/*
 * Moonlight|3D Copyright (C) 2005 The Moonlight|3D team
 * 
 * This library is free software; you can redistribute it and/or modify it under
 * the terms of the GNU Lesser General Public License as published by the Free
 * Software Foundation; either version 2.1 of the License, or (at your option)
 * any later version.
 * 
 * This library is distributed in the hope that it will be useful, but WITHOUT
 * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
 * FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
 * details.
 * 
 * You should have received a copy of the GNU Lesser General Public License
 * along with this library; if not, write to the Free Software Foundation, Inc.,
 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
 * 
 * Created on Feb 9, 2005
 */
package ml.test;

import junit.framework.TestCase;
import ml.math.Matrix3;
import ml.math.Quaternion;
import ml.math.Vector3D;

/**
 * TODO To change the template for this generated type comment go to
 * Window - Preferences - Java - Code Style - Code Templates
 *
 * @author gregor
 */
public class QuaternionTest extends TestCase {

    public void testEqualsQuaternion()
    {
        Quaternion a=new Quaternion();
        Quaternion b=new Quaternion();
        Quaternion c=new Quaternion();
        
        a.w=1.0; a.x=2.0; a.y=3.0; a.z=4.0;
        b.w=1.0; b.x=2.0; b.y=3.0; b.z=4.0;
        c.w=2.0; c.x=2.0; c.y=3.0; c.z=4.0;
        
        assertTrue(a.equals(b));
        assertTrue(b.equals(a));
        assertFalse(a.equals(c));
        assertFalse(c.equals(a));
    }

    public void testClone()
    {
        Quaternion a=new Quaternion();
        
        a.w=1.0; a.x=2.0; a.y=3.0; a.z=4.0;

        Quaternion b=a.clone();
        
        assertTrue(b.equals(a));
        assertFalse(b==a);
    }

    public void testAbs()
    {
        Quaternion a=new Quaternion();

        a.w=3.0; a.x=0.0; a.y=0.0; a.z=0.0;
        assertTrue(a.abs()==3.0);
    }

    public void testNormalize()
    {
        //TODO Implement normalize().
    }

    public void testGetRotationAxis()
    {
        //TODO Implement getRotationAxis().
    }

    public void testGetRotationAngle()
    {
        //TODO Implement getRotationAngle().
    }

    public void testToRotationMatrix()
    {
        Quaternion a=new Quaternion();
        Matrix3 b, c;
        
        // this quaternion represents a rotation arount the x axis by Pi
        a.w=0.0; a.x=1.0; a.y=0.0; a.z=0.0;
        
        b=new Matrix3();
        b=a.toRotationMatrix3();
        
        c=new Matrix3();
        for(int i=0;i<3;i++) {
          for(int j=0;j<3;j++) {
            c.X[i][j]=0.0;
          }
        }
        c.X[0][0]=1.0;
        c.X[1][1]=-1.0;
        c.X[2][2]=-1.0;
        
        assertTrue(b.equals(c));
    }

    public void testAdd()
    {
      Quaternion a=new Quaternion();
      Quaternion b;
      Quaternion c=new Quaternion();
      Quaternion d;

      a.w=1.0; a.x=1.0; a.y=1.0; a.z=1.0;
      b=a;
      c.w=2.0; c.x=2.0; c.y=2.0; c.z=2.0;
      
      d=a.add(b);
      
      assertTrue(d.equals(c));
    }

    public void testSub()
    {
      Quaternion a=new Quaternion();
      Quaternion b;
      Quaternion c=new Quaternion();
      Quaternion d;

      a.w=1.0; a.x=1.0; a.y=1.0; a.z=1.0;
      b=a;
      c.w=0.0; c.x=0.0; c.y=0.0; c.z=0.0;
      
      d=a.sub(b);
      
      assertTrue(d.equals(c));
    }

    public void testMulitplyScalar()
    {
      Quaternion a=new Quaternion();
      Quaternion b=new Quaternion();

      a.w=1.0; a.x=1.0; a.y=1.0; a.z=1.0;
      b.w=3.0; b.x=3.0; b.y=3.0; b.z=3.0;

      assertTrue(a.multiply(3).equals(b));      
    }

    public void testMultiplyQuaternion()
    {
      Quaternion a=new Quaternion();
      Quaternion b=new Quaternion();
      Quaternion c=new Quaternion();
      
      a.w=1.0; a.x=1.0; a.y=1.0; a.z=1.0;
      b.w=2.0; b.x=2.0; b.y=2.0; b.z=2.0;
      c.w=-4.0; c.x=4.0; c.y=4.0; c.z=4.0;
      
      assertTrue(a.multiply(b).equals(c));
    }

    public void testDotProduct()
    {
        //TODO Implement dotProduct().
    }

    public void testFromAxisAngle()
    {
        Quaternion a=new Quaternion();
        Quaternion b=new Quaternion();
        Vector3D axis=new Vector3D();
        double angle;
        
        axis.X1=1.0; axis.X2=0.0; axis.X3=0.0;
        angle=Math.PI/2;
        
        a.fromAxisAngle(axis,angle);
        
        b.w=Math.cos(angle/2.0); b.x=Math.sin(angle/2); b.y=0.0; b.z=0.0;
        
        assertTrue(a.equals(b));
    }

    public void testSlerpTo()
    {
        //TODO Implement slerpTo().
    }

}