opal-commits

[Olex <ole...@us...>]

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv6648/src

Modified Files:
	Makefile.am Makefile.in Matrix44r.h Quaternion.h Solid.cpp 
	Solid.h testsolid.cpp 
Added Files:
	testQuaternion.cpp 
Log Message:
Solid::setQuaternion and Matrix44r:setQuaternion initial draft.
Added unit tests for Quaternion.


Index: Solid.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Solid.cpp,v
retrieving revision 1.39
retrieving revision 1.40
diff -C2 -d -r1.39 -r1.40
*** Solid.cpp	6 Nov 2005 05:12:21 -0000	1.39
--- Solid.cpp	1 Dec 2005 04:54:44 -0000	1.40
***************
*** 1,28 ****
  /*************************************************************************
!  *                                                                       *
!  * Open Physics Abstraction Layer                                        *
!  * Copyright (C) 2004-2005                                               *
!  * Alan Fischer  ala...@gm...                                  *
!  * Andres Reinot  an...@re...                                      *
!  * Tyler Streeter  tyl...@gm...                               *
!  * All rights reserved.                                                  *
!  * Web: opal.sourceforge.net                                             *
!  *                                                                       *
!  * This library is free software; you can redistribute it and/or         *
!  * modify it under the terms of EITHER:                                  *
!  *   (1) 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. The text of the GNU Lesser      *
!  *       General Public License is included with this library in the     *
!  *       file license-LGPL.txt.                                          *
!  *   (2) The BSD-style license that is included with this library in     *
!  *       the file license-BSD.txt.                                       *
!  *                                                                       *
!  * 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 files    *
!  * license-LGPL.txt and license-BSD.txt for more details.                *
!  *                                                                       *
!  *************************************************************************/
  
  #include "Solid.h"
--- 1,28 ----
  /*************************************************************************
! *                                                                       *
! * Open Physics Abstraction Layer                                        *
! * Copyright (C) 2004-2005                                               *
! * Alan Fischer  ala...@gm...                                  *
! * Andres Reinot  an...@re...                                      *
! * Tyler Streeter  tyl...@gm...                               *
! * All rights reserved.                                                  *
! * Web: opal.sourceforge.net                                             *
! *                                                                       *
! * This library is free software; you can redistribute it and/or         *
! * modify it under the terms of EITHER:                                  *
! *   (1) 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. The text of the GNU Lesser      *
! *       General Public License is included with this library in the     *
! *       file license-LGPL.txt.                                          *
! *   (2) The BSD-style license that is included with this library in     *
! *       the file license-BSD.txt.                                       *
! *                                                                       *
! * 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 files    *
! * license-LGPL.txt and license-BSD.txt for more details.                *
! *                                                                       *
! *************************************************************************/
  
  #include "Solid.h"
***************
*** 30,318 ****
  namespace opal
  {
! 	Solid::Solid()
! 	{
! 		// "mData" is initialized in its own constructor.
! 		setCollisionEventHandler(NULL);
! 		setUserData(NULL);
! 		resetAABB();
! 	}
  
! 	Solid::~Solid()
! 	{
! 		mForceList.clear();
! 	}
  
! 	void Solid::internal_destroy()
! 	{
! 		delete this;
! 	}
  
! 	const SolidData& Solid::getData()
! 	{
! 		// Update parameters that don't get updated automatically.
! 		mData.sleeping = isSleeping();
  
! 		return mData;
! 	}
  
! 	void Solid::setName(const std::string& name)
! 	{
! 		mData.name = name;
! 	}
  
! 	const std::string& Solid::getName()const
! 	{
! 		return mData.name;
! 	}
  
! 	bool Solid::isEnabled()const
! 	{
! 		return mData.enabled;
! 	}
  
! 	void Solid::setEnabled(bool e)
! 	{
! 		mData.enabled = e;
! 	}
  
! 	bool Solid::isStatic()const
! 	{
! 		return mData.isStatic;
! 	}
  
! 	void Solid::setSleepiness(real s)
! 	{
! 		assert(s >= 0.0 && s <= 1.0);
! 		mData.sleepiness = s;
! 	}
  
! 	real Solid::getSleepiness()const
! 	{
! 		return mData.sleepiness;
! 	}
  
! 	void Solid::setLinearDamping(real ld)
! 	{
! 		assert(ld >= 0.0);
! 		mData.linearDamping = ld;
! 	}
  
