Модульные тесты для кватернионов

basic-geometry-test/basic-geometry-test.vcxproj

@@ -150,16 +150,24 @@
   <ItemGroup>
     <ClCompile Include="helpers.c" />
     <ClCompile Include="main.c" />
+    <ClCompile Include="tests\quaternion.c" />
+    <ClCompile Include="tests\quaternion\quaternion_copy.c" />
+    <ClCompile Include="tests\quaternion\quaternion_reset.c" />
+    <ClCompile Include="tests\quaternion\quaternion_set_to_identity.c" />
+    <ClCompile Include="tests\quaternion\quaternion_set_values.c" />
+    <ClCompile Include="tests\quaternion\quaternion_swap.c" />
     <ClCompile Include="tests\utilities.c" />
     <ClCompile Include="tests\utilities\are_close.c" />
     <ClCompile Include="tests\utilities\is_unit.c" />
     <ClCompile Include="tests\utilities\is_zero.c" />
     <ClCompile Include="tests\vector2.c" />
+    <ClCompile Include="tests\vector2\vector2_is_zero.c" />
     <ClCompile Include="tests\vector2\vector2_copy.c" />
     <ClCompile Include="tests\vector2\vector2_reset.c" />
     <ClCompile Include="tests\vector2\vector2_set_values.c" />
     <ClCompile Include="tests\vector2\vector2_swap.c" />
     <ClCompile Include="tests\vector3.c" />
+    <ClCompile Include="tests\vector3\vector3_is_zero.c" />
     <ClCompile Include="tests\vector3\vector3_copy.c" />
     <ClCompile Include="tests\vector3\vector3_swap.c" />
     <ClCompile Include="tests\vector3\vector3_reset.c" />
@@ -174,16 +182,24 @@
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="helpers.h" />
+    <ClInclude Include="tests\quaternion.h" />
+    <ClInclude Include="tests\quaternion\quaternion_copy.h" />
+    <ClInclude Include="tests\quaternion\quaternion_reset.h" />
+    <ClInclude Include="tests\quaternion\quaternion_set_to_identity.h" />
+    <ClInclude Include="tests\quaternion\quaternion_set_values.h" />
+    <ClInclude Include="tests\quaternion\quaternion_swap.h" />
     <ClInclude Include="tests\utilities.h" />
     <ClInclude Include="tests\utilities\are_close.h" />
     <ClInclude Include="tests\utilities\is_unit.h" />
     <ClInclude Include="tests\utilities\is_zero.h" />
     <ClInclude Include="tests\vector2.h" />
+    <ClInclude Include="tests\vector2\vector2_is_zero.h" />
     <ClInclude Include="tests\vector2\vector2_copy.h" />
     <ClInclude Include="tests\vector2\vector2_reset.h" />
     <ClInclude Include="tests\vector2\vector2_set_values.h" />
     <ClInclude Include="tests\vector2\vector2_swap.h" />
     <ClInclude Include="tests\vector3.h" />
+    <ClInclude Include="tests\vector3\vector3_is_zero.h" />
     <ClInclude Include="tests\vector3\vector3_copy.h" />
     <ClInclude Include="tests\vector3\vector3_swap.h" />
     <ClInclude Include="tests\vector3\vector3_reset.h" />

