include <BOSL2/std.scad>
include <BOSL2/strings.scad>


function rec_cmp(a,b,eps=1e-9) =
	typeof(a)!=typeof(b)? false :
	is_num(a)? approx(a,b,eps=eps) :
	is_list(a)? len(a)==len(b) && all([for (i=idx(a)) rec_cmp(a[i],b[i],eps=eps)]) :
	a == b;


module verify_f(actual,expected) {
	if (!rec_cmp(actual,expected)) {
		echo(str("Expected: ",fmt_float(expected,10)));
		echo(str("        : ",expected));
		echo(str("Actual  : ",fmt_float(actual,10)));
		echo(str("        : ",actual));
		echo(str("Delta   : ",fmt_float(expected-actual,10)));
		echo(str("        : ",expected-actual));
		assert(approx(expected,actual));
	}
}


module test_Quat() {
	verify_f(Quat(UP,0),[0,0,0,1]);
	verify_f(Quat(FWD,0),[0,0,0,1]);
	verify_f(Quat(LEFT,0),[0,0,0,1]);
	verify_f(Quat(UP,45),[0,0,0.3826834324,0.9238795325]);
	verify_f(Quat(LEFT,45),[-0.3826834324, 0, 0, 0.9238795325]);
	verify_f(Quat(BACK,45),[0,0.3826834323,0,0.9238795325]);
	verify_f(Quat(FWD+RIGHT,30),[0.1830127019, -0.1830127019, 0, 0.9659258263]);
}
test_Quat();


module test_QuatX() {
	verify_f(QuatX(0),[0,0,0,1]);
	verify_f(QuatX(35),[0.3007057995,0,0,0.9537169507]);
	verify_f(QuatX(45),[0.3826834324,0,0,0.9238795325]);
}
test_QuatX();


module test_QuatY() {
	verify_f(QuatY(0),[0,0,0,1]);
	verify_f(QuatY(35),[0,0.3007057995,0,0.9537169507]);
	verify_f(QuatY(45),[0,0.3826834323,0,0.9238795325]);
}
test_QuatY();


module test_QuatZ() {
	verify_f(QuatZ(0),[0,0,0,1]);
	verify_f(QuatZ(36),[0,0,0.3090169944,0.9510565163]);
	verify_f(QuatZ(45),[0,0,0.3826834324,0.9238795325]);
}
test_QuatZ();


module test_QuatXYZ() {
	verify_f(QuatXYZ([0,0,0]), [0,0,0,1]);
	verify_f(QuatXYZ([30,0,0]), [0.2588190451, 0, 0, 0.9659258263]);
	verify_f(QuatXYZ([90,0,0]), [0.7071067812, 0, 0, 0.7071067812]);
	verify_f(QuatXYZ([-270,0,0]), [-0.7071067812, 0, 0, -0.7071067812]);
	verify_f(QuatXYZ([180,0,0]), [1,0,0,0]);
	verify_f(QuatXYZ([270,0,0]), [0.7071067812, 0, 0, -0.7071067812]);
	verify_f(QuatXYZ([-90,0,0]), [-0.7071067812, 0, 0, 0.7071067812]);
	verify_f(QuatXYZ([360,0,0]), [0,0,0,-1]);

	verify_f(QuatXYZ([0,0,0]), [0,0,0,1]);
	verify_f(QuatXYZ([0,30,0]), [0, 0.2588190451, 0, 0.9659258263]);
	verify_f(QuatXYZ([0,90,0]), [0, 0.7071067812, 0, 0.7071067812]);
	verify_f(QuatXYZ([0,-270,0]), [0, -0.7071067812, 0, -0.7071067812]);
	verify_f(QuatXYZ([0,180,0]), [0,1,0,0]);
	verify_f(QuatXYZ([0,270,0]), [0, 0.7071067812, 0, -0.7071067812]);
	verify_f(QuatXYZ([0,-90,0]), [0, -0.7071067812, 0, 0.7071067812]);
	verify_f(QuatXYZ([0,360,0]), [0,0,0,-1]);

	verify_f(QuatXYZ([0,0,0]), [0,0,0,1]);
	verify_f(QuatXYZ([0,0,30]), [0, 0, 0.2588190451, 0.9659258263]);
	verify_f(QuatXYZ([0,0,90]), [0, 0, 0.7071067812, 0.7071067812]);
	verify_f(QuatXYZ([0,0,-270]), [0, 0, -0.7071067812, -0.7071067812]);
	verify_f(QuatXYZ([0,0,180]), [0,0,1,0]);
	verify_f(QuatXYZ([0,0,270]), [0, 0, 0.7071067812, -0.7071067812]);
	verify_f(QuatXYZ([0,0,-90]), [0, 0, -0.7071067812, 0.7071067812]);
	verify_f(QuatXYZ([0,0,360]), [0,0,0,-1]);

	verify_f(QuatXYZ([30,30,30]), [0.1767766953, 0.3061862178, 0.1767766953, 0.9185586535]);
	verify_f(QuatXYZ([12,34,56]), [-0.04824789229, 0.3036636044, 0.4195145429, 0.8540890495]);
}
test_QuatXYZ();


