# HG changeset patch
# User Eris Caffee <discordia@eldalin.com>
# Date 1410760924 18000
# Node ID 4634ca3fc30884084c86500c21bc4807c32db2cd
# Parent  f9fb659509e110e4cf8ef218e70af9adf65ab081
Renamed src to test
Began refactoring test program to use Google Test framework

diff -r f9fb659509e1 -r 4634ca3fc308 CMakeLists.txt
--- a/CMakeLists.txt	Mon May 27 16:59:04 2013 -0500
+++ b/CMakeLists.txt	Mon Sep 15 01:02:04 2014 -0500
@@ -25,6 +25,7 @@
 #   project_dir\		Top level directory of the project.
 #     |---include\		Header files are here.
 #     |---src\			Source files are here.
+#     |---test\			Test files are here.
 #     |---build\		Binaries/objects go here.  Run cmake from here.
 #     !---cmake\
 #     |     |---modules\        Custom cmake include files, if any, go here.
@@ -122,7 +123,8 @@
 #   C    -std=gnu99 -std=c99
 
 if (CMAKE_COMPILER_IS_GNUCXX)
-  add_definitions(-pedantic -Wall)
+  add_definitions( -std=gnu++11 )
+#  add_definitions(-pedantic -Wall)
 endif ()
 
 ################################################################################
@@ -188,20 +190,25 @@
 #set_target_properties (${App_Name}-static PROPERTIES CLEAN_DIRECT_OUTPUT 1)
 
 # Build a test application.
+    set (GTEST_INCLUDE_DIR "/home/eris/gamedev/deps/gtest/current/include")
+    set (GTEST_LIB_DIR "/home/eris/gamedev/deps/gtest/current/build")
 
 link_directories (
+  ${GTEST_LIB_DIR}
   )
 
 include_directories (
   ${CMAKE_SOURCE_DIR}/include
+  ${GTEST_INCLUDE_DIR}
   )
 
 add_executable (${App_Name}-test
-  src/main.cpp
+  test/main.cpp
 )
 
 target_link_libraries (${App_Name}-test
-#  ${App_Name}
+  libgtest.a
+  pthread
 )
 
 ################################################################################
@@ -240,3 +247,13 @@
 
 endif ()
 