basic-geometry-test/basic-geometry-test.vcxproj.filters

@@ -66,6 +66,30 @@
     <ClCompile Include="tests\versor\versor_swap.c">
       <Filter>tests\versor</Filter>
     </ClCompile>
+    <ClCompile Include="tests\quaternion\quaternion_copy.c">
+      <Filter>tests\quaternion</Filter>
+    </ClCompile>
+    <ClCompile Include="tests\quaternion\quaternion_reset.c">
+      <Filter>tests\quaternion</Filter>
+    </ClCompile>
+    <ClCompile Include="tests\quaternion\quaternion_set_values.c">
+      <Filter>tests\quaternion</Filter>
+    </ClCompile>
+    <ClCompile Include="tests\quaternion\quaternion_swap.c">
+      <Filter>tests\quaternion</Filter>
+    </ClCompile>
+    <ClCompile Include="tests\quaternion.c">
+      <Filter>tests</Filter>
+    </ClCompile>
+    <ClCompile Include="tests\quaternion\quaternion_set_to_identity.c">
+      <Filter>tests\quaternion</Filter>
+    </ClCompile>
+    <ClCompile Include="tests\vector3\vector3_is_zero.c">
+      <Filter>tests\vector3</Filter>
+    </ClCompile>
+    <ClCompile Include="tests\vector2\vector2_is_zero.c">
+      <Filter>tests\vector2</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="helpers.h" />
@@ -132,6 +156,30 @@
     <ClInclude Include="tests\versor\versor_swap.h">
       <Filter>tests\versor</Filter>
     </ClInclude>
+    <ClInclude Include="tests\quaternion\quaternion_copy.h">
+      <Filter>tests\quaternion</Filter>
+    </ClInclude>
+    <ClInclude Include="tests\quaternion\quaternion_reset.h">
+      <Filter>tests\quaternion</Filter>
+    </ClInclude>
+    <ClInclude Include="tests\quaternion\quaternion_set_values.h">
+      <Filter>tests\quaternion</Filter>
+    </ClInclude>
+    <ClInclude Include="tests\quaternion\quaternion_swap.h">
+      <Filter>tests\quaternion</Filter>
+    </ClInclude>
+    <ClInclude Include="tests\quaternion.h">
+      <Filter>tests</Filter>
+    </ClInclude>
+    <ClInclude Include="tests\quaternion\quaternion_set_to_identity.h">
+      <Filter>tests\quaternion</Filter>
+    </ClInclude>
+    <ClInclude Include="tests\vector3\vector3_is_zero.h">
+      <Filter>tests\vector3</Filter>
+    </ClInclude>
+    <ClInclude Include="tests\vector2\vector2_is_zero.h">
+      <Filter>tests\vector2</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <Filter Include="tests">
@@ -149,5 +197,8 @@
     <Filter Include="tests\versor">
       <UniqueIdentifier>{d6f82407-8310-4b32-b153-aa67e766c72a}</UniqueIdentifier>
     </Filter>
+    <Filter Include="tests\quaternion">
+      <UniqueIdentifier>{e8bafdb8-66e5-4393-bc89-8bff83bcccd6}</UniqueIdentifier>
+    </Filter>
   </ItemGroup>
 </Project>

basic-geometry-test/main.c

@@ -6,6 +6,7 @@
 #include "tests/utilities.h"
 #include "tests/vector2.h"
 #include "tests/vector3.h"
+#include "tests/quaternion.h"
 #include "tests/versor.h"
 
 #define PROGRAM_SUCCESS 0
@@ -25,6 +26,10 @@ int main()
         return PROGRAM_FAILED;
     }
 
+    if (test_quaternion() == TEST_FAILED) {
+        return PROGRAM_FAILED;
+    }
+
     if (test_versor() == TEST_FAILED) {
         return PROGRAM_FAILED;
     }

basic-geometry-test/tests/quaternion.c

@@ -0,0 +1,28 @@
+#include "quaternion.h"
+
+int test_quaternion()
+{
+    print_testing_section("BGC Quaternion");
+
+    if (test_bgc_quaternion_reset() != TEST_SUCCES) {
+        return TEST_FAILED;
+    }
+
+    if (test_bgc_quaternion_set_to_identity() != TEST_SUCCES) {
+        return TEST_FAILED;
+    }
+
+    if (test_bgc_quaternion_set_values() != TEST_SUCCES) {
+        return TEST_FAILED;
+    }
+
+    if (test_bgc_quaternion_copy() != TEST_SUCCES) {
+        return TEST_FAILED;
+    }
+
+    if (test_bgc_quaternion_swap() != TEST_SUCCES) {
+        return TEST_FAILED;
+    }
+
+    return TEST_SUCCES;
+}

basic-geometry-test/tests/quaternion.h

@@ -0,0 +1,13 @@
+#ifndef _TEST_QUATERNION_H_
+#define _TEST_QUATERNION_H_
+
+#include "./../helpers.h"
+#include "./quaternion/quaternion_reset.h"
+#include "./quaternion/quaternion_set_to_identity.h"
+#include "./quaternion/quaternion_set_values.h"
+#include "./quaternion/quaternion_copy.h"
+#include "./quaternion/quaternion_swap.h"
+
+int test_quaternion();
+
+#endif

