path: root/indra/llmath/tests/llquaternion_test.cpp

/** 
 * @file llquaternion_test.cpp
 * @author Adroit
 * @date 2007-03
 * @brief Test cases of llquaternion.h
 *
 * $LicenseInfo:firstyear=2007&license=viewergpl$
 * 
 * Copyright (c) 2007-2009, Linden Research, Inc.
 * 
 * Second Life Viewer Source Code
 * The source code in this file ("Source Code") is provided by Linden Lab
 * to you under the terms of the GNU General Public License, version 2.0
 * ("GPL"), unless you have obtained a separate licensing agreement
 * ("Other License"), formally executed by you and Linden Lab.  Terms of
 * the GPL can be found in doc/GPL-license.txt in this distribution, or
 * online at http://secondlifegrid.net/programs/open_source/licensing/gplv2
 * 
 * There are special exceptions to the terms and conditions of the GPL as
 * it is applied to this Source Code. View the full text of the exception
 * in the file doc/FLOSS-exception.txt in this software distribution, or
 * online at
 * http://secondlifegrid.net/programs/open_source/licensing/flossexception
 * 
 * By copying, modifying or distributing this software, you acknowledge
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 * and agree to abide by those obligations.
 * 
 * ALL LINDEN LAB SOURCE CODE IS PROVIDED "AS IS." LINDEN LAB MAKES NO
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 * COMPLETENESS OR PERFORMANCE.
 * $/LicenseInfo$
 */

#include "linden_common.h"
#include "../test/lltut.h"

#include "../v4math.h"
#include "../v3math.h"
#include "../v3dmath.h"
#include "../m4math.h"
#include "../m3math.h"
#include "../llquaternion.h"

namespace tut
{
	struct llquat_test
	{
	};
	typedef test_group<llquat_test> llquat_test_t;
	typedef llquat_test_t::object llquat_test_object_t;
	tut::llquat_test_t tut_llquat_test("LLQuaternion");

	//test case for LLQuaternion::LLQuaternion(void) fn.
	template<> template<>
	void llquat_test_object_t::test<1>()
	{
		LLQuaternion llquat;
		ensure("LLQuaternion::LLQuaternion() failed", 0.f == llquat.mQ[0] &&
		 									0.f == llquat.mQ[1] &&
		 									0.f == llquat.mQ[2] &&
											1.f == llquat.mQ[3]);
	}

	//test case for explicit LLQuaternion(const LLMatrix4 &mat) fn.
	template<> template<>
	void llquat_test_object_t::test<2>()
	{
		LLMatrix4 llmat;
		LLVector4 vector1(2.0f, 1.0f, 3.0f, 6.0f);
		LLVector4 vector2(5.0f, 6.0f, 0.0f, 1.0f);
		LLVector4 vector3(2.0f, 1.0f, 2.0f, 9.0f);
		LLVector4 vector4(3.0f, 8.0f, 1.0f, 5.0f);

		llmat.initRows(vector1, vector2, vector3, vector4);
		ensure("explicit LLQuaternion(const LLMatrix4 &mat) failed", 2.0f == llmat.mMatrix[0][0] &&
										 	1.0f == llmat.mMatrix[0][1] &&
											3.0f == llmat.mMatrix[0][2] &&
											6.0f == llmat.mMatrix[0][3] &&
											5.0f == llmat.mMatrix[1][0] &&
											6.0f == llmat.mMatrix[1][1] &&
											0.0f == llmat.mMatrix[1][2] &&
											1.0f == llmat.mMatrix[1][3] &&
											2.0f == llmat.mMatrix[2][0] &&
											1.0f == llmat.mMatrix[2][1] &&
											2.0f == llmat.mMatrix[2][2] &&
											9.0f == llmat.mMatrix[2][3] &&
											3.0f == llmat.mMatrix[3][0] &&
											8.0f == llmat.mMatrix[3][1] &&
											1.0f == llmat.mMatrix[3][2] &&
											5.0f == llmat.mMatrix[3][3]);
	}
	
	template<> template<>
	void llquat_test_object_t::test<3>()
	{
		LLMatrix3 llmat;