! 	real Solid::getLinearDamping()const
! 	{
! 		return mData.linearDamping;
! 	}
  
! 	void Solid::setAngularDamping(real ad)
! 	{
! 		assert(ad >= 0.0);
! 		mData.angularDamping = ad;
! 	}
  
! 	real Solid::getAngularDamping()const
! 	{
! 		return mData.angularDamping;
! 	}
  
! 	void Solid::setUserData(void* data)
! 	{
! 		mUserData = data;
! 	}
  
! 	void* Solid::getUserData()const
! 	{
! 		return mUserData;
! 	}
  
! 	void Solid::setTransform(const Matrix44r& t)
! 	{	
! 		mData.transform = t;
! 		internal_updateEngineTransform();
! 	}
  
! 	const Matrix44r& Solid::getTransform()const
! 	{
! 		return mData.transform;
! 	}
  
! 	void Solid::setPosition(real x, real y, real z)
! 	{
! 		mData.transform.setPosition(x, y, z);
! 		internal_updateEngineTransform();
! 	}
  
! 	void Solid::setPosition(const Point3r & p)
! 	{
! 		setPosition(p[0], p[1], p[2]);
! 	}
  
! 	Point3r Solid::getPosition()const
! 	{
! 		return mData.transform.getPosition();
! 	}
  
! 	Vec3r Solid::getEulerXYZ()const
! 	{
! 		return mData.transform.getEulerXYZ();
! 	}
  
! 	Quaternion Solid::getQuaternion()const
! 	{
! 		return mData.transform.getQuaternion();
! 	}
  
! 	void Solid::getLocalAABB(real aabb[6])const
  	{
! 		for (unsigned int i = 0; i < 6; ++i)
! 		{
! 			aabb[i] = mLocalAABB[i];
! 		}
  	}
  
! 	void Solid::getGlobalAABB(real aabb[6])const
! 	{
! 		Point3r minExtents(mLocalAABB[0], mLocalAABB[2], mLocalAABB[4]);
! 		Point3r maxExtents(mLocalAABB[1], mLocalAABB[3], mLocalAABB[5]);
  
! 		// Transform the AABB extents to global coordinates.
! 		minExtents = mData.transform * minExtents;
! 		maxExtents = mData.transform * maxExtents;
  
! 		aabb[0] = minExtents[0];
! 		aabb[1] = maxExtents[0];
! 		aabb[2] = minExtents[1];
! 		aabb[3] = maxExtents[1];
! 		aabb[4] = minExtents[2];
! 		aabb[5] = maxExtents[2];
! 	}
  
! 	//void Solid::addPlane(const Point3r& point, const Vec3r& normal, const Material& m)
! 	//{
! 	//	Point3r origin(0, 0, 0);
! 	//	Vec3r n = normal;
! 	//	n.normalize();
! 	//	Vec3r v = point - origin;
! 	//
! 	//	real angle = 0;
! 	//	if (0 != v.length())
! 	//	{
! 	//		v.normalize();
! 	//		angle = acos(dot(n,v)); // note: this only works when the two vectors are normalized
! 	//	}
! 	//
! 	//	real length = distance(point, origin);
! 	//	real D = length * cos(angle);
! 	//	real abcd[4] = {n[0], n[1], n[2], D};
! 	//	addPlane(abcd, m);
! 	//}
  
! 	void Solid::addForce(const Force& f)
! 	{
! 		if (mData.enabled && !mData.isStatic && 
! 			!areEqual(f.vec.lengthSquared(), 0))
! 		{
! 			mForceList.push_back(f);
! 		}
! 	}
  
! 	void Solid::internal_applyForces(real stepSize)
! 	{
! 		if (mData.isStatic)
! 		{
! 			return;
! 		}
  
! 		// If there are Forces to apply and the Solid is asleep, wake it up.
! 		if(!mForceList.empty() && isSleeping())
! 		{
! 			setSleeping(false);
! 		}
  
! 		real invStepSize = 1 / stepSize;
  
! 		for (unsigned int i = 0; i < mForceList.size();)
! 		{
! 			if (true == mForceList[i].singleStep)
! 			{
! 				mForceList[i].duration = stepSize;
! 			}
! 			else if (mForceList[i].duration < stepSize)
! 			{
! 				// Scale the size of the force/torque.
! 				mForceList[i].vec *= (mForceList[i].duration * invStepSize);
! 			}
  