basic-geometry-test/tests/quaternion/quaternion_copy.c

@@ -0,0 +1,86 @@
+#include "./quaternion_copy.h"
+
+#include <math.h>
+
+#include "./../../helpers.h"
+
+// ==================== FP32 ==================== //
+
+static const int _TEST_FP32_QUATERNION_AMOUNT = 4;
+static const BgcQuaternionFP32 _TEST_FP32_QUATERNION_LIST[] = {
+    { 1.0f, 2.0f, 3.0f, 4.0f },
+    { -4.0f, -3.0f, -2.0f, -1.0f },
+    { -0.001f, 100.0f, -100.0f, 0.001f },
+    { 0.001f, -100.0f, 100.0f, -0.001f }
+};
+
+int test_bgc_quaternion_copy_fp32()
+{
+    BgcQuaternionFP32 vector;
+
+    print_testing_name("bgc_quaternion_copy_fp32");
+
+    for (int i = 0; i < _TEST_FP32_QUATERNION_AMOUNT; i++) {
+        
+        bgc_quaternion_copy_fp32(&_TEST_FP32_QUATERNION_LIST[i], &vector);
+
+        if (vector.s0 != _TEST_FP32_QUATERNION_LIST[i].s0 ||
+            vector.x1 != _TEST_FP32_QUATERNION_LIST[i].x1 ||
+            vector.x2 != _TEST_FP32_QUATERNION_LIST[i].x2 ||
+            vector.x3 != _TEST_FP32_QUATERNION_LIST[i].x3) {
+            print_testing_failed();
+            return TEST_FAILED;
+        }
+    }
+
+    print_testing_success();
+
+    return TEST_SUCCES;
+}
+
+// ==================== FP64 ==================== //
+
+static const int _TEST_FP64_QUATERNION_AMOUNT = 4;
+static const BgcQuaternionFP64 _TEST_FP64_QUATERNION_LIST[] = {
+    { 1.0, 2.0, 3.0, 4.0 },
+    { -4.0, -3.0, -2.0, -1.0 },
+    { -0.001, 100.0, -100.0, 0.001 },
+    { 0.001, -100.0, 100.0, -0.001 }
+};
+
+int test_bgc_quaternion_copy_fp64()
+{
+    BgcQuaternionFP64 vector;
+
+    print_testing_name("bgc_quaternion_copy_fp64");
+
+    for (int i = 0; i < _TEST_FP64_QUATERNION_AMOUNT; i++) {
+
+        bgc_quaternion_copy_fp64(&_TEST_FP64_QUATERNION_LIST[i], &vector);
+
+        if (vector.s0 != _TEST_FP64_QUATERNION_LIST[i].s0 ||
+            vector.x1 != _TEST_FP64_QUATERNION_LIST[i].x1 ||
+            vector.x2 != _TEST_FP64_QUATERNION_LIST[i].x2 ||
+            vector.x3 != _TEST_FP64_QUATERNION_LIST[i].x3) {
+            print_testing_failed();
+            return TEST_FAILED;
+        }
+    }
+
+    print_testing_success();
+
+    return TEST_SUCCES;
+}
+
+int test_bgc_quaternion_copy()
+{
+    if (test_bgc_quaternion_copy_fp32() != TEST_SUCCES) {
+        return TEST_FAILED;
+    }
+
+    if (test_bgc_quaternion_copy_fp64() != TEST_SUCCES) {
+        return TEST_FAILED;
+    }
+
+    return TEST_SUCCES;
+}

basic-geometry-test/tests/quaternion/quaternion_copy.h

@@ -0,0 +1,10 @@
+#ifndef _TEST_QUATERNION_COPY_H_
+#define _TEST_QUATERNION_COPY_H_
+
+int test_bgc_quaternion_copy_fp32();
+
+int test_bgc_quaternion_copy_fp64();
+
+int test_bgc_quaternion_copy();
+
+#endif