		LLVector3 vect1(3.4028234660000000f , 234.56f, 4234.442234f);
		LLVector3 vect2(741.434f, 23.00034f, 6567.223423f);
		LLVector3 vect3(566.003034f, 12.98705f, 234.764423f);
		llmat.setRows(vect1, vect2, vect3);

		ensure("LLMatrix3::setRows fn failed.", 3.4028234660000000f == llmat.mMatrix[0][0] &&
										234.56f == llmat.mMatrix[0][1] &&
										4234.442234f == llmat.mMatrix[0][2] &&
										741.434f == llmat.mMatrix[1][0] &&
										23.00034f == llmat.mMatrix[1][1] &&
										6567.223423f == llmat.mMatrix[1][2] &&
										566.003034f == llmat.mMatrix[2][0] &&
										12.98705f == llmat.mMatrix[2][1] &&
										234.764423f == llmat.mMatrix[2][2]);		
	}

	//test case for LLQuaternion(F32 x, F32 y, F32 z, F32 w), setQuatInit() and normQuat() fns.
	template<> template<>
	void llquat_test_object_t::test<4>()
	{
		F32 x_val = 3.0f;
		F32 y_val = 2.0f;
		F32 z_val = 6.0f;
		F32 w_val = 1.0f;
		
		LLQuaternion res_quat;
		res_quat.setQuatInit(x_val, y_val, z_val, w_val);
		res_quat.normQuat();
				
		ensure("LLQuaternion::normQuat() fn failed", 
							is_approx_equal(0.42426407f, res_quat.mQ[0]) &&
							is_approx_equal(0.28284273f, res_quat.mQ[1]) &&
							is_approx_equal(0.84852815f, res_quat.mQ[2]) &&
							is_approx_equal(0.14142136f, res_quat.mQ[3]));
		
		x_val = 0.0f;
		y_val = 0.0f;
		z_val = 0.0f;
		w_val = 0.0f;

		res_quat.setQuatInit(x_val, y_val, z_val, w_val);
		res_quat.normQuat();

		ensure("LLQuaternion::normQuat() fn. failed.", 
							is_approx_equal(0.0f, res_quat.mQ[0]) &&
							is_approx_equal(0.0f, res_quat.mQ[1]) &&
							is_approx_equal(0.0f, res_quat.mQ[2]) &&
							is_approx_equal(1.0f, res_quat.mQ[3]));


		ensure("LLQuaternion::normQuat() fn. failed.", 
							is_approx_equal(0.0f, res_quat.mQ[0]) &&
							is_approx_equal(0.0f, res_quat.mQ[1]) &&
							is_approx_equal(0.0f, res_quat.mQ[2]) &&
							is_approx_equal(1.0f, res_quat.mQ[3]));
	}

	//test case for conjQuat() and transQuat() fns.
	template<> template<>
	void llquat_test_object_t::test<5>()
	{
		F32 x_val = 3.0f;
		F32 y_val = 2.0f;
		F32 z_val = 6.0f;
		F32 w_val = 1.0f;
		
		LLQuaternion res_quat;
		LLQuaternion result, result1;
		result1 = result = res_quat.setQuatInit(x_val, y_val, z_val, w_val);
				
		result.conjQuat();
		result1.transQuat();

		ensure("LLQuaternion::conjQuat and LLQuaternion::transQuat failed ", 
								is_approx_equal(result1.mQ[0], result.mQ[0]) &&
								is_approx_equal(result1.mQ[1], result.mQ[1]) &&
								is_approx_equal(result1.mQ[2], result.mQ[2]));		

	}

	//test case for dot(const LLQuaternion &a, const LLQuaternion &b) fn.
	template<> template<>
	void llquat_test_object_t::test<6>()
	{
		LLQuaternion quat1(3.0f, 2.0f, 6.0f, 0.0f), quat2(1.0f, 1.0f, 1.0f, 1.0f);
		ensure("1. The two values are different", llround(12.000000f, 2) == llround(dot(quat1, quat2), 2));

		LLQuaternion quat0(3.0f, 9.334f, 34.5f, 23.0f), quat(34.5f, 23.23f, 2.0f, 45.5f);
		ensure("2. The two values are different", llround(1435.828807f, 2) == llround(dot(quat0, quat), 2));
	}