+################################################################################
+# Google Test C++ Unit testing framework
+
+option (Option_GTEST "Google Test" ON)
+
+if (Option_GTEST)
+    set (GTEST_INCLUDE_DIR "/home/eris/gamedev/deps/gtest/current/include")
+    set (GTEST_LIB_DIR "/home/eris/gamedev/deps/gtest/current/build")
+endif ()
+
diff -r f9fb659509e1 -r 4634ca3fc308 test/main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/test/main.cpp	Mon Sep 15 01:02:04 2014 -0500
@@ -0,0 +1,1185 @@
+#include <iostream>
+#include <iomanip>
+#include <limits>
+#include <string>
+
+using namespace std;
+
+#include "Math.h"
+using namespace arda::Math;
+
+#include "gtest/gtest.h"
+
+////////////////////////////////////////////////////////////////////////////////
+// Vector2iTest
+
+TEST( Vector2iTest, ConstructFromSingleValue ) {
+    Vector2i v2i_0(0);
+    EXPECT_EQ( 0, v2i_0.x ) << "x component is not 0";
+    EXPECT_EQ( 0, v2i_0.y ) << "y component is not 0";
+
+    Vector2i v2i_1(1);
+    EXPECT_EQ( 1, v2i_1.x ) << "x component is not 1";
+    EXPECT_EQ( 1, v2i_1.y ) << "y component is not 1";
+    }
+
+TEST( Vector2iTest, ConstructFromMultipleValue ) {
+    Vector2i v2i(1, 2);
+    EXPECT_EQ( 1, v2i.x ) << "x component is not 1";
+    EXPECT_EQ( 2, v2i.y ) << "y component is not 2";
+    }
+
+TEST( Vector2iTest, ConstructFromVector ) {
+    Vector2i v2i_1(1, 2);
+
+    Vector2i v2i_2(v2i_1);
+    EXPECT_EQ( 1, v2i_2.x ) << "x component is not 1";
+    EXPECT_EQ( 2, v2i_2.y ) << "y component is not 2";
+    }
+
+////////////////////////////////////////////////////////////////////////////////
+// Vector3fTest
+
+TEST( Vector3fTest, ConstructFromSingleValue ) {
+    Vector3f v3f_0(0.0);
+    EXPECT_EQ( 0.0, v3f_0.x ) << "x component is not 0.0";
+    EXPECT_EQ( 0.0, v3f_0.y ) << "y component is not 0.0";
+    EXPECT_EQ( 0.0, v3f_0.z ) << "z component is not 0.0";
+
+    Vector3f v3f_1(1.0);
+    EXPECT_EQ( 1.0, v3f_1.x ) << "x component is not 1.0";
+    EXPECT_EQ( 1.0, v3f_1.y ) << "y component is not 1.0";
+    EXPECT_EQ( 1.0, v3f_1.y ) << "z component is not 1.0";
+    }
+
+TEST( Vector3fTest, ConstructFromMultipleValue ) {
+    Vector3f v3f(1.0, 2.0, 3.0);
+    EXPECT_EQ( 1.0, v3f.x ) << "x component is not 1.0";
+    EXPECT_EQ( 2.0, v3f.y ) << "y component is not 2.0";
+    EXPECT_EQ( 3.0, v3f.z ) << "z component is not 3.0";
+    }
+
+TEST( Vector3fTest, ConstructFromVector ) {
+    Vector3f v3f_1 (1.0, 2.0, 3.0);
+
+    Vector3f v3f (v3f_1);
+    EXPECT_EQ( 1.0, v3f.x ) << "x component is not 1.0";
+    EXPECT_EQ( 2.0, v3f.y ) << "y component is not 2.0";
+    EXPECT_EQ( 3.0, v3f.z ) << "z component is not 3.0";
+    }
+
+
+////////////////////////////////////////////////////////////////////////////////
+// Vector4dTest
+
+TEST( Vector4dTest, ConstructFromSingleValue ) {
+    Vector4d v4d_0(0.0);
+    EXPECT_EQ( 0.0, v4d_0.x ) << "x component is not 0.0";
+    EXPECT_EQ( 0.0, v4d_0.y ) << "y component is not 0.0";
+    EXPECT_EQ( 0.0, v4d_0.z ) << "z component is not 0.0";
+    EXPECT_EQ( 0.0, v4d_0.w ) << "w component is not 0.0";
+
+    Vector4d v4d_1(1.0);
+    EXPECT_EQ( 1.0, v4d_1.x ) << "x component is not 1.0";
+    EXPECT_EQ( 1.0, v4d_1.y ) << "y component is not 1.0";
+    EXPECT_EQ( 1.0, v4d_1.z ) << "z component is not 1.0";
+    EXPECT_EQ( 1.0, v4d_1.w ) << "w component is not 1.0";
+    }
+
+TEST( Vector4dTest, ConstructFromMultipleValue ) {
+    Vector4d v4d_1(1.0, 2.0, 3.0, 4.0);
+
+    Vector4d v4d (v4d_1);
+    EXPECT_EQ( 1.0, v4d.x ) << "x component is not 1.0";
+    EXPECT_EQ( 2.0, v4d.y ) << "y component is not 2.0";
+    EXPECT_EQ( 3.0, v4d.z ) << "z component is not 3.0";
+    EXPECT_EQ( 4.0, v4d.w ) << "w component is not 4.0";
+    }
+
+TEST( Vector4dTest, ConstructFromVector ) {
+    Vector4d v4d_1 (1.0, 2.0, 3.0, 4.0);
+
+    Vector4d v4d (v4d_1);
+    EXPECT_EQ( 1.0, v4d.x ) << "x component is not 1.0";
+    EXPECT_EQ( 2.0, v4d.y ) << "y component is not 2.0";
+    EXPECT_EQ( 3.0, v4d.z ) << "z component is not 3.0";