basic-geometry-test/tests/quaternion/quaternion_is_zero.c

@@ -0,0 +1,128 @@
+#include "./quaternion_is_zero.h"
+
+#include "./../../helpers.h"
+
+// ==================== FP32 ==================== //
+
+static const int _TEST_FP32_ZERO_QUATERNION_AMOUNT = 9;
+static const int _TEST_FP32_NONZERO_QUATERNION_AMOUNT = 11;
+
+static const BgcQuaternionFP32 _TEST_FP32_ZERO_QUATERNION_LIST[] = {
+    { 0.0f, 0.0f, 0.0f, 0.0f },
+    { BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f },
+    { -BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f },
+    { 0.0f, BGC_EPSYLON_FP32, 0.0f, 0.0f },
+    { 0.0f, -BGC_EPSYLON_FP32, 0.0f, 0.0f },
+    { 0.0f, 0.0f, BGC_EPSYLON_FP32, 0.0f },
+    { 0.0f, 0.0f, -BGC_EPSYLON_FP32, 0.0f },
+    { 0.0f, 0.0f, 0.0f, BGC_EPSYLON_FP32 },
+    { 0.0f, 0.0f, 0.0f, -BGC_EPSYLON_FP32 }
+};
+
+static const BgcQuaternionFP32 _TEST_FP32_NONZERO_NUMBERS[] = {
+    { 0.0f, 1.0f, 0.0f, 0.0f },
+    { 1.5f * BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f },
+    { -1.5f * BGC_EPSYLON_FP32, 0.0f, 0.0f, 0.0f },
+    { 0.0f, 1.5f * BGC_EPSYLON_FP32, 0.0f, 0.0f },
+    { 0.0f, -1.5f * BGC_EPSYLON_FP32, 0.0f, 0.0f },
+    { 0.0f, 0.0f, 1.5f * BGC_EPSYLON_FP32, 0.0f },
+    { 0.0f, 0.0f, -1.5f * BGC_EPSYLON_FP32, 0.0f },
+    { 0.0f, 0.0f, 0.0f, 1.5f * BGC_EPSYLON_FP32 },
+    { 0.0f, 0.0f, 0.0f, -1.5f * BGC_EPSYLON_FP32 },
+    { BGC_EPSYLON_FP32, BGC_EPSYLON_FP32, 0.0f, 0.0f },
+    { -BGC_EPSYLON_FP32, -BGC_EPSYLON_FP32, 0.0f, 0.0f }
+};
+
+int test_bgc_quaternion_is_zero_fp32()
+{
+    print_testing_name("bgc_quaternion_is_zero_fp32");
+
+    // Testing zero values:
+    for (int i = 0; i < _TEST_FP32_ZERO_QUATERNION_AMOUNT; i++) {
+        if (!bgc_quaternion_is_zero_fp32(&_TEST_FP32_ZERO_QUATERNION_LIST[i])) {
+            print_testing_failed();
+            return TEST_FAILED;
+        }
+    }
+
+    // Testing non-zero values:
+    for (int i = 0; i < _TEST_FP32_ZERO_QUATERNION_AMOUNT; i++) {
+        if (bgc_quaternion_is_zero_fp32(&_TEST_FP32_NONZERO_NUMBERS[i])) {
+            print_testing_failed();
+            return TEST_FAILED;
+        }
+    }
+
+    print_testing_success();
+
+    return TEST_SUCCES;
+}
+
+// ==================== FP64 ==================== //
+
+static const int _TEST_FP64_ZERO_QUATERNION_AMOUNT = 9;
+static const int _TEST_FP64_NONZERO_QUATERNION_AMOUNT = 11;
+
+static const BgcQuaternionFP64 _TEST_FP64_ZERO_QUATERNION_LIST[] = {
+    { 0.0, 0.0, 0.0, 0.0 },
+    { BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 },
+    { -BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 },
+    { 0.0, BGC_EPSYLON_FP64, 0.0, 0.0 },
+    { 0.0, -BGC_EPSYLON_FP64, 0.0, 0.0 },
+    { 0.0, 0.0, BGC_EPSYLON_FP64, 0.0 },
+    { 0.0, 0.0, -BGC_EPSYLON_FP64, 0.0 },
+    { 0.0, 0.0, 0.0, BGC_EPSYLON_FP64 },
+    { 0.0, 0.0, 0.0, -BGC_EPSYLON_FP64 }
+};
+
+static const BgcQuaternionFP64 _TEST_FP64_NONZERO_NUMBERS[] = {
+    { 0.0, 1.0, 0.0, 0.0 },
+    { 1.5 * BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 },
+    { -1.5 * BGC_EPSYLON_FP64, 0.0, 0.0, 0.0 },
+    { 0.0, 1.5 * BGC_EPSYLON_FP64, 0.0, 0.0 },
+    { 0.0, -1.5 * BGC_EPSYLON_FP64, 0.0, 0.0 },
+    { 0.0, 0.0, 1.5 * BGC_EPSYLON_FP64, 0.0 },
+    { 0.0, 0.0, -1.5 * BGC_EPSYLON_FP64, 0.0 },
+    { 0.0, 0.0, 0.0, 1.5 * BGC_EPSYLON_FP64 },
+    { 0.0, 0.0, 0.0, -1.5 * BGC_EPSYLON_FP64 },
+    { BGC_EPSYLON_FP64, BGC_EPSYLON_FP64, 0.0, 0.0 },
+    { -BGC_EPSYLON_FP64, -BGC_EPSYLON_FP64, 0.0, 0.0 }
+};
+
+int test_bgc_quaternion_is_zero_fp64()
+{
+    print_testing_name("bgc_quaternion_is_zero_fp64");
+
+    // Testing zero values:
+    for (int i = 0; i < _TEST_FP64_ZERO_QUATERNION_AMOUNT; i++) {
+        if (!test_bgc_quaternion_is_zero_fp64(&_TEST_FP64_ZERO_QUATERNION_LIST[i])) {
+            print_testing_failed();
+            return TEST_FAILED;
+        }
+    }
+
+    // Testing non-zero values:
+    for (int i = 0; i < _TEST_FP64_ZERO_QUATERNION_AMOUNT; i++) {
+        if (test_bgc_quaternion_is_zero_fp64(&_TEST_FP64_NONZERO_NUMBERS[i])) {
+            print_testing_failed();
+            return TEST_FAILED;
+        }
+    }
+
+    print_testing_success();
+
+    return TEST_SUCCES;
+}
+
+int test_bgc_quaternion_is_zero()
+{
+    if (test_bgc_quaternion_is_zero_fp32() != TEST_SUCCES) {
+        return TEST_FAILED;
+    }
+
+    if (test_bgc_quaternion_is_zero_fp64() != TEST_SUCCES) {
+        return TEST_FAILED;
+    }
+
+    return TEST_SUCCES;
+}