! 			// Apply the actual force/torque.
! 			applyForce(mForceList[i]);
  
! 			// The following is ok for all cases (even when duration is 
! 			// < mStepSize).
! 			mForceList[i].duration -= stepSize;
  
! 			if (mForceList[i].duration <= 0)
! 			{
! 				// Delete this force.
! 				mForceList[i] = mForceList.back();
! 				mForceList.pop_back();
! 			}
! 			else
! 			{
! 				++i;
! 			}
! 		}
! 	}
  
! 	void Solid::setCollisionEventHandler(CollisionEventHandler* eventHandler)
! 	{
! 		mCollisionEventHandler = eventHandler;
! 	}
  
! 	CollisionEventHandler* Solid::getCollisionEventHandler()const
! 	{
! 		return mCollisionEventHandler;
! 	}
  
! 	void Solid::addToLocalAABB(const real aabb[6])
! 	{
! 		// Loop over the 3 dimensions of the AABB's extents.
! 		for (unsigned int i = 0; i < 3; ++i)
! 		{
! 			if (aabb[i * 2] < mLocalAABB[i * 2])
! 			{
! 				mLocalAABB[i * 2] = aabb[i * 2];
! 			}
  
! 			if (aabb[i * 2 + 1] > mLocalAABB[i * 2 + 1])
! 			{
! 				mLocalAABB[i * 2 + 1] = aabb[i * 2 + 1];
! 			}
! 		}
! 	}
  
! 	void Solid::resetAABB()
! 	{
! 		for (unsigned int i = 0; i < 6; ++i)
! 		{
! 			mLocalAABB[i] = 0;
! 		}
! 	}
  
! 	//void Solid::internal_updateSleeping()
! 	//{
! 	//	mData.sleeping = isSleeping();
! 	//}
  
! 	//// TODO: Quickly spinning solids should be set as fast rotating solids to 
! 	//// improve simulation accuracy.
! 	//void Solid::setFastRotation(bool fast)
! 	//{
! 	//}
  
! 	//bool Solid::getFastRotation()const
! 	//{
! 	//	return false;
! 	//}
  
! 	//void Solid::setFastRotationAxis(Vec3r axis)
! 	//{
! 	//}
  }
--- 30,330 ----
  namespace opal
  {
!     Solid::Solid()
!     {
!         // "mData" is initialized in its own constructor.
!         setCollisionEventHandler( NULL );
!         setUserData( NULL );
!         resetAABB();
!     }
  
!     Solid::~Solid()
!     {
!         mForceList.clear();
!     }
  
!     void Solid::internal_destroy()
!     {
!         delete this;
!     }
  
!     const SolidData& Solid::getData()
!     {
!         // Update parameters that don't get updated automatically.
!         mData.sleeping = isSleeping();
  
!         return mData;
!     }
  
!     void Solid::setName( const std::string& name )
!     {
!         mData.name = name;
!     }
  
!     const std::string& Solid::getName() const
!     {
!         return mData.name;
!     }
  
!     bool Solid::isEnabled() const
!     {
!         return mData.enabled;
!     }
  
!     void Solid::setEnabled( bool e )
!     {
!         mData.enabled = e;
!     }
  
!     bool Solid::isStatic() const
!     {
!         return mData.isStatic;
!     }
  
!     void Solid::setSleepiness( real s )
!     {
!         assert( s >= 0.0 && s <= 1.0 );
!         mData.sleepiness = s;
!     }
  
!     real Solid::getSleepiness() const
!     {
!         return mData.sleepiness;
!     }
  
!     void Solid::setLinearDamping( real ld )
!     {
!         assert( ld >= 0.0 );
!         mData.linearDamping = ld;
!     }
  
!     real Solid::getLinearDamping() const
!     {
!         return mData.linearDamping;
!     }
  
!     void Solid::setAngularDamping( real ad )
!     {
!         assert( ad >= 0.0 );
!         mData.angularDamping = ad;
!     }
  
!     real Solid::getAngularDamping() const
!     {
!         return mData.angularDamping;
!     }
  
!     void Solid::setUserData( void* data )
!     {
!         mUserData = data;
!     }
  
!     void* Solid::getUserData() const
!     {
!         return mUserData;
!     }
  