	//test case for LLQuaternion &LLQuaternion::constrain(F32 radians) fn.
	template<> template<>
	void llquat_test_object_t::test<7>()
	{
		F32 radian = 60.0f;
		LLQuaternion quat(3.0f, 2.0f, 6.0f, 0.0f);
		LLQuaternion quat1;
		quat1 = quat.constrain(radian);
		ensure("1. LLQuaternion::constrain(F32 radians) failed", 
									is_approx_equal_fraction(-0.423442f, quat1.mQ[0], 8) &&
									is_approx_equal_fraction(-0.282295f, quat1.mQ[1], 8) &&
									is_approx_equal_fraction(-0.846884f, quat1.mQ[2], 8) &&				
									is_approx_equal_fraction(0.154251f, quat1.mQ[3], 8));				
											

		radian = 30.0f;
		LLQuaternion quat0(37.50f, 12.0f, 86.023f, 40.32f);
		quat1 = quat0.constrain(radian);
	
		ensure("2. LLQuaternion::constrain(F32 radians) failed", 
									is_approx_equal_fraction(37.500000f, quat1.mQ[0], 8) &&
									is_approx_equal_fraction(12.0000f, quat1.mQ[1], 8) &&
									is_approx_equal_fraction(86.0230f, quat1.mQ[2], 8) &&				
									is_approx_equal_fraction(40.320000f, quat1.mQ[3], 8));				
	}

	template<> template<>
	void llquat_test_object_t::test<8>()
	{
		F32 value1 = 15.0f;
		LLQuaternion quat1(1.0f, 2.0f, 4.0f, 1.0f);
		LLQuaternion quat2(4.0f, 3.0f, 6.5f, 9.7f);
		LLQuaternion res_lerp, res_slerp, res_nlerp;
		
		//test case for lerp(F32 t, const LLQuaternion &q) fn. 
		res_lerp = lerp(value1, quat1);
		ensure("1. LLQuaternion lerp(F32 t, const LLQuaternion &q) failed", 
										is_approx_equal_fraction(0.181355f, res_lerp.mQ[0], 16) &&
										is_approx_equal_fraction(0.362711f, res_lerp.mQ[1], 16) &&
										is_approx_equal_fraction(0.725423f, res_lerp.mQ[2], 16) &&				
										is_approx_equal_fraction(0.556158f, res_lerp.mQ[3], 16));				

		//test case for lerp(F32 t, const LLQuaternion &p, const LLQuaternion &q) fn.
		res_lerp = lerp(value1, quat1, quat2);
		ensure("2. LLQuaternion lerp(F32 t, const LLQuaternion &p, const LLQuaternion &q) failed",
										is_approx_equal_fraction(0.314306f, res_lerp.mQ[0], 16) &&
										is_approx_equal_fraction(0.116156f, res_lerp.mQ[1], 16) &&
										is_approx_equal_fraction(0.283559f, res_lerp.mQ[2], 16) &&				
										is_approx_equal_fraction(0.898506f, res_lerp.mQ[3], 16));				

		//test case for slerp( F32 u, const LLQuaternion &a, const LLQuaternion &b ) fn.
		res_slerp = slerp(value1, quat1, quat2);
		ensure("3. LLQuaternion slerp( F32 u, const LLQuaternion &a, const LLQuaternion &b) failed", 
										is_approx_equal_fraction(46.000f, res_slerp.mQ[0], 16) &&
										is_approx_equal_fraction(17.00f, res_slerp.mQ[1], 16) &&
										is_approx_equal_fraction(41.5f, res_slerp.mQ[2], 16) &&				
										is_approx_equal_fraction(131.5f, res_slerp.mQ[3], 16));				

		//test case for nlerp(F32 t, const LLQuaternion &a, const LLQuaternion &b) fn.
		res_nlerp = nlerp(value1, quat1, quat2);
		ensure("4. LLQuaternion nlerp(F32 t, const LLQuaternion &a, const LLQuaternion &b) failed",  
										is_approx_equal_fraction(0.314306f, res_nlerp.mQ[0], 16) &&
										is_approx_equal_fraction(0.116157f, res_nlerp.mQ[1], 16) &&
										is_approx_equal_fraction(0.283559f, res_nlerp.mQ[2], 16) &&				
										is_approx_equal_fraction(0.898506f, res_nlerp.mQ[3], 16));				

