From 0f46f06ed541e1beb2e2ba8680d03c0ae3c007bb Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pse@pale.blue>
Date: Fri, 28 Jan 2022 13:45:31 +0100
Subject: [PATCH] Added Quaternion unit tests

---
 include/Quaternion.h    |   3 +-
 test/Quaternion_test.cc | 166 +++++++++++++++++++++++++++++++++++++++-
 2 files changed, 167 insertions(+), 2 deletions(-)

diff --git a/include/Quaternion.h b/include/Quaternion.h
index 41e7141..c61439c 100644
--- a/include/Quaternion.h
+++ b/include/Quaternion.h
@@ -3,7 +3,8 @@
 // file, You can obtain one at https ://mozilla.org/MPL/2.0/.
 
 #pragma once
-struct Vector3;
+//struct Vector3;
+#include "Vector3.h"
 
 extern "C" {
 	/// <summary>
diff --git a/test/Quaternion_test.cc b/test/Quaternion_test.cc
index a1e301f..f7de62c 100644
--- a/test/Quaternion_test.cc
+++ b/test/Quaternion_test.cc
@@ -6,7 +6,7 @@
 
 #define FLOAT_INFINITY std::numeric_limits<float>::infinity()
 
-TEST(Quaternion, Normalze) {
+TEST(Quaternion, Normalize) {
 	bool r = false;
 