basic-geometry-test/tests/quaternion/quaternion_is_zero.h

@@ -0,0 +1,10 @@
+#ifndef _TEST_QUATERNION_IS_ZERO_H_
+#define _TEST_QUATERNION_IS_ZERO_H_
+
+int test_bgc_quaternion_is_zero_fp32();
+
+int test_bgc_quaternion_is_zero_fp64();
+
+int test_bgc_quaternion_is_zero();
+
+#endif

basic-geometry-test/tests/quaternion/quaternion_reset.c

@@ -0,0 +1,52 @@
+#include "./quaternion_reset.h"
+
+#include "./../../helpers.h"
+
+int test_bgc_quaternion_reset_fp32()
+{
+    BgcQuaternionFP32 vector;
+
+    print_testing_name("bgc_quaternion_reset_fp32");
+
+    bgc_quaternion_reset_fp32(&vector);
+
+    if (vector.s0 != 0.0f || vector.x1 != 0.0f || vector.x2 != 0.0f || vector.x3 != 0.0f) {
+        print_testing_failed();
+        return TEST_FAILED;
+    }
+
+    print_testing_success();
+
+    return TEST_SUCCES;
+}
+
+int test_bgc_quaternion_reset_fp64()
+{
+    BgcQuaternionFP64 vector;
+
+    print_testing_name("bgc_quaternion_reset_fp64");
+
+    bgc_quaternion_reset_fp64(&vector);
+
+    if (vector.s0 != 0.0 || vector.x1 != 0.0 || vector.x2 != 0.0 || vector.x3 != 0.0) {
+        print_testing_failed();
+        return TEST_FAILED;
+    }
+
+    print_testing_success();
+
+    return TEST_SUCCES;
+}
+
+int test_bgc_quaternion_reset()
+{
+    if (test_bgc_quaternion_reset_fp32() != TEST_SUCCES) {
+        return TEST_FAILED;
+    }
+
+    if (test_bgc_quaternion_reset_fp64() != TEST_SUCCES) {
+        return TEST_FAILED;
+    }
+
+    return TEST_SUCCES;
+}

basic-geometry-test/tests/quaternion/quaternion_reset.h

@@ -0,0 +1,10 @@
+#ifndef _TEST_QUATERNION_RESET_H_
+#define _TEST_QUATERNION_RESET_H_
+
+int test_bgc_quaternion_reset_fp32();
+
+int test_bgc_quaternion_reset_fp64();
+
+int test_bgc_quaternion_reset();
+
+#endif

basic-geometry-test/tests/quaternion/quaternion_set_to_identity.c

@@ -0,0 +1,52 @@
+#include "./quaternion_reset.h"
+
+#include "./../../helpers.h"
+
+int test_bgc_quaternion_set_to_identity_fp32()
+{
+    BgcQuaternionFP32 vector;
+
+    print_testing_name("bgc_quaternion_set_to_identity_fp32");
+
+    bgc_quaternion_set_to_identity_fp32(&vector);
+
+    if (vector.s0 != 1.0f || vector.x1 != 0.0f || vector.x2 != 0.0f || vector.x3 != 0.0f) {
+        print_testing_failed();
+        return TEST_FAILED;
+    }
+
+    print_testing_success();
+
+    return TEST_SUCCES;
+}
+
+int test_bgc_quaternion_set_to_identity_fp64()
+{
+    BgcQuaternionFP64 vector;
+
+    print_testing_name("bgc_quaternion_set_to_identity_fp64");
+
+    bgc_quaternion_set_to_identity_fp64(&vector);
+
+    if (vector.s0 != 1.0 || vector.x1 != 0.0 || vector.x2 != 0.0 || vector.x3 != 0.0) {
+        print_testing_failed();
+        return TEST_FAILED;
+    }
+
+    print_testing_success();
+
+    return TEST_SUCCES;
+}
+
+int test_bgc_quaternion_set_to_identity()
+{
+    if (test_bgc_quaternion_set_to_identity_fp32() != TEST_SUCCES) {
+        return TEST_FAILED;
+    }
+
+    if (test_bgc_quaternion_set_to_identity_fp64() != TEST_SUCCES) {
+        return TEST_FAILED;
+    }
+
+    return TEST_SUCCES;
+}

