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Viewing changes to vdrift/rigidbody.cpp

  • Committer: Jannik Heller
  • Date: 2011-01-30 12:41:18 UTC
  • Revision ID: scrawl@scrawl-desktop-20110130124118-v5euo5nkmhjqqd9s
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vdrift/rigidbody.cpp
 
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#include "stdafx.h"
 
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#include "rigidbody.h"
 
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#include "unittest.h"
 
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//#include <iostream>
 
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using std::cout;
 
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using std::endl;
 
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QT_TEST(rigidbody_test)
 
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{
 
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        RIGIDBODY <float> body;
 
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        MATHVECTOR <float, 3> initpos;
 
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        QUATERNION <float> quat;
 
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        initpos.Set(0,0,10);
 
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        body.SetPosition(initpos);
 
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        quat.Rotate(-3.141593*0.5, 1, 0, 0);
 
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        body.SetOrientation(quat);
 
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        MATHVECTOR <float, 3> localcoords;
 
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        localcoords.Set(0,0,1);
 
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        MATHVECTOR <float, 3> expected;
 
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        expected.Set(0,1,10);
 
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        MATHVECTOR <float, 3> pos = body.TransformLocalToWorld(localcoords);
 
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        QT_CHECK_CLOSE(pos[0], expected[0], 0.0001);
 
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        QT_CHECK_CLOSE(pos[1], expected[1], 0.0001);
 
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        QT_CHECK_CLOSE(pos[2], expected[2], 0.0001);
 
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        QT_CHECK_CLOSE(body.TransformWorldToLocal(pos)[0], localcoords[0], 0.0001);
 
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        QT_CHECK_CLOSE(body.TransformWorldToLocal(pos)[1], localcoords[1], 0.0001);
 
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        QT_CHECK_CLOSE(body.TransformWorldToLocal(pos)[2], localcoords[2], 0.0001);
 
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}