!     void Solid::setTransform( const Matrix44r& t )
!     {
!         mData.transform = t;
!         internal_updateEngineTransform();
!     }
  
!     const Matrix44r& Solid::getTransform() const
!     {
!         return mData.transform;
!     }
  
!     void Solid::setPosition( real x, real y, real z )
!     {
!         mData.transform.setPosition( x, y, z );
!         internal_updateEngineTransform();
!     }
  
!     void Solid::setPosition( const Point3r & p )
!     {
!         setPosition( p[ 0 ], p[ 1 ], p[ 2 ] );
!     }
  
!     Point3r Solid::getPosition() const
!     {
!         return mData.transform.getPosition();
!     }
  
!     Vec3r Solid::getEulerXYZ() const
!     {
!         return mData.transform.getEulerXYZ();
!     }
  
!     Quaternion Solid::getQuaternion() const
!     {
!         return mData.transform.getQuaternion();
!     }
  
!     void Solid::setQuaternion( const Quaternion & q )
!     {
!         mData.transform.setQuaternion( q[ 0 ], q[ 1 ], q[ 2 ], q[ 3 ] );
!         internal_updateEngineTransform();
!     }
! 
! 	void Solid::setQuaternion( real w, real x, real y, real z )
  	{
! 		mData.transform.setQuaternion( w, x, y, z );
! 		internal_updateEngineTransform();
  	}
  
!     void Solid::getLocalAABB( real aabb[ 6 ] ) const
!     {
!         for ( unsigned int i = 0; i < 6; ++i )
!         {
!             aabb[ i ] = mLocalAABB[ i ];
!         }
!     }
  
!     void Solid::getGlobalAABB( real aabb[ 6 ] ) const
!     {
!         Point3r minExtents( mLocalAABB[ 0 ], mLocalAABB[ 2 ], mLocalAABB[ 4 ] );
!         Point3r maxExtents( mLocalAABB[ 1 ], mLocalAABB[ 3 ], mLocalAABB[ 5 ] );
  
!         // Transform the AABB extents to global coordinates.
!         minExtents = mData.transform * minExtents;
!         maxExtents = mData.transform * maxExtents;
  
!         aabb[ 0 ] = minExtents[ 0 ];
!         aabb[ 1 ] = maxExtents[ 0 ];
!         aabb[ 2 ] = minExtents[ 1 ];
!         aabb[ 3 ] = maxExtents[ 1 ];
!         aabb[ 4 ] = minExtents[ 2 ];
!         aabb[ 5 ] = maxExtents[ 2 ];
!     }
  
!     //void Solid::addPlane(const Point3r& point, const Vec3r& normal, const Material& m)
!     //{
!     //	Point3r origin(0, 0, 0);
!     //	Vec3r n = normal;
!     //	n.normalize();
!     //	Vec3r v = point - origin;
!     //
!     //	real angle = 0;
!     //	if (0 != v.length())
!     //	{
!     //		v.normalize();
!     //		angle = acos(dot(n,v)); // note: this only works when the two vectors are normalized
!     //	}
!     //
!     //	real length = distance(point, origin);
!     //	real D = length * cos(angle);
!     //	real abcd[4] = {n[0], n[1], n[2], D};
!     //	addPlane(abcd, m);
!     //}
  
!     void Solid::addForce( const Force& f )
!     {
!         if ( mData.enabled && !mData.isStatic &&
!                 !areEqual( f.vec.lengthSquared(), 0 ) )
!         {
!             mForceList.push_back( f );
!         }
!     }
  
!     void Solid::internal_applyForces( real stepSize )
!     {
!         if ( mData.isStatic )
!         {
!             return ;
!         }
  
!         // If there are Forces to apply and the Solid is asleep, wake it up.
!         if ( !mForceList.empty() && isSleeping() )
!         {
!             setSleeping( false );
!         }
  
!         real invStepSize = 1 / stepSize;
  
!         for ( unsigned int i = 0; i < mForceList.size(); )
!         {
!             if ( true == mForceList[ i ].singleStep )
!             {
!                 mForceList[ i ].duration = stepSize;
!             }
!             else if ( mForceList[ i ].duration < stepSize )
!             {
!                 // Scale the size of the force/torque.
!                 mForceList[ i ].vec *= ( mForceList[ i ].duration * invStepSize );
!             }
  
!             // Apply the actual force/torque.
!             applyForce( mForceList[ i ] );
  
