X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=simgear%2Fmath%2FSGMathTest.cxx;h=aeedc7a9629fafe5c3ccc44e4222825c3fa430eb;hb=dfea3623f6549c9173fed5149da41285863fc290;hp=3f0d5cc67fc136fc3d9b456522885cf471f052f6;hpb=c5d677ac7b879036aa241379cbc32f868c1599bf;p=simgear.git

diff --git a/simgear/math/SGMathTest.cxx b/simgear/math/SGMathTest.cxx
index 3f0d5cc6..aeedc7a9 100644
--- a/simgear/math/SGMathTest.cxx
+++ b/simgear/math/SGMathTest.cxx
@@ -174,14 +174,22 @@ MatrixTest(void)
   // Create some test matrix
   SGVec3<T> v0(2, 7, 17);
   SGQuat<T> q0 = SGQuat<T>::fromAngleAxis(SGMisc<T>::pi(), normalize(v0));
-  SGMatrix<T> m0(q0, v0);
-
-  // Check the tqo forms of the inverse for that kind of special matrix
-  SGMatrix<T> m1, m2;
-  invert(m1, m0);
-  m2 = transNeg(m0);
+  SGMatrix<T> m0 = SGMatrix<T>::unit();
+  m0.postMultTranslate(v0);
+  m0.postMultRotate(q0);
+
+  // Check the three forms of the inverse for that kind of special matrix
+  SGMatrix<T> m1 = SGMatrix<T>::unit();
+  m1.preMultTranslate(-v0);
+  m1.preMultRotate(inverse(q0));
+
+  SGMatrix<T> m2, m3;
+  invert(m2, m0);
+  m3 = transNeg(m0);
   if (!equivalent(m1, m2))
     return false;
+  if (!equivalent(m2, m3))
+    return false;
 
   // Check matrix multiplication and inversion
   if (!equivalent(m0*m1, SGMatrix<T>::unit()))
@@ -192,6 +200,10 @@ MatrixTest(void)
     return false;
   if (!equivalent(m2*m0, SGMatrix<T>::unit()))
     return false;
+  if (!equivalent(m0*m3, SGMatrix<T>::unit()))
+    return false;
+  if (!equivalent(m3*m0, SGMatrix<T>::unit()))
+    return false;
   
   return true;
 }
@@ -200,10 +212,10 @@ bool
 GeodesyTest(void)
 {
   // We know that the values are on the order of 1
-  double epsDeg = 10*SGLimits<double>::epsilon();
+  double epsDeg = 10*360*SGLimits<double>::epsilon();
   // For the altitude values we need to tolerate relative errors in the order
   // of the radius
-  double epsM = 1e6*SGLimits<double>::epsilon();
+  double epsM = 10*6e6*SGLimits<double>::epsilon();
 
   SGVec3<double> cart0, cart1;
   SGGeod geod0, geod1;
@@ -236,7 +248,9 @@ sgInterfaceTest(void)
   SGVec3f v3f = SGVec3f::e2();
   SGVec4f v4f = SGVec4f::e2();
   SGQuatf qf = SGQuatf::fromEulerRad(1.2, 1.3, -0.4);
-  SGMatrixf mf(qf, v3f);
+  SGMatrixf mf;
+  mf.postMultTranslate(v3f);
+  mf.postMultRotate(qf);
 
   // Copy to and from plibs types check if result is equal,
   // test for exact equality
@@ -283,7 +297,9 @@ sgdInterfaceTest(void)
   SGVec3d v3d = SGVec3d::e2();
   SGVec4d v4d = SGVec4d::e2();
   SGQuatd qd = SGQuatd::fromEulerRad(1.2, 1.3, -0.4);
-  SGMatrixd md(qd, v3d);
+  SGMatrixd md;
+  md.postMultTranslate(v3d);
+  md.postMultRotate(qd);
 
   // Copy to and from plibs types check if result is equal,
   // test for exact equality