		//test case for nlerp(F32 t, const LLQuaternion &q) fn.
		res_slerp = slerp(value1, quat1);
		ensure("5. LLQuaternion slerp(F32 t, const LLQuaternion &q) failed", 
										is_approx_equal_fraction(1.0f, res_slerp.mQ[0], 16) &&
										is_approx_equal_fraction(2.0f, res_slerp.mQ[1], 16) &&
										is_approx_equal_fraction(4.0000f, res_slerp.mQ[2], 16) &&				
										is_approx_equal_fraction(1.000f, res_slerp.mQ[3], 16));				
										
		LLQuaternion quat3(2.0f, 1.0f, 5.5f, 10.5f);
		LLQuaternion res_nlerp1;
		value1 = 100.0f;
		res_nlerp1 = nlerp(value1, quat3);
		ensure("6. LLQuaternion nlerp(F32 t, const LLQuaternion &q)  failed", 
										is_approx_equal_fraction(0.268245f, res_nlerp1.mQ[0], 16) &&										is_approx_equal_fraction(0.134122f, res_nlerp1.mQ[1], 2) &&
										is_approx_equal_fraction(0.737673f, res_nlerp1.mQ[2], 16) &&				
										is_approx_equal_fraction(0.604892f, res_nlerp1.mQ[3], 16));				

		//test case for lerp(F32 t, const LLQuaternion &q) fn. 
		res_lerp = lerp(value1, quat2);
		ensure("7. LLQuaternion lerp(F32 t, const LLQuaternion &q) failed", 
										is_approx_equal_fraction(0.404867f, res_lerp.mQ[0], 16) &&
										is_approx_equal_fraction(0.303650f, res_lerp.mQ[1], 16) &&
										is_approx_equal_fraction(0.657909f, res_lerp.mQ[2], 16) &&				
										is_approx_equal_fraction(0.557704f, res_lerp.mQ[3], 16));				
		
	}

	template<> template<>
	void llquat_test_object_t::test<9>()
	{
		//test case for LLQuaternion operator*(const LLQuaternion &a, const LLQuaternion &b) fn
		LLQuaternion quat1(1.0f, 2.5f, 3.5f, 5.5f);
		LLQuaternion quat2(4.0f, 3.0f, 5.0f, 1.0f);
		LLQuaternion result = quat1 *  quat2;
		ensure("1. LLQuaternion Operator* failed", (21.0f == result.mQ[0]) &&
											(10.0f == result.mQ[1]) &&
											(38.0f == result.mQ[2]) && 
											(-23.5f == result.mQ[3]));

		LLQuaternion quat3(2341.340f, 2352.345f, 233.25f, 7645.5f);
		LLQuaternion quat4(674.067f, 893.0897f, 578.0f, 231.0f);
		result = quat3 * quat4;
		ensure("2. LLQuaternion Operator* failed", (4543086.5f == result.mQ[0]) &&
											(8567578.0f == result.mQ[1]) &&
											(3967591.25f == result.mQ[2]) &&
											is_approx_equal(-2047783.25f, result.mQ[3]));

		//inline LLQuaternion operator+(const LLQuaternion &a, const LLQuaternion &b)fn.		
		result = quat1 + quat2;
		ensure("3. LLQuaternion operator+ failed", (5.0f == result.mQ[0]) &&
											(5.5f == result.mQ[1]) &&
											(8.5f == result.mQ[2]) &&
											(6.5f == result.mQ[3]));

		result = quat3 + quat4;
		ensure(
			"4. LLQuaternion operator+ failed",
			is_approx_equal(3015.407227f, result.mQ[0]) &&
			is_approx_equal(3245.434570f, result.mQ[1]) &&
			(811.25f == result.mQ[2]) &&
			(7876.5f == result.mQ[3]));

		//inline LLQuaternion operator-(const LLQuaternion &a, const LLQuaternion &b) fn
		result = quat1 - quat2;
		ensure(
			"5. LLQuaternion operator-(const LLQuaternion &a, const LLQuaternion &b) failed", 
			(-3.0f == result.mQ[0]) &&
			(-0.5f == result.mQ[1]) &&
			(-1.5f == result.mQ[2]) &&
			(4.5f == result.mQ[3]));

		result = quat3 - quat4;
		ensure(
			"6. LLQuaternion operator-(const LLQuaternion &a, const LLQuaternion &b) failed", 
			is_approx_equal(1667.273071f, result.mQ[0]) &&
			is_approx_equal(1459.255249f, result.mQ[1]) &&
			(-344.75f == result.mQ[2]) &&
			(7414.50f == result.mQ[3]));
	}