!             // The following is ok for all cases (even when duration is
!             // < mStepSize).
!             mForceList[ i ].duration -= stepSize;
  
!             if ( mForceList[ i ].duration <= 0 )
!             {
!                 // Delete this force.
!                 mForceList[ i ] = mForceList.back();
!                 mForceList.pop_back();
!             }
!             else
!             {
!                 ++i;
!             }
!         }
!     }
  
!     void Solid::setCollisionEventHandler( CollisionEventHandler* eventHandler )
!     {
!         mCollisionEventHandler = eventHandler;
!     }
  
!     CollisionEventHandler* Solid::getCollisionEventHandler() const
!     {
!         return mCollisionEventHandler;
!     }
  
!     void Solid::addToLocalAABB( const real aabb[ 6 ] )
!     {
!         // Loop over the 3 dimensions of the AABB's extents.
!         for ( unsigned int i = 0; i < 3; ++i )
!         {
!             if ( aabb[ i * 2 ] < mLocalAABB[ i * 2 ] )
!             {
!                 mLocalAABB[ i * 2 ] = aabb[ i * 2 ];
!             }
  
!             if ( aabb[ i * 2 + 1 ] > mLocalAABB[ i * 2 + 1 ] )
!             {
!                 mLocalAABB[ i * 2 + 1 ] = aabb[ i * 2 + 1 ];
!             }
!         }
!     }
  
!     void Solid::resetAABB()
!     {
!         for ( unsigned int i = 0; i < 6; ++i )
!         {
!             mLocalAABB[ i ] = 0;
!         }
!     }
  
!     //void Solid::internal_updateSleeping()
!     //{
!     //	mData.sleeping = isSleeping();
!     //}
  
!     //// TODO: Quickly spinning solids should be set as fast rotating solids to
!     //// improve simulation accuracy.
!     //void Solid::setFastRotation(bool fast)
!     //{
!     //}
  
!     //bool Solid::getFastRotation()const
!     //{
!     //	return false;
!     //}
! 
!     //void Solid::setFastRotationAxis(Vec3r axis)
!     //{
!     //}
  }

Index: Makefile.in
===================================================================
RCS file: /cvsroot/opal/opal/src/Makefile.in,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** Makefile.in	1 Dec 2005 02:04:54 -0000	1.5
--- Makefile.in	1 Dec 2005 04:54:44 -0000	1.6
***************
*** 70,74 ****
  	testAccelerationSensor.$(OBJEXT) testRaycastSensor.$(OBJEXT) \
  	testSimulator.$(OBJEXT) testVec3r.$(OBJEXT) \
! 	testPoint3r.$(OBJEXT)
  test_opal_OBJECTS = $(am_test_opal_OBJECTS)
  test_opal_DEPENDENCIES =  \
--- 70,74 ----
  	testAccelerationSensor.$(OBJEXT) testRaycastSensor.$(OBJEXT) \
  	testSimulator.$(OBJEXT) testVec3r.$(OBJEXT) \
! 	testPoint3r.$(OBJEXT) testQuaternion.$(OBJEXT)
  test_opal_OBJECTS = $(am_test_opal_OBJECTS)
  test_opal_DEPENDENCIES =  \
***************
*** 212,216 ****
  
  test_opal_SOURCES = testopal.cpp testsolid.cpp testAccelerationSensor.cpp \
! 			testRaycastSensor.cpp testSimulator.cpp testVec3r.cpp testPoint3r.cpp
  
  test_opal_LDADD = $(top_builddir)/src/external/tinyxml/libtinyxml.a \
--- 212,216 ----
  
  test_opal_SOURCES = testopal.cpp testsolid.cpp testAccelerationSensor.cpp \
! 				testRaycastSensor.cpp testSimulator.cpp testVec3r.cpp testPoint3r.cpp testQuaternion.cpp
  
  test_opal_LDADD = $(top_builddir)/src/external/tinyxml/libtinyxml.a \
***************
*** 320,323 ****
--- 320,324 ----
  @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/testAccelerationSensor.Po@am__quote@
  @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/testPoint3r.Po@am__quote@
+ @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/testQuaternion.Po@am__quote@
  @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/testRaycastSensor.Po@am__quote@
  @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/testSimulator.Po@am__quote@

