Index: testsuite/quaternion-test.scm =================================================================== --- testsuite/quaternion-test.scm (revision 8483) +++ testsuite/quaternion-test.scm (working copy) @@ -167,19 +167,19 @@ (m3 (quaternion->rotation-matrix (* q q q)))) ; 360 degrees ;; for a 120-degree rotation about (1,1,1), +X->+Y, +Y->+Z, +Z->+X ;; m1 is #2a((0 0 1) (1 0 0) (0 1 0)) - (test-equal '(0.0 1.0 0.0) (list (m1 0 0) (m1 1 0) (m1 2 0))) ; col 0 - (test-equal '(0.0 0.0 1.0) (list (m1 0 1) (m1 1 1) (m1 2 1))) ; col 1 - (test-equal '(1.0 0.0 0.0) (list (m1 0 2) (m1 1 2) (m1 2 2))) ; col 2 + (test-equal '(0.0d0 1.0d0 0.0d0) (list (m1 0 0) (m1 1 0) (m1 2 0))) ; col 0 + (test-equal '(0.0d0 0.0d0 1.0d0) (list (m1 0 1) (m1 1 1) (m1 2 1))) ; col 1 + (test-equal '(1.0d0 0.0d0 0.0d0) (list (m1 0 2) (m1 1 2) (m1 2 2))) ; col 2 ;; for 240 degrees, +X->+Z, +Y->+X, +Z->+Y - (test-equal '(0.0 0.0 1.0) (list (m2 0 0) (m2 1 0) (m2 2 0))) ; col 0 - (test-equal '(1.0 0.0 0.0) (list (m2 0 1) (m2 1 1) (m2 2 1))) ; col 1 - (test-equal '(0.0 1.0 0.0) (list (m2 0 2) (m2 1 2) (m2 2 2))) ; col 2 + (test-equal '(0.0d0 0.0d0 1.0d0) (list (m2 0 0) (m2 1 0) (m2 2 0))) ; col 0 + (test-equal '(1.0d0 0.0d0 0.0d0) (list (m2 0 1) (m2 1 1) (m2 2 1))) ; col 1 + (test-equal '(0.0d0 1.0d0 0.0d0) (list (m2 0 2) (m2 1 2) (m2 2 2))) ; col 2 ;; for 360 degrees, matrix is identity -- but we're on the other ;; side of the hypersphere: q^3 == -1 (test-equal -1 (* q q q)) - (test-equal '(1.0 0.0 0.0) (list (m3 0 0) (m3 1 0) (m3 2 0))) ; col 0 - (test-equal '(0.0 1.0 0.0) (list (m3 0 1) (m3 1 1) (m3 2 1))) ; col 1 - (test-equal '(0.0 0.0 1.0) (list (m3 0 2) (m3 1 2) (m3 2 2)))) ; col 2 + (test-equal '(1.0d0 0.0d0 0.0d0) (list (m3 0 0) (m3 1 0) (m3 2 0))) ; col 0 + (test-equal '(0.0d0 1.0d0 0.0d0) (list (m3 0 1) (m3 1 1) (m3 2 1))) ; col 1 + (test-equal '(0.0d0 0.0d0 1.0d0) (list (m3 0 2) (m3 1 2) (m3 2 2)))) ; col 2 (test-end "rotation-matrix") (test-begin "rotation-axis/angle")