	//test case for LLVector4 operator*(const LLVector4 &a, const LLQuaternion &rot) fn.
	template<> template<>
	void llquat_test_object_t::test<10>()
	{
		LLVector4 vect(12.0f, 5.0f, 60.0f, 75.1f);
		LLQuaternion quat(2323.034f, 23.5f, 673.23f, 57667.5f);
		LLVector4 result = vect * quat;
		ensure(
			"1. LLVector4 operator*(const LLVector4 &a, const LLQuaternion &rot) failed", 
			is_approx_equal(39928406016.0f, result.mV[0]) &&
			// gcc on x86 actually gives us more precision than we were expecting, verified with -ffloat-store - we forgive this
			(1457802240.0f >= result.mV[1]) && // gcc+x86+linux
			(1457800960.0f <= result.mV[1]) && // elsewhere
			is_approx_equal(200580612096.0f, result.mV[2]) &&
			(75.099998f == result.mV[3]));

		LLVector4 vect1(22.0f, 45.0f, 40.0f, 78.1f);
		LLQuaternion quat1(2.034f, 45.5f, 37.23f, 7.5f);
		result = vect1 * quat1;
		ensure(
			"2. LLVector4 operator*(const LLVector4 &a, const LLQuaternion &rot) failed", 
			is_approx_equal(-58153.5390f, result.mV[0]) &&
			(183787.8125f == result.mV[1]) &&
			(116864.164063f == result.mV[2]) &&
			(78.099998f == result.mV[3]));
	}

	//test case for LLVector3 operator*(const LLVector3 &a, const LLQuaternion &rot) fn.
	template<> template<>
	void llquat_test_object_t::test<11>()
	{
		LLVector3 vect(12.0f, 5.0f, 60.0f);
		LLQuaternion quat(23.5f, 6.5f, 3.23f, 56.5f);
		LLVector3 result = vect * quat;
		ensure(
			"1. LLVector3 operator*(const LLVector3 &a, const LLQuaternion &rot) failed", 
			is_approx_equal(97182.953125f,result.mV[0]) &&
			is_approx_equal(-135405.640625f, result.mV[1]) &&
			is_approx_equal(162986.140f, result.mV[2]));

		LLVector3 vect1(5.0f, 40.0f, 78.1f);
		LLQuaternion quat1(2.034f, 45.5f, 37.23f, 7.5f);
		result = vect1 * quat1;
		ensure(
			"2. LLVector3 operator*(const LLVector3 &a, const LLQuaternion &rot) failed", 
			is_approx_equal(33217.703f, result.mV[0]) &&
			is_approx_equal(295383.8125f, result.mV[1]) &&
			is_approx_equal(84718.140f, result.mV[2]));
	}

	//test case for LLVector3d operator*(const LLVector3d &a, const LLQuaternion &rot) fn.
	template<> template<>
	void llquat_test_object_t::test<12>()
	{
		LLVector3d vect(-2.0f, 5.0f, -6.0f);
		LLQuaternion quat(-3.5f, 4.5f, 3.5f, 6.5f);
		LLVector3d result = vect * quat;
		ensure(
			"1. LLVector3d operator*(const LLVector3d &a, const LLQuaternion &rot) failed ", 
			(-633.0f == result.mdV[0]) &&
			(-300.0f == result.mdV[1]) &&
			(-36.0f == result.mdV[2]));

		LLVector3d vect1(5.0f, -4.5f, 8.21f);
		LLQuaternion quat1(2.0f, 4.5f, -7.2f, 9.5f);
		result = vect1 * quat1;
		ensure(
			"2. LLVector3d operator*(const LLVector3d &a, const LLQuaternion &rot) failed", 
			is_approx_equal_fraction(-120.29f, (F32) result.mdV[0], 8) &&
			is_approx_equal_fraction(-1683.958f, (F32) result.mdV[1], 8) &&
			is_approx_equal_fraction(516.56f, (F32) result.mdV[2], 8));

		LLVector3d vect2(2.0f, 3.5f, 1.1f);
		LLQuaternion quat2(1.0f, 4.0f, 2.0f, 5.0f);
		result = vect2 * quat2;
		ensure(
			"3. LLVector3d operator*(const LLVector3d &a, const LLQuaternion &rot) failed", 
			is_approx_equal_fraction(18.400001f, (F32) result.mdV[0], 8) &&
			is_approx_equal_fraction(188.6f, (F32) result.mdV[1], 8) &&
			is_approx_equal_fraction(32.20f, (F32) result.mdV[2], 8));
	}