--- NEW FILE: testQuaternion.cpp ---
/*************************************************************************
*                                                                       *
* Open Physics Abstraction Layer                                        *
* Copyright (C) 2004-2005                                               *
* Alan Fischer  ala...@gm...                                  *
* Andres Reinot  an...@re...                                      *
* Tyler Streeter  tyl...@gm...                               *
* Oleksandr Lozitskiy mr....@gm...                            *
* All rights reserved.                                                  *
* Web: opal.sourceforge.net                                             *
*                                                                       *
* This library is free software; you can redistribute it and/or         *
* modify it under the terms of EITHER:                                  *
*   (1) 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. The text of the GNU Lesser      *
*       General Public License is included with this library in the     *
*       file license-LGPL.txt.                                          *
*   (2) The BSD-style license that is included with this library in     *
*       the file license-BSD.txt.                                       *
*                                                                       *
* 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 files    *
* license-LGPL.txt and license-BSD.txt for more details.                *
*                                                                       *
*************************************************************************/

// system headers
#include <quicktest.h>

// project headers
#include "opal.h"

using namespace opal;

namespace testQuaternion
{
    QT_TEST( default_constructor )
    {
        Quaternion q;
        QT_CHECK_EQUAL( q[ 0 ], 0 );
        QT_CHECK_EQUAL( q[ 1 ], 0 );
        QT_CHECK_EQUAL( q[ 2 ], 0 );
        QT_CHECK_EQUAL( q[ 3 ], 0 );
    }

    QT_TEST( constructor )
    {
        Quaternion q( 1, 2, 3, 4 );
        QT_CHECK_EQUAL( q[ 0 ], 1 );
        QT_CHECK_EQUAL( q[ 1 ], 2 );
        QT_CHECK_EQUAL( q[ 2 ], 3 );
        QT_CHECK_EQUAL( q[ 3 ], 4 );
    }

    QT_TEST( operator_equal )
    {
        QT_CHECK_EQUAL( Quaternion( 0, 0, 0, 0 ), Quaternion( 0, 0, 0, 0 ) );
		QT_CHECK_EQUAL( Quaternion( 0, 0, 0, 1 ), Quaternion( 0, 0, 0, 1 ) );
		QT_CHECK_EQUAL( Quaternion( 0, 0, 1, 2 ), Quaternion( 0, 0, 1, 2 ) );
		QT_CHECK_EQUAL( Quaternion( 1, 2, 0, 3 ), Quaternion( 1, 2, 0, 3 ) );
    }

	QT_TEST( operator_not_equal )
	{
		QT_CHECK_NOT_EQUAL( Quaternion( 0, 0, 0, 0 ), Quaternion( 1, 0, 0, 0 ) );
		QT_CHECK_NOT_EQUAL( Quaternion( 0, 0, 0, 1 ), Quaternion( 0, 1, 0, 0 ) );
		QT_CHECK_NOT_EQUAL( Quaternion( 0, 0, 1, 2 ), Quaternion( 4, 5, 0, 2 ) );
		QT_CHECK_NOT_EQUAL( Quaternion( 1, 2, 0, 3 ), Quaternion( 1, 0, 2, 3 ) );
	}
}

Index: testsolid.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/testsolid.cpp,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** testsolid.cpp	1 Dec 2005 02:04:54 -0000	1.4
--- testsolid.cpp	1 Dec 2005 04:54:44 -0000	1.5
***************
*** 216,220 ****
          Matrix44r m_set = f.s->getInertiaTensor();
          QT_CHECK_EQUAL( m, m_set );
! 		QT_CHECK_CLOSE( f.s->getMass(), mass.mass, 0.001 );
  
          mass.mass = 2;
--- 216,220 ----
          Matrix44r m_set = f.s->getInertiaTensor();
          QT_CHECK_EQUAL( m, m_set );
!         QT_CHECK_CLOSE( f.s->getMass(), mass.mass, 0.001 );
  
          mass.mass = 2;
***************
*** 223,225 ****
--- 223,237 ----
          QT_CHECK_CLOSE( f.s->getMass(), mass.mass, 0.001 );
      }
+ 
+     QT_TEST( setQuaternion_Q )
+     {
+         SolidBoxFixture f;
+         Quaternion q = f.s->getQuaternion();
+         f.s->setQuaternion( q );
+         QT_CHECK_EQUAL( q, f.s->getQuaternion() );
+ 
+ 		q.set( 1, 0, 0, 0 );
+ 		f.s->setQuaternion( q );
+ 		QT_CHECK_EQUAL( q, f.s->getQuaternion() );
+     }
  }