basic-geometry-test/tests/quaternion/quaternion_set_to_identity.h

@@ -0,0 +1,10 @@
+#ifndef _TEST_QUATERNION_SET_TO_IDENTITY_H_
+#define _TEST_QUATERNION_SET_TO_IDENTITY_H_
+
+int test_bgc_quaternion_set_to_identity_fp32();
+
+int test_bgc_quaternion_set_to_identity_fp64();
+
+int test_bgc_quaternion_set_to_identity();
+
+#endif

basic-geometry-test/tests/quaternion/quaternion_set_values.c

@@ -0,0 +1,86 @@
+#include "./quaternion_set_values.h"
+
+#include <math.h>
+
+#include "./../../helpers.h"
+
+// ==================== FP32 ==================== //
+
+int test_bgc_quaternion_set_values_fp32()
+{
+    BgcQuaternionFP32 vector;
+
+    print_testing_name("bgc_quaternion_set_values_fp32");
+
+    bgc_quaternion_set_values_fp32(1.0f, 2.0f, 3.0f, 4.0f, &vector);
+
+    if (vector.s0 != 1.0f || vector.x1 != 2.0f || vector.x2 != 3.0f || vector.x3 != 4.0f) {
+        print_testing_failed();
+        return TEST_FAILED;
+    }
+
+    bgc_quaternion_set_values_fp32(-1.0f, -3.0f, -5.0f, -7.0f, &vector);
+
+    if (vector.s0 != -1.0f || vector.x1 != -3.0f || vector.x2 != -5.0f || vector.x3 != -7.0f) {
+        print_testing_failed();
+        return TEST_FAILED;
+    }
+
+    bgc_quaternion_set_values_fp32(-8.0f, -2.0f, 2.0f, 4.0f, &vector);
+
+    if (vector.s0 != -8.0f || vector.x1 != -2.0f || vector.x2 != 2.0f || vector.x3 != 4.0f) {
+        print_testing_failed();
+        return TEST_FAILED;
+    }
+
+    print_testing_success();
+
+    return TEST_SUCCES;
+}
+
+// ==================== FP64 ==================== //
+
+int test_bgc_quaternion_set_values_fp64()
+{
+    BgcQuaternionFP64 vector;
+
+    print_testing_name("bgc_quaternion_set_values_fp64");
+
+    bgc_quaternion_set_values_fp64(1.0, 2.0, 3.0, 4.0, &vector);
+
+    if (vector.s0 != 1.0 || vector.x1 != 2.0 || vector.x2 != 3.0 || vector.x3 != 4.0) {
+        print_testing_failed();
+        return TEST_FAILED;
+    }
+
+    bgc_quaternion_set_values_fp64(-1.0, -3.0, -5.0, -7.0, &vector);
+
+    if (vector.s0 != -1.0 || vector.x1 != -3.0 || vector.x2 != -5.0 || vector.x3 != -7.0) {
+        print_testing_failed();
+        return TEST_FAILED;
+    }
+
+    bgc_quaternion_set_values_fp64(-8.0, -2.0, 2.0, 4.0, &vector);
+
+    if (vector.s0 != -8.0 || vector.x1 != -2.0 || vector.x2 != 2.0 || vector.x3 != 4.0) {
+        print_testing_failed();
+        return TEST_FAILED;
+    }
+
+    print_testing_success();
+
+    return TEST_SUCCES;
+}
+
+int test_bgc_quaternion_set_values()
+{
+    if (test_bgc_quaternion_set_values_fp32() != TEST_SUCCES) {
+        return TEST_FAILED;
+    }
+
+    if (test_bgc_quaternion_set_values_fp64() != TEST_SUCCES) {
+        return TEST_FAILED;
+    }
+
+    return TEST_SUCCES;
+}

basic-geometry-test/tests/quaternion/quaternion_set_values.h

@@ -0,0 +1,10 @@
+#ifndef _TEST_QUATERNION_SET_VALUES_H_
+#define _TEST_QUATERNION_SET_VALUES_H_
+
+int test_bgc_quaternion_set_values_fp32();
+
+int test_bgc_quaternion_set_values_fp64();
+
+int test_bgc_quaternion_set_values();
+
+#endif