	//test case for inline LLQuaternion operator-(const LLQuaternion &a) fn.
	template<> template<>
	void llquat_test_object_t::test<13>()
	{
		LLQuaternion quat(23.5f, 34.5f, 16723.4f, 324.7f);
		LLQuaternion result = -quat;
		ensure(
			"1. LLQuaternion operator-(const LLQuaternion &a) failed", 
			(-23.5f == result.mQ[0]) &&
			(-34.5f == result.mQ[1]) &&
			(-16723.4f == result.mQ[2]) &&
			(-324.7f == result.mQ[3]));

		LLQuaternion quat1(-3.5f, -34.5f, -16.4f, -154.7f);
		result = -quat1;
		ensure(
			"2. LLQuaternion operator-(const LLQuaternion &a) failed.", 
			(3.5f == result.mQ[0]) &&
			(34.5f == result.mQ[1]) &&
			(16.4f == result.mQ[2]) &&
			(154.7f == result.mQ[3]));
	}

	//test case for inline LLQuaternion operator*(F32 a, const LLQuaternion &q) and
	//inline LLQuaternion operator*(F32 a, const LLQuaternion &q) fns.
	template<> template<>
	void llquat_test_object_t::test<14>()
	{
		LLQuaternion quat_value(9.0f, 8.0f, 7.0f, 6.0f);
		F32 a =3.5f;
		LLQuaternion result = a * quat_value;
		LLQuaternion result1 = quat_value * a;

		ensure(
			"1. LLQuaternion operator* failed",
			(result.mQ[0] == result1.mQ[0]) &&
			(result.mQ[1] == result1.mQ[1]) &&
			(result.mQ[2] == result1.mQ[2]) &&
			(result.mQ[3] == result1.mQ[3]));


		LLQuaternion quat_val(9454.0f, 43568.3450f, 456343247.0343f, 2346.03434f);
		a =-3324.3445f;
		result = a * quat_val;
		result1 = quat_val * a;

		ensure(
			"2. LLQuaternion operator* failed",
			(result.mQ[0] == result1.mQ[0]) &&
			(result.mQ[1] == result1.mQ[1]) &&
			(result.mQ[2] == result1.mQ[2]) &&
			(result.mQ[3] == result1.mQ[3]));
	}
	
	template<> template<>
	void llquat_test_object_t::test<15>()
	{
		// test cases for inline LLQuaternion operator~(const LLQuaternion &a)
		LLQuaternion quat_val(2323.634f, -43535.4f, 3455.88f, -32232.45f);
		LLQuaternion result = ~quat_val;
		ensure(
			"1. LLQuaternion operator~(const LLQuaternion &a) failed ", 
			(-2323.634f == result.mQ[0]) &&
			(43535.4f == result.mQ[1]) &&
			(-3455.88f == result.mQ[2]) &&
			(-32232.45f == result.mQ[3]));

		//test case for inline bool LLQuaternion::operator==(const LLQuaternion &b) const
		LLQuaternion quat_val1(2323.634f, -43535.4f, 3455.88f, -32232.45f);
		LLQuaternion quat_val2(2323.634f, -43535.4f, 3455.88f, -32232.45f);
		ensure(
			"2. LLQuaternion::operator==(const LLQuaternion &b) failed",
			quat_val1 == quat_val2);
	}
	
	template<> template<>
	void llquat_test_object_t::test<16>()
	{
		//test case for inline bool LLQuaternion::operator!=(const LLQuaternion &b) const
		LLQuaternion quat_val1(2323.634f, -43535.4f, 3455.88f, -32232.45f);
		LLQuaternion quat_val2(0, -43535.4f, 3455.88f, -32232.45f);
		ensure("LLQuaternion::operator!=(const LLQuaternion &b) failed", quat_val1 != quat_val2);
	}

	template<> template<>
	void llquat_test_object_t::test<17>()
	{
		//test case for LLQuaternion mayaQ(F32 xRot, F32 yRot, F32 zRot, LLQuaternion::Order order)
		F32 x = 2.0f;
		F32 y = 1.0f;
		F32 z = 3.0f;
		
