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 <boost/qvm/quat.hpp>
  #include "test_qvm_quaternion.hpp"
  #include "test_qvm_matrix.hpp"
  #include "gold.hpp"
  
  namespace
      {
      void
      test()
          {
          using namespace boost::qvm;
          for( float r=0; r<6.28f; r+=0.5f )
              {
              test_qvm::quaternion<Q1> q1=rotx_quat(r);
              test_qvm::matrix<M1,3,3> m1=convert_to< test_qvm::matrix<M1,3,3> >(q1);
              test_qvm::rotation_x(m1.b,r);
              BOOST_QVM_TEST_CLOSE(m1.a,m1.b,0.000001f);
              test_qvm::quaternion<Q2> q2(42,1);
              set_rotx(q2,r);
              test_qvm::matrix<M1,3,3> m2=convert_to< test_qvm::matrix<M1,3,3> >(q2);
              test_qvm::rotation_x(m2.b,r);
              BOOST_QVM_TEST_CLOSE(m2.a,m2.b,0.000001f);
              test_qvm::quaternion<Q1> q3(42,1);
              test_qvm::quaternion<Q1> r1=q3*q1;
              rotate_x(q3,r);
              BOOST_QVM_TEST_EQ(q3.a,r1.a);
              }
          rotx_quat(0.0f)+rotx_quat(0.0f);
          -rotx_quat(0.0f);
          }
      }
  
  int
  main()
      {
      test();
      return boost::report_errors();
      }
  