text: //Copyright (c) 2008-2016 Emil Dotchevski and Reverge Studios, Inc.
  
  //Distributed under the Boost Software License, Version 1.0. (See accompanying
  //file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
  
  #include <boost/qvm/quat_operations.hpp>
  #include <boost/qvm/mat_operations.hpp>
  #include "test_qvm_quaternion.hpp"
  #include "test_qvm_matrix.hpp"
  #include "gold.hpp"
  
  namespace
      {
      template <class T,class U> struct same_type_tester;
      template <class T> struct same_type_tester<T,T> { };
      template <class T,class U> void test_same_type( T, U ) { same_type_tester<T,U>(); }
  
      void
      test()
          {
          using namespace boost::qvm;
          for( float a=0; a<6.28f; a+=0.2f )
              {
              test_qvm::quaternion<Q1> const qx=rotx_quat(a);
              test_qvm::quaternion<Q1> const qy=roty_quat(a);
              test_qvm::quaternion<Q1> const qz=rotz_quat(a);
              test_qvm::quaternion<Q1> q1=identity_quat<float>();
              q1 *= qx;
              q1 *= qy;
              q1 *= qref(qz);
              test_qvm::matrix<M1,3,3> const mx=rotx_mat<3>(a);
              test_qvm::matrix<M1,3,3> const my=roty_mat<3>(a);
              test_qvm::matrix<M1,3,3> const mz=rotz_mat<3>(a);
              test_qvm::matrix<M1,3,3> const m=mx*my*mz;
              test_qvm::quaternion<Q1> const q2=convert_to< test_qvm::quaternion<Q1> >(m);
              BOOST_QVM_TEST_CLOSE_QUAT(q1.a,q2.a,0.00001f);
              }
          }
      }
  
  int
  main()
      {
      test();
      return boost::report_errors();
      }
  