		LLQuaternion result = mayaQ(x, y, z, LLQuaternion::XYZ);
		ensure(
			"1. LLQuaternion mayaQ(F32 xRot, F32 yRot, F32 zRot, LLQuaternion::Order order) failed for XYZ",
			is_approx_equal_fraction(0.0172174f, result.mQ[0], 16) &&
			is_approx_equal_fraction(0.009179f, result.mQ[1], 16) &&
			is_approx_equal_fraction(0.026020f, result.mQ[2], 16) &&
			is_approx_equal_fraction(0.999471f, result.mQ[3], 16));

		LLQuaternion result1 = mayaQ(x, y, z, LLQuaternion::YZX);
		ensure(
			"2. LLQuaternion mayaQ(F32 xRot, F32 yRot, F32 zRot, LLQuaternion::Order order) failed for XYZ",
			is_approx_equal_fraction(0.017217f, result1.mQ[0], 16) &&
			is_approx_equal_fraction(0.008265f, result1.mQ[1], 16) &&
			is_approx_equal_fraction(0.026324f, result1.mQ[2], 16) &&
			is_approx_equal_fraction(0.999471f, result1.mQ[3], 16));
		
		LLQuaternion result2 = mayaQ(x, y, z, LLQuaternion::ZXY);
		ensure(
			"3. LLQuaternion mayaQ(F32 xRot, F32 yRot, F32 zRot, LLQuaternion::Order order) failed for ZXY", 
			is_approx_equal_fraction(0.017674f, result2.mQ[0], 16) &&
			is_approx_equal_fraction(0.008265f, result2.mQ[1], 16) &&
			is_approx_equal_fraction(0.026020f, result2.mQ[2], 16) &&
			is_approx_equal_fraction(0.999471f, result2.mQ[3], 16));
											
		LLQuaternion result3 = mayaQ(x, y, z, LLQuaternion::XZY);
		ensure(
			"4. TLLQuaternion mayaQ(F32 xRot, F32 yRot, F32 zRot, LLQuaternion::Order order) failed for XZY", 
			is_approx_equal_fraction(0.017674f, result3.mQ[0], 16) &&
			is_approx_equal_fraction(0.009179f, result3.mQ[1], 16) &&
			is_approx_equal_fraction(0.026020f, result3.mQ[2], 16) &&
			is_approx_equal_fraction(0.999463f, result3.mQ[3], 16));
											
		LLQuaternion result4 = mayaQ(x, y, z, LLQuaternion::YXZ);
		ensure(
			"5. LLQuaternion mayaQ(F32 xRot, F32 yRot, F32 zRot, LLQuaternion::Order order) failed for YXZ", 
			is_approx_equal_fraction(0.017217f, result4.mQ[0], 16) &&
			is_approx_equal_fraction(0.009179f, result4.mQ[1], 16) &&
			is_approx_equal_fraction(0.026324f, result4.mQ[2], 16) &&
			is_approx_equal_fraction(0.999463f, result4.mQ[3], 16));
											
		LLQuaternion result5 = mayaQ(x, y, z, LLQuaternion::ZYX);
		ensure(
			"6. LLQuaternion mayaQ(F32 xRot, F32 yRot, F32 zRot, LLQuaternion::Order order) failed for ZYX", 
			is_approx_equal_fraction(0.017674f, result5.mQ[0], 16) &&
			is_approx_equal_fraction(0.008265f, result5.mQ[1], 16) &&
			is_approx_equal_fraction(0.026324f, result5.mQ[2], 16) &&
			is_approx_equal_fraction(0.999463f, result5.mQ[3], 16));
	}

	template<> template<>
	void llquat_test_object_t::test<18>()
	{
		// test case for friend std::ostream& operator<<(std::ostream &s, const LLQuaternion &a) fn
		LLQuaternion a(1.0f, 1.0f, 1.0f, 1.0f); 
		std::ostringstream result_value;
		result_value << a;
		ensure_equals("1. Operator << failed", result_value.str(), "{ 1, 1, 1, 1 }");

		LLQuaternion b(-31.034f, 231.2340f, 3451.344320f, -341.0f); 
		std::ostringstream result_value1;
		result_value1 << b;
		ensure_equals("2. Operator << failed", result_value1.str(), "{ -31.034, 231.234, 3451.34, -341 }");

