(lm_quaternion_test_class) {
+public:
+	TEST_METHOD(lm_quaternion_test) {
+		lm::Quaternion<float> q(0.0f, 1.0f, 2.0f, 3.0f);
+		Assert::AreEqual(0.0f, q[0]);
+		Assert::AreEqual(1.0f, q[1]);
+		Assert::AreEqual(2.0f, q[2]);
+		Assert::AreEqual(3.0f, q[3]);
+
+		q = Quaternion<float>::identity();
+		Assert::AreEqual(0.0f, q[0]);
+		Assert::AreEqual(0.0f, q[1]);
+		Assert::AreEqual(0.0f, q[2]);
+		Assert::AreEqual(1.0f, q[3]);
+
+		
+		lm::Quaternion<float> q2 = q;
+
+		auto q1 = lm::Quaternion_f::angleAxis(lm::pi_f / 2.0f, float3::unitY());
+
+		Assert::AreEqual(0.0f, q1[0], L"Q0");
+		Assert::AreEqual(lm::cos(lm::pi_f / 4.0f), q1[1], L"Q1");
+		Assert::AreEqual(0.0f, q1[2], L"Q2");
+		Assert::AreEqual(lm::cos(lm::pi_f / 4.0f), q1[3], L"Q3");
+
+		q1 = q1 * q1;
+
+		auto q3 = lm::Quaternion_f::angleAxis(lm::pi_f, float3::unitY());
+
+		const float epsilon = 0.0001f;
+		Assert::AreEqual(q3[0], q1[0], epsilon, L"Q0");
+		Assert::AreEqual(q3[1], q1[1], epsilon, L"Q1");
+		Assert::AreEqual(q3[2], q1[2], epsilon, L"Q2");
+		Assert::AreEqual(q3[3], q1[3], epsilon, L"Q3");
+
+		Assert::AreEqual(0.0f, q1[0], epsilon, L"Q0");
+		Assert::AreEqual(1.0f, q1[1], epsilon, L"Q1");
+		Assert::AreEqual(0.0f, q1[2], epsilon, L"Q2");
+		Assert::AreEqual(0.0f, q1[3], epsilon, L"Q3");
+
+	}
+	};
+}