Index: Makefile.am
===================================================================
RCS file: /cvsroot/opal/opal/src/Makefile.am,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** Makefile.am	1 Dec 2005 02:04:54 -0000	1.5
--- Makefile.am	1 Dec 2005 04:54:44 -0000	1.6
***************
*** 15,19 ****
  bin_PROGRAMS = test_opal
  test_opal_SOURCES = testopal.cpp testsolid.cpp testAccelerationSensor.cpp \
! 			testRaycastSensor.cpp testSimulator.cpp testVec3r.cpp testPoint3r.cpp
  test_opal_LDADD = $(top_builddir)/src/external/tinyxml/libtinyxml.a \
  	$(top_builddir)/src/ODE/libodeimpl.a $(top_builddir)/src/libopalode.a -lode
--- 15,19 ----
  bin_PROGRAMS = test_opal
  test_opal_SOURCES = testopal.cpp testsolid.cpp testAccelerationSensor.cpp \
! 				testRaycastSensor.cpp testSimulator.cpp testVec3r.cpp testPoint3r.cpp testQuaternion.cpp
  test_opal_LDADD = $(top_builddir)/src/external/tinyxml/libtinyxml.a \
  	$(top_builddir)/src/ODE/libodeimpl.a $(top_builddir)/src/libopalode.a -lode

Index: Solid.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Solid.h,v
retrieving revision 1.93
retrieving revision 1.94
diff -C2 -d -r1.93 -r1.94
*** Solid.h	1 Dec 2005 02:04:54 -0000	1.93
--- Solid.h	1 Dec 2005 04:54:44 -0000	1.94
***************
*** 1,28 ****
  /*************************************************************************
!  *                                                                       *
!  * Open Physics Abstraction Layer                                        *
!  * Copyright (C) 2004-2005                                               *
!  * Alan Fischer  ala...@gm...                                  *
!  * Andres Reinot  an...@re...                                      *
!  * Tyler Streeter  tyl...@gm...                               *
!  * All rights reserved.                                                  *
!  * Web: opal.sourceforge.net                                             *
!  *                                                                       *
!  * This library is free software; you can redistribute it and/or         *
!  * modify it under the terms of EITHER:                                  *
!  *   (1) 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. The text of the GNU Lesser      *
!  *       General Public License is included with this library in the     *
!  *       file license-LGPL.txt.                                          *
!  *   (2) The BSD-style license that is included with this library in     *
!  *       the file license-BSD.txt.                                       *
!  *                                                                       *
!  * 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 files    *
!  * license-LGPL.txt and license-BSD.txt for more details.                *
!  *                                                                       *
!  *************************************************************************/
  
  #ifndef OPAL_SOLID_H
--- 1,28 ----
  /*************************************************************************
! *                                                                       *
! * Open Physics Abstraction Layer                                        *
! * Copyright (C) 2004-2005                                               *
! * Alan Fischer  ala...@gm...                                  *
! * Andres Reinot  an...@re...                                      *
! * Tyler Streeter  tyl...@gm...                               *
! * All rights reserved.                                                  *
! * Web: opal.sourceforge.net                                             *
! *                                                                       *
! * This library is free software; you can redistribute it and/or         *
! * modify it under the terms of EITHER:                                  *
! *   (1) 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. The text of the GNU Lesser      *
! *       General Public License is included with this library in the     *
! *       file license-LGPL.txt.                                          *
! *   (2) The BSD-style license that is included with this library in     *
! *       the file license-BSD.txt.                                       *
! *                                                                       *
! * 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 files    *
! * license-LGPL.txt and license-BSD.txt for more details.                *
! *                                                                       *
! *************************************************************************/
  
  #ifndef OPAL_SOLID_H
***************
*** 35,281 ****
  namespace opal
  {
! 	class Mass;
! 	class Simulator;
! 	class Space;
! 	class ShapeData;
  
! 	/// Solids are the physical objects in a simulation.  Solids can be 
! 	/// static or dynamic: basically, dynamic Solids move, and static Solids 
! 	/// don't move.  (Static Solids can still be positioned manually.)  All 
! 	/// Solids start out enabled, but they don't do muc...
 
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