basic-geometry-test/tests/quaternion/quaternion_swap.c

@@ -0,0 +1,114 @@
+#include "./quaternion_swap.h"
+
+#include <math.h>
+
+#include "./../../helpers.h"
+
+// ==================== FP32 ==================== //
+
+static const int _TEST_FP32_QUATERNION_AMOUNT = 4;
+
+static const BgcQuaternionFP32 _TEST_FP32_QUATERNION_LIST1[] = {
+    { 1.0f, 2.0f, 3.0f, 4.0f },
+    { -4.0f, -3.0f, -2.0f, -1.0f },
+    { -244.8f, 100.0f, -100.0f, 344.7f },
+    { 1000.32f, -100.1f, 100.2f, -271.3f }
+};
+
+static const BgcQuaternionFP32 _TEST_FP32_QUATERNION_LIST2[] = {
+    { 3.6f, -0.123f, 5.3f, 1003.28f },
+    { 204.07f, -781.89f, -0.0032f, 891.3f },
+    { -20.02f, -1.0003f, 5.322f, 0.9275f },
+    { 1000.0f, -0.00025f, -0.419f, 0.844f }
+};
+
+int test_bgc_quaternion_swap_fp32()
+{
+    BgcQuaternionFP32 quaternion1, quaternion2;
+
+    print_testing_name("bgc_quaternion_swap_fp32");
+
+    for (int i = 0; i < _TEST_FP32_QUATERNION_AMOUNT; i++) {
+        bgc_quaternion_copy_fp32(&_TEST_FP32_QUATERNION_LIST1[i], &quaternion1);
+        bgc_quaternion_copy_fp32(&_TEST_FP32_QUATERNION_LIST2[i], &quaternion2);
+
+        bgc_quaternion_swap_fp32(&quaternion1, &quaternion2);
+
+        if (quaternion1.s0 != _TEST_FP32_QUATERNION_LIST2[i].s0 ||
+            quaternion1.x1 != _TEST_FP32_QUATERNION_LIST2[i].x1 ||
+            quaternion1.x2 != _TEST_FP32_QUATERNION_LIST2[i].x2 ||
+            quaternion1.x3 != _TEST_FP32_QUATERNION_LIST2[i].x3 ||
+            quaternion2.s0 != _TEST_FP32_QUATERNION_LIST1[i].s0 ||
+            quaternion2.x1 != _TEST_FP32_QUATERNION_LIST1[i].x1 ||
+            quaternion2.x2 != _TEST_FP32_QUATERNION_LIST1[i].x2 ||
+            quaternion2.x3 != _TEST_FP32_QUATERNION_LIST1[i].x3) {
+            print_testing_failed();
+            return TEST_FAILED;
+        }
+    }
+
+    print_testing_success();
+
+    return TEST_SUCCES;
+}
+
+// ==================== FP64 ==================== //
+
+static const int _TEST_FP64_QUATERNION_AMOUNT = 4;
+
+static const BgcQuaternionFP64 _TEST_FP64_QUATERNION_LIST1[] = {
+    { 1.0, 2.0, 3.0, 4.0 },
+    { -4.0, -3.0, -2.0, -1.0 },
+    { -244.8, 100.0, -100.0, 344.7 },
+    { 1000.32, -100.1, 100.2, -271.3 }
+};
+
+static const BgcQuaternionFP64 _TEST_FP64_QUATERNION_LIST2[] = {
+    { 3.6, -0.123, 5.3, 1003.28 },
+    { 204.07, -781.89, -0.0032, 891.3 },
+    { -20.02, -1.0003, 5.322, 0.9275 },
+    { 1000.0, -0.00025, -0.419, 0.844 }
+};
+
+int test_bgc_quaternion_swap_fp64()
+{
+    BgcQuaternionFP64 quaternion1, quaternion2;
+
+    print_testing_name("bgc_quaternion_swap_fp64");
+
+    for (int i = 0; i < _TEST_FP64_QUATERNION_AMOUNT; i++) {
+        bgc_quaternion_copy_fp64(&_TEST_FP64_QUATERNION_LIST1[i], &quaternion1);
+        bgc_quaternion_copy_fp64(&_TEST_FP64_QUATERNION_LIST2[i], &quaternion2);
+
+        bgc_quaternion_swap_fp64(&quaternion1, &quaternion2);
+
+        if (quaternion1.s0 != _TEST_FP64_QUATERNION_LIST2[i].s0 ||
+            quaternion1.x1 != _TEST_FP64_QUATERNION_LIST2[i].x1 ||
+            quaternion1.x2 != _TEST_FP64_QUATERNION_LIST2[i].x2 ||
+            quaternion1.x3 != _TEST_FP64_QUATERNION_LIST2[i].x3 ||
+            quaternion2.s0 != _TEST_FP64_QUATERNION_LIST1[i].s0 ||
+            quaternion2.x1 != _TEST_FP64_QUATERNION_LIST1[i].x1 ||
+            quaternion2.x2 != _TEST_FP64_QUATERNION_LIST1[i].x2 ||
+            quaternion2.x3 != _TEST_FP64_QUATERNION_LIST1[i].x3) {
+            print_testing_failed();
+            return TEST_FAILED;
+        }
+    }
+
+    print_testing_success();
+
+    return TEST_SUCCES;
+}
+
+int test_bgc_quaternion_swap()
+{
+    if (test_bgc_quaternion_swap_fp32() != TEST_SUCCES) {
+        return TEST_FAILED;
+    }
+
+    if (test_bgc_quaternion_swap_fp64() != TEST_SUCCES) {
+        return TEST_FAILED;
+    }
+
+    return TEST_SUCCES;
+}