module test_Q_Ident() {
	verify_f(Q_Ident(), [0,0,0,1]);
}
test_Q_Ident();


module test_Q_Add_S() {
	verify_f(Q_Add_S([0,0,0,1],3),[0,0,0,4]);
	verify_f(Q_Add_S([0,0,1,0],3),[0,0,1,3]);
	verify_f(Q_Add_S([0,1,0,0],3),[0,1,0,3]);
	verify_f(Q_Add_S([1,0,0,0],3),[1,0,0,3]);
	verify_f(Q_Add_S(Quat(LEFT+FWD,23),1),[-0.1409744184, -0.1409744184, 0, 1.979924705]);
}
test_Q_Add_S();


module test_Q_Sub_S() {
	verify_f(Q_Sub_S([0,0,0,1],3),[0,0,0,-2]);
	verify_f(Q_Sub_S([0,0,1,0],3),[0,0,1,-3]);
	verify_f(Q_Sub_S([0,1,0,0],3),[0,1,0,-3]);
	verify_f(Q_Sub_S([1,0,0,0],3),[1,0,0,-3]);
	verify_f(Q_Sub_S(Quat(LEFT+FWD,23),1),[-0.1409744184, -0.1409744184, 0, -0.02007529538]);
}
test_Q_Sub_S();


module test_Q_Mul_S() {
	verify_f(Q_Mul_S([0,0,0,1],3),[0,0,0,3]);
	verify_f(Q_Mul_S([0,0,1,0],3),[0,0,3,0]);
	verify_f(Q_Mul_S([0,1,0,0],3),[0,3,0,0]);
	verify_f(Q_Mul_S([1,0,0,0],3),[3,0,0,0]);
	verify_f(Q_Mul_S([1,0,0,1],3),[3,0,0,3]);
	verify_f(Q_Mul_S(Quat(LEFT+FWD,23),4),[-0.5638976735, -0.5638976735, 0, 3.919698818]);
}
test_Q_Mul_S();



module test_Q_Div_S() {
	verify_f(Q_Div_S([0,0,0,1],3),[0,0,0,1/3]);
	verify_f(Q_Div_S([0,0,1,0],3),[0,0,1/3,0]);
	verify_f(Q_Div_S([0,1,0,0],3),[0,1/3,0,0]);
	verify_f(Q_Div_S([1,0,0,0],3),[1/3,0,0,0]);
	verify_f(Q_Div_S([1,0,0,1],3),[1/3,0,0,1/3]);
	verify_f(Q_Div_S(Quat(LEFT+FWD,23),4),[-0.03524360459, -0.03524360459, 0, 0.2449811762]);
}
test_Q_Div_S();


module test_Q_Add() {
	verify_f(Q_Add([2,3,4,5],[-1,-1,-1,-1]),[1,2,3,4]);
	verify_f(Q_Add([2,3,4,5],[-3,-3,-3,-3]),[-1,0,1,2]);
	verify_f(Q_Add([2,3,4,5],[0,0,0,0]),[2,3,4,5]);
	verify_f(Q_Add([2,3,4,5],[1,1,1,1]),[3,4,5,6]);
	verify_f(Q_Add([2,3,4,5],[1,0,0,0]),[3,3,4,5]);
	verify_f(Q_Add([2,3,4,5],[0,1,0,0]),[2,4,4,5]);
	verify_f(Q_Add([2,3,4,5],[0,0,1,0]),[2,3,5,5]);
	verify_f(Q_Add([2,3,4,5],[0,0,0,1]),[2,3,4,6]);
	verify_f(Q_Add([2,3,4,5],[2,1,2,1]),[4,4,6,6]);
	verify_f(Q_Add([2,3,4,5],[1,2,1,2]),[3,5,5,7]);
}
test_Q_Add();


module test_Q_Sub() {
	verify_f(Q_Sub([2,3,4,5],[-1,-1,-1,-1]),[3,4,5,6]);
	verify_f(Q_Sub([2,3,4,5],[-3,-3,-3,-3]),[5,6,7,8]);
	verify_f(Q_Sub([2,3,4,5],[0,0,0,0]),[2,3,4,5]);
	verify_f(Q_Sub([2,3,4,5],[1,1,1,1]),[1,2,3,4]);
	verify_f(Q_Sub([2,3,4,5],[1,0,0,0]),[1,3,4,5]);
	verify_f(Q_Sub([2,3,4,5],[0,1,0,0]),[2,2,4,5]);
	verify_f(Q_Sub([2,3,4,5],[0,0,1,0]),[2,3,3,5]);
	verify_f(Q_Sub([2,3,4,5],[0,0,0,1]),[2,3,4,4]);
	verify_f(Q_Sub([2,3,4,5],[2,1,2,1]),[0,2,2,4]);
	verify_f(Q_Sub([2,3,4,5],[1,2,1,2]),[1,1,3,3]);
}
test_Q_Sub();


