fix bug #439: add Quaternion::FromTwoVectors() static constructor

1 files changed, 11 insertions, 0 deletions

diff --git a/test/geo_quaternion.cpp b/test/geo_quaternion.cpp
index 7adbe0b3d..b73ae9cd4 100644
--- a/test/geo_quaternion.cpp
+++ b/test/geo_quaternion.cpp
@@ -142,6 +142,17 @@ template<typename Scalar, int Options> void quaternion(void)
     VERIFY_IS_APPROX(-v3.normalized(),(q2.setFromTwoVectors(v1,-v3)*v1).normalized());
   }
 
+  // from two vector creation static function
+  VERIFY_IS_APPROX( v2.normalized(),(Quaternionx::FromTwoVectors(v1, v2)*v1).normalized());
+  VERIFY_IS_APPROX( v1.normalized(),(Quaternionx::FromTwoVectors(v1, v1)*v1).normalized());
+  VERIFY_IS_APPROX(-v1.normalized(),(Quaternionx::FromTwoVectors(v1,-v1)*v1).normalized());
+  if (internal::is_same<Scalar,double>::value)
+  {
+    v3 = (v1.array()+eps).matrix();
+    VERIFY_IS_APPROX( v3.normalized(),(Quaternionx::FromTwoVectors(v1, v3)*v1).normalized());
+    VERIFY_IS_APPROX(-v3.normalized(),(Quaternionx::FromTwoVectors(v1,-v3)*v1).normalized());
+  }
+
   // inverse and conjugate
   VERIFY_IS_APPROX(q1 * (q1.inverse() * v1), v1);
   VERIFY_IS_APPROX(q1 * (q1.conjugate() * v1), v1);