basic-geometry-test/tests/quaternion/quaternion_swap.h

@@ -0,0 +1,10 @@
+#ifndef _TEST_QUATERNION_SWAP_H_
+#define _TEST_QUATERNION_SWAP_H_
+
+int test_bgc_quaternion_swap_fp32();
+
+int test_bgc_quaternion_swap_fp64();
+
+int test_bgc_quaternion_swap();
+
+#endif

basic-geometry-test/tests/utilities.c

@@ -2,53 +2,6 @@
 
 #include "./../helpers.h"
 
-int test_bgc_is_zero()
-{
-    if (test_bgc_is_zero_fp32() != TEST_SUCCES) {
-        return TEST_FAILED;
-    }
-
-    if (test_bgc_is_zero_fp64() != TEST_SUCCES) {
-        return TEST_FAILED;
-    }
-
-    return TEST_SUCCES;
-}
-
-int test_bgc_is_unit()
-{
-    if (test_bgc_is_unit_fp32() != TEST_SUCCES) {
-        return TEST_FAILED;
-    }
-
-    if (test_bgc_is_unit_fp64() != TEST_SUCCES) {
-        return TEST_FAILED;
-    }
-
-    if (test_bgc_is_sqare_value_unit_fp32() != TEST_SUCCES) {
-        return TEST_FAILED;
-    }
-
-    if (test_bgc_is_sqare_value_unit_fp64() != TEST_SUCCES) {
-        return TEST_FAILED;
-    }
-
-    return TEST_SUCCES;
-}
-
-int test_bgc_are_close()
-{
-    if (test_bgc_are_close_fp32() != TEST_SUCCES) {
-        return TEST_FAILED;
-    }
-
-    if (test_bgc_are_close_fp64() != TEST_SUCCES) {
-        return TEST_FAILED;
-    }
-
-    return TEST_SUCCES;
-}
-
 int test_utilities()
 {
     print_testing_section("BGC Utilities");

basic-geometry-test/tests/utilities.h

@@ -5,12 +5,6 @@
 #include "./utilities/is_unit.h"
 #include "./utilities/are_close.h"
 
-int test_bgc_is_zero();
-
-int test_bgc_is_unit();
-
-int test_bgc_are_close();
-
 int test_utilities();
 
 #endif

basic-geometry-test/tests/utilities/are_close.c

@@ -13,7 +13,7 @@ typedef struct {
 // ==================== FP32 ==================== //
 
 static const int _TEST_FP32_CLOSE_NUMBERS_AMOUNT = 16;
-static const int _TEST_FP32_DIFFERENT_NUMBERS_AMOUNT = 16;
+static const int _TEST_FP32_DIFFERENT_NUMBERS_AMOUNT = 12;
 
 static const _TestNumberPairFP32 _TEST_FP32_DATA_CLOSE[] = {
     {0.0f, 0.0f},
@@ -32,10 +32,10 @@ static const _TestNumberPairFP32 _TEST_FP32_DATA_CLOSE[] = {
     {-1.0f + BGC_EPSYLON_FP32, -1.0f},
     {-1.0f - BGC_EPSYLON_FP32, -1.0f},
 
-    {100.0f, 100.0f + 99.0f * BGC_EPSYLON_FP32},
+    {100.0f, 100.0f * (1.0f + BGC_EPSYLON_FP32)},
-    {100.0f, 100.0f - 99.0f * BGC_EPSYLON_FP32},
+    {100.0f, 100.0f * (1.0f - BGC_EPSYLON_FP32)},