module test_Q_Mul() {
	verify_f(Q_Mul(QuatZ(30),QuatX(57)),[0.4608999698, 0.1234977747, 0.2274546059, 0.8488721457]);
	verify_f(Q_Mul(QuatY(30),QuatZ(23)),[0.05160021841, 0.2536231763, 0.1925746368, 0.94653458]);
}
test_Q_Mul();


module test_Q_Dot() {
	verify_f(Q_Dot(QuatZ(30),QuatX(57)),0.8488721457);
	verify_f(Q_Dot(QuatY(30),QuatZ(23)),0.94653458);
}
test_Q_Dot();


module test_Q_Neg() {
	verify_f(Q_Neg([1,0,0,1]),[-1,0,0,-1]);
	verify_f(Q_Neg([0,1,1,0]),[0,-1,-1,0]);
	verify_f(Q_Neg(QuatXYZ([23,45,67])),[0.0533818345,-0.4143703268,-0.4360652669,-0.7970537592]);
}
test_Q_Neg();


module test_Q_Conj() {
	verify_f(Q_Conj([1,0,0,1]),[-1,0,0,1]);
	verify_f(Q_Conj([0,1,1,0]),[0,-1,-1,0]);
	verify_f(Q_Conj(QuatXYZ([23,45,67])),[0.0533818345, -0.4143703268, -0.4360652669, 0.7970537592]);
}
test_Q_Conj();


module test_Q_Norm() {
	verify_f(Q_Norm([1,0,0,1]),1.414213562);
	verify_f(Q_Norm([0,1,1,0]),1.414213562);
	verify_f(Q_Norm(QuatXYZ([23,45,67])),1);
}
test_Q_Norm();


module test_Q_Normalize() {
	verify_f(Q_Normalize([1,0,0,1]),[0.7071067812, 0, 0, 0.7071067812]);
	verify_f(Q_Normalize([0,1,1,0]),[0, 0.7071067812, 0.7071067812, 0]);
	verify_f(Q_Normalize(QuatXYZ([23,45,67])),[-0.0533818345, 0.4143703268, 0.4360652669, 0.7970537592]);
}
test_Q_Normalize();


module test_Q_Dist() {
	verify_f(Q_Dist(QuatXYZ([23,45,67]),QuatXYZ([23,45,67])),0);
	verify_f(Q_Dist(QuatXYZ([23,45,67]),QuatXYZ([12,34,56])),0.1257349854);
}
test_Q_Dist();


module test_Q_Slerp() {
	verify_f(Q_Slerp(QuatX(45),QuatY(30),0.0),QuatX(45));
	verify_f(Q_Slerp(QuatX(45),QuatY(30),0.5),[0.1967063121, 0.1330377423, 0, 0.9713946602]);
	verify_f(Q_Slerp(QuatX(45),QuatY(30),1.0),QuatY(30));
}
test_Q_Slerp();


module test_Q_Matrix3() {
	verify_f(Q_Matrix3(QuatZ(37)),rot(37,planar=true));
	verify_f(Q_Matrix3(QuatZ(-49)),rot(-49,planar=true));
}
test_Q_Matrix3();


module test_Q_Matrix4() {
	verify_f(Q_Matrix4(QuatZ(37)),rot(37));
	verify_f(Q_Matrix4(QuatZ(-49)),rot(-49));
	verify_f(Q_Matrix4(QuatX(37)),rot([37,0,0]));
	verify_f(Q_Matrix4(QuatY(37)),rot([0,37,0]));
	verify_f(Q_Matrix4(QuatXYZ([12,34,56])),rot([12,34,56]));
}
test_Q_Matrix4();


module test_Q_Axis() {
	verify_f(Q_Axis(QuatX(37)),RIGHT);
	verify_f(Q_Axis(QuatX(-37)),LEFT);
	verify_f(Q_Axis(QuatY(37)),BACK);
	verify_f(Q_Axis(QuatY(-37)),FWD);
	verify_f(Q_Axis(QuatZ(37)),UP);
	verify_f(Q_Axis(QuatZ(-37)),DOWN);
}
test_Q_Axis();


module test_Q_Angle() {
	verify_f(Q_Angle(QuatX(0)),0);
	verify_f(Q_Angle(QuatY(0)),0);
	verify_f(Q_Angle(QuatZ(0)),0);
	verify_f(Q_Angle(QuatX(37)),37);
	verify_f(Q_Angle(QuatX(-37)),37);
	verify_f(Q_Angle(QuatY(37)),37);
	verify_f(Q_Angle(QuatY(-37)),37);
	verify_f(Q_Angle(QuatZ(37)),37);
	verify_f(Q_Angle(QuatZ(-37)),37);
}
test_Q_Angle();


module test_Qrot() {
	verify_f(Qrot(QuatXYZ([12,34,56])),rot([12,34,56]));
	verify_f(Qrot(QuatXYZ([12,34,56]),p=[2,3,4]),rot([12,34,56],p=[2,3,4]));
	verify_f(Qrot(QuatXYZ([12,34,56]),p=[[2,3,4],[4,9,6]]),rot([12,34,56],p=[[2,3,4],[4,9,6]]));
}
test_Qrot();


// vim: noexpandtab tabstop=4 shiftwidth=4 softtabstop=4 nowrap