text: ////////////////////////////////////////////////////////////////////////////////
  // The MIT License (MIT)
  //
  // Copyright (c) 2018 Nicholas Frechette & Animation Compression Library contributors
  //
  // Permission is hereby granted, free of charge, to any person obtaining a copy
  // of this software and associated documentation files (the "Software"), to deal
  // in the Software without restriction, including without limitation the rights
  // to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  // copies of the Software, and to permit persons to whom the Software is
  // furnished to do so, subject to the following conditions:
  //
  // The above copyright notice and this permission notice shall be included in all
  // copies or substantial portions of the Software.
  //
  // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
  // AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
  // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
  // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
  // SOFTWARE.
  ////////////////////////////////////////////////////////////////////////////////
  
  #include <catch.hpp>
  
  #include <acl/math/quat_packing.h>
  
  using namespace acl;
  using namespace rtm;
  
  TEST_CASE("quat packing math", "[math][quat][packing]")
  {
  	struct UnalignedBuffer
  	{
  		uint32_t padding0;
  		uint16_t padding1;
  		uint8_t buffer[250];
  	};
  	static_assert((offsetof(UnalignedBuffer, buffer) % 2) == 0, "Minimum packing alignment is 2");
  
  	const quatf quat0 = quat_set(0.39564531008956383F, 0.044254239301713752F, 0.22768840967675355F, 0.88863059760894492F);
  
  	{
  		UnalignedBuffer tmp0;
  		pack_quat_128(quat0, &tmp0.buffer[0]);
  		quatf quat1 = unpack_quat_128(&tmp0.buffer[0]);
  		CHECK(quat_get_x(quat0) == quat_get_x(quat1));
  		CHECK(quat_get_y(quat0) == quat_get_y(quat1));
  		CHECK(quat_get_z(quat0) == quat_get_z(quat1));
  		CHECK(quat_get_w(quat0) == quat_get_w(quat1));
  	}
  
  	{
  		UnalignedBuffer tmp0;
  		pack_quat_96(quat0, &tmp0.buffer[0]);
  		quatf quat1 = unpack_quat_96_unsafe(&tmp0.buffer[0]);
  		CHECK(quat_get_x(quat0) == quat_get_x(quat1));
  		CHECK(quat_get_y(quat0) == quat_get_y(quat1));
  		CHECK(quat_get_z(quat0) == quat_get_z(quat1));
  		CHECK(scalar_near_equal(quat_get_w(quat0), quat_get_w(quat1), 1.0E-4F));
  	}
  
  	{
  		UnalignedBuffer tmp0;
  		pack_quat_48(quat0, &tmp0.buffer[0]);
  		quatf quat1 = unpack_quat_48(&tmp0.buffer[0]);
  		CHECK(scalar_near_equal(quat_get_x(quat0), quat_get_x(quat1), 1.0E-4F));
  		CHECK(scalar_near_equal(quat_get_y(quat0), quat_get_y(quat1), 1.0E-4F));
  		CHECK(scalar_near_equal(quat_get_z(quat0), quat_get_z(quat1), 1.0E-4F));
  		CHECK(scalar_near_equal(quat_get_w(quat0), quat_get_w(quat1), 1.0E-4F));
  	}
  
  	{
  		UnalignedBuffer tmp0;
  		pack_quat_32(quat0, &tmp0.buffer[0]);
  		quatf quat1 = unpack_quat_32(&tmp0.buffer[0]);
  		CHECK(scalar_near_equal(quat_get_x(quat0), quat_get_x(quat1), 1.0E-3F));
  		CHECK(scalar_near_equal(quat_get_y(quat0), quat_get_y(quat1), 1.0E-3F));
  		CHECK(scalar_near_equal(quat_get_z(quat0), quat_get_z(quat1), 1.0E-3F));
  		CHECK(scalar_near_equal(quat_get_w(quat0), quat_get_w(quat1), 1.0E-3F));
  	}
  
  	CHECK(get_packed_rotation_size(rotation_format8::quatf_full) == 16);
  	CHECK(get_packed_rotation_size(rotation_format8::quatf_drop_w_full) == 12);
  
  	CHECK(get_range_reduction_rotation_size(rotation_format8::quatf_full) == 32);
  	CHECK(get_range_reduction_rotation_size(rotation_format8::quatf_drop_w_full) == 24);
  	CHECK(get_range_reduction_rotation_size(rotation_format8::quatf_drop_w_variable) == 24);
  }
  