		LLQuaternion c(1.0f, 2.2f, 3.3f, 4.4f); 
		result_value << c;
		ensure_equals("3. Operator << failed", result_value.str(), "{ 1, 1, 1, 1 }{ 1, 2.2, 3.3, 4.4 }");

	}
	
	template<> template<>
	void llquat_test_object_t::test<19>()
	{
		//test case for const char *OrderToString( const LLQuaternion::Order order ) fn
		const char* result = OrderToString(LLQuaternion::XYZ);
		ensure("1. OrderToString failed for XYZ",  (0 == strcmp("XYZ", result)));
		
		result = OrderToString(LLQuaternion::YZX);
		ensure("2. OrderToString failed for YZX",  (0 == strcmp("YZX", result)));
		
		result = OrderToString(LLQuaternion::ZXY);
		ensure(
			"3. OrderToString failed for ZXY",
			(0 == strcmp("ZXY", result)) &&
			(0 != strcmp("XYZ", result)) &&
			(0 != strcmp("YXZ", result)) &&
			(0 != strcmp("ZYX", result)) &&
			(0 != strcmp("XYZ", result)));

		result = OrderToString(LLQuaternion::XZY);
		ensure("4. OrderToString failed for XZY",  (0 == strcmp("XZY", result)));

		result = OrderToString(LLQuaternion::ZYX);
		ensure("5. OrderToString failed for ZYX",  (0 == strcmp("ZYX", result)));

		result = OrderToString(LLQuaternion::YXZ);
		ensure("6.OrderToString failed for YXZ",  (0 == strcmp("YXZ", result)));
	}

	template<> template<>
	void llquat_test_object_t::test<20>()
	{
		//test case for LLQuaternion::Order StringToOrder( const char *str ) fn
		int result = StringToOrder("XYZ");
		ensure("1. LLQuaternion::Order StringToOrder(const char *str ) failed for XYZ", 0 == result);

		result = StringToOrder("YZX");
		ensure("2. LLQuaternion::Order StringToOrder(const char *str) failed for YZX", 1 == result);

		result = StringToOrder("ZXY");
		ensure("3. LLQuaternion::Order StringToOrder(const char *str) failed for ZXY", 2 == result);
		
		result = StringToOrder("XZY");
		ensure("4. LLQuaternion::Order StringToOrder(const char *str) failed for XZY", 3 == result);

		result = StringToOrder("YXZ");
		ensure("5. LLQuaternion::Order StringToOrder(const char *str) failed for YXZ", 4 == result);
	
		result = StringToOrder("ZYX");
		ensure("6. LLQuaternion::Order StringToOrder(const char *str) failed for  ZYX", 5 == result);	

	}

	template<> template<>
	void llquat_test_object_t::test<21>()
	{
		//void LLQuaternion::getAngleAxis(F32* angle, LLVector3 &vec) const fn
		F32 angle_value = 90.0f;
		LLVector3 vect(12.0f, 4.0f, 1.0f);
		LLQuaternion llquat(angle_value, vect);
		llquat.getAngleAxis(&angle_value, vect); 
		ensure(
			"LLQuaternion::getAngleAxis(F32* angle, LLVector3 &vec) failed", 
			is_approx_equal_fraction(2.035406f, angle_value, 16) &&
			is_approx_equal_fraction(0.315244f, vect.mV[1], 16) &&
			is_approx_equal_fraction(0.078811f, vect.mV[2], 16) &&
			is_approx_equal_fraction(0.945733f, vect.mV[0], 16));
	}

	template<> template<>
	void llquat_test_object_t::test<22>()
	{
		//test case for void LLQuaternion::getEulerAngles(F32 *roll, F32 *pitch, F32 *yaw) const fn
		F32 roll = -12.0f;
		F32 pitch = -22.43f;
		F32 yaw = 11.0f;

		LLQuaternion llquat;
		llquat.getEulerAngles(&roll, &pitch, &yaw);
		ensure(
			"LLQuaternion::getEulerAngles(F32 *roll, F32 *pitch, F32 *yaw) failed",
			is_approx_equal(0.000f, llquat.mQ[0]) &&
			is_approx_equal(0.000f, llquat.mQ[1]) &&
			is_approx_equal(0.000f, llquat.mQ[2]) &&
			is_approx_equal(1.000f, llquat.mQ[3]));
	}

}