 	Quaternion q1 = Quaternion(0, 0, 0, 1);
@@ -20,4 +20,168 @@ TEST(Quaternion, Normalze) {
 	q = Quaternion::Normalize(q1);
 	r = q == q1;
 	EXPECT_TRUE(r) << "Quaternion::Normalize 0 0 0 1";
+}
+
+TEST(Quaternion, ToAngles) {
+	bool r = false;
+
+	Quaternion q1 = Quaternion(0, 0, 0, 1);
+	Vector3 v = Vector3::zero;
+
+	v = Quaternion::ToAngles(q1);
+	r = v == Vector3(0, 0, 0);
+	EXPECT_TRUE(r) << "Quaternion::ToAngles 0 0 0 1";
+
+	q1 = Quaternion(1, 0, 0, 0);
+	v = Quaternion::ToAngles(q1);
+	r = v == Vector3(180, 0, 0);
+	EXPECT_TRUE(r) << "Quaternion::ToAngles 1 0 0 0";
+}
+
+TEST(Quaternion, Multiplication) {
+	bool r = false;
+
+	Quaternion q1 = Quaternion(0, 0, 0, 1);
+	Quaternion q2 = Quaternion(1, 0, 0, 0);
+	Quaternion q = Quaternion::identity;
+
+	q = q1 * q2;
+	r = q == Quaternion(1, 0, 0, 0);
+	EXPECT_TRUE(r) << "0 0 0 1 * 1 0 0 0";
+}
+
+TEST(Quaternion, MultiplicationVector) {
+	bool r = false;
+
+	Quaternion q1 = Quaternion(0, 0, 0, 1);
+	Vector3 v1 = Vector3(0, 1, 0);
+	Vector3 v = Vector3::zero;
+
+	v = q1 * v1;
+	r = v == Vector3(0, 1, 0);
+	EXPECT_TRUE(r) << "0 0 0 1 * Vector 0 1 0";
+
+	q1 = Quaternion(1, 0, 0, 0);
+	v = q1 * v1;
+	r = v == Vector3(0, -1, 0);
+	EXPECT_TRUE(r) << "1 0 0 0 * Vector 0 1 0";
+}
+
+TEST(Quaternion, Equality) {
+	bool r = false;
+
+	Quaternion q1 = Quaternion(0, 0, 0, 1);
+	Quaternion q2 = Quaternion(1, 0, 0, 0);
+
+	r = q1 == q2;
+	EXPECT_FALSE(r) << " 0 0 0 1 == 1 0 0 0";
+
+	q2 = Quaternion(0, 0, 0, 1);
+	r = q1 == q2;
+	EXPECT_TRUE(r) << "0 0 0 1 == 0 0 0 1";
+}
+
+TEST(Quaternion, Inverse) {
+
+}
+
+TEST(Quaternion, LookRotation) {
+
+}
+
+TEST(Quaternion, FromToRotation) {
+
+}
+
+TEST(Quaternion, RotateTowards) {
+
+}
+
+TEST(Quaternion, AngleAxis) {
+
+}
+
+TEST(Quaternion, Angle) {
+
+}
+
+TEST(Quaternion, Slerp) {
+
+}
+
+TEST(Quaternion, SlerpUnclamped) {
+
+}
+
+TEST(Quaternion, Euler) {
+	bool r = false;
+
+	Vector3 v1 = Vector3(0, 0, 0);
+	Quaternion q = Quaternion::identity;
+
+	q = Quaternion::Euler(v1);
+	r = q == Quaternion::identity;
+	EXPECT_TRUE(r) << "Euler Vector 0 0 0";
+
+	q = Quaternion::Euler(0, 0, 0);
+	r = q == Quaternion::identity;
+	EXPECT_TRUE(r) << "Euler 0 0 0";
+
+	v1 = Vector3(90, 90, -90);
+	q = Quaternion::Euler(v1);
+	r = q == Quaternion(0, 0.707106709F, -0.707106709F, 0);
+	EXPECT_TRUE(r) << "Euler Vector 90 90 -90";
+
+	q = Quaternion::Euler(90, 90, -90);
+	r = q == Quaternion(0, 0.707106709F, -0.707106709F, 0);
+	EXPECT_TRUE(r) << "Euler 90 90 -90";
+}
+
+TEST(Quaternion, GetAngleAround) {
+	bool r = false;
+
+	Vector3 v1 = Vector3(0, 1, 0);
+	Quaternion q1 = Quaternion(0, 0, 0, 1);
+	float f;
+
+	f = Quaternion::GetAngleAround(v1, q1);
+	EXPECT_FLOAT_EQ(f, 0) << "GetAngleAround 0 1 0 , 0 0 0 1";
+
+	q1 = Quaternion(0, 0.707106709F, -0.707106709F, 0);
+	f = Quaternion::GetAngleAround(v1, q1);
+	EXPECT_FLOAT_EQ(f, 180) << "GetAngleAround 0 1 0 , 0 0.7 -0.7 0";
+
+	v1 = Vector3(0, 0, 0);
+	f = Quaternion::GetAngleAround(v1, q1);
+	r = isnan(f);
+	EXPECT_TRUE(r) << "GetAngleAround 0 0 0 , 0 0.7 -0.7 0";
+}
+
+TEST(Quaternion, GetRotationAround) {
+	bool r = false;
+
+	Vector3 v1 = Vector3(0, 1, 0);
+	Quaternion q1 = Quaternion(0, 0, 0, 1);
+	Quaternion q = Quaternion::identity;
+
+	q = Quaternion::GetRotationAround(v1, q1);
+	r = q == Quaternion::identity;
+	EXPECT_TRUE(r) << "GetRotationAround 0 1 0 , 0 0 0 1";
+
+	q1 = Quaternion(0, 0.707106709F, -0.707106709F, 0);
+	q = Quaternion::GetRotationAround(v1, q1);
+	r = q == Quaternion(0, 1, 0, 0);
+	EXPECT_TRUE(r) << "GetRotationAround 0 1 0 , 0 0.7 -0.7 0";
+
+	v1 = Vector3(0, 0, 0);
+	q = Quaternion::GetRotationAround(v1, q1);
+	r = isnan(q.x) && isnan(q.y) && isnan(q.z) && isnan(q.w);
+	EXPECT_TRUE(r) << "GetRotationAround 0 0 0 , 0 0.7 -0.7 0";
+}
+
+TEST(Quaternion, GetSwingTwist) {
+
+}
+
+TEST(Quaternion, Dot) {
 }
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