+    EXPECT_EQ( 4.0, v4d.w ) << "w component is not 4.0";
+    }
+
+
+
+
+int main(int argc, char **argv) {
+  ::testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
+
+
+#ifdef NOTHING
+
+////////////////////////////////////////////////////////////////////////////////
+void test_vector(void)
+   {
+   string s1, s2;
+
+
+   {
+   cout << "===============================================================" << endl <<
+	 "Testing Vector array indexing" << endl;
+   Vector2i v2i(1,2);
+   Vector3f v3f(1.1f, 2.2f, 3.3f);
+   Vector4d v4d(1.1, 2.2, 3.3, 4.4);
+
+   cout << setw(40) << "v2i: " << v2i[0] << ", " << v2i[1] << endl;
+   cout << setw(40) << "v3f: " << v3f[0] << ", " << v3f[1] << ", " << v3f[2] << endl;
+   cout << setw(40) << "v4d: " << v4d[0] << ", " << v4d[1] << ", " << v4d[2] << ", " << v4d[3] << endl;
+   }
+
+   {
+   cout << "===============================================================" << endl <<
+	 "Testing Vector assignment" << endl;
+   Vector2i v2i(1,2);
+   Vector3f v3f(1.1f, 2.2f, 3.3f);
+   Vector4d v4d(1.1, 2.2, 3.3, 4.4);
+   Vector2i v2i_2(0);
+   Vector3f v3f_2(0);
+   Vector4d v4d_2(0);
+
+   cout << "Before assignment" << endl;
+   cout << setw(40) << "v2i: " << v2i.to_string() << endl;
+   cout << setw(40) << "v3f: " << v3f.to_string() << endl;
+   cout << setw(40) << "v4d: " << v4d.to_string() << endl;
+   cout << setw(40) << "v2i_2: " << v2i_2.to_string() << endl;
+   cout << setw(40) << "v3f_2: " << v3f_2.to_string() << endl;
+   cout << setw(40) << "v4d_2: " << v4d_2.to_string() << endl;
+
+   v2i_2 = v2i;
+   v3f_2 = v3f;
+   v4d_2 = v4d;
+   cout << "After assignment by =" << endl;
+   cout << setw(40) << "v2i_2: " << v2i_2.to_string() << endl;
+   cout << setw(40) << "v3f_2: " << v3f_2.to_string() << endl;
+   cout << setw(40) << "v4d_2: " << v4d_2.to_string() << endl;
+
+   v2i_2.assign(1, 1);
+   v3f_2.assign(2.2, 2.2, 2.2);
+   v4d_2.assign(3.3, 3.3, 3.3, 3.3);
+   cout << "After assignment by assign()" << endl;
+   cout << setw(40) << "v2i_2: " << v2i_2.to_string() << endl;
+   cout << setw(40) << "v3f_2: " << v3f_2.to_string() << endl;
+   cout << setw(40) << "v4d_2: " << v4d_2.to_string() << endl;
+   }
+
+   {
+   cout << "===============================================================" << endl <<
+	 "Testing Vector comparison" << endl;
+   Vector2i v2i(1,2);
+   Vector3f v3f(1.1f, 2.2f, 3.3f);
+   Vector4d v4d(1.1, 2.2, 3.3, 4.4);
+   Vector2i v2i_2(1,2);
+   Vector3f v3f_2(1.1f, 2.2f, 3.3f);
+   Vector4d v4d_2(1.1, 2.2, 3.3, 4.4);
+   Vector2i v2i_3(0);
+   Vector3f v3f_3(0);
+   Vector4d v4d_3(0);
+
+   cout << setw(40) << "v2i: " << v2i.to_string() << endl;
+   cout << setw(40) << "v3f: " << v3f.to_string() << endl;
+   cout << setw(40) << "v4d: " << v4d.to_string() << endl;
+   cout << setw(40) << "v2i_2: " << v2i_2.to_string() << endl;
+   cout << setw(40) << "v3f_2: " << v3f_2.to_string() << endl;
+   cout << setw(40) << "v4d_2: " << v4d_2.to_string() << endl;
+   cout << setw(40) << "v2i_3: " << v2i_3.to_string() << endl;
+   cout << setw(40) << "v3f_3: " << v3f_3.to_string() << endl;
+   cout << setw(40) << "v4d_3: " << v4d_3.to_string() << endl;
+   cout << boolalpha;
+   cout << setw(40) << "v2i == v2i_2: " << (v2i == v2i_2) << endl;
+   cout << setw(40) << "v2i == v2i_3: " << (v2i == v2i_3) << endl;
+   cout << setw(40) << "v2i != v2i_2: " << (v2i != v2i_2) << endl;
+   cout << setw(40) << "v2i != v2i_3: " << (v2i != v2i_3) << endl;
+   cout << setw(40) << "v3f == v3f_2: " << (v3f == v3f_2) << endl;
+   cout << setw(40) << "v3f == v3f_3: " << (v3f == v3f_3) << endl;
+   cout << setw(40) << "v3f != v3f_2: " << (v3f != v3f_2) << endl;
+   cout << setw(40) << "v3f != v3f_3: " << (v3f != v3f_3) << endl;
+   cout << setw(40) << "v4d == v4d_2: " << (v4d == v4d_2) << endl;
+   cout << setw(40) << "v4d == v4d_3: " << (v4d == v4d_3) << endl;
+   cout << setw(40) << "v4d != v4d_2: " << (v4d != v4d_2) << endl;
+   cout << setw(40) << "v4d != v4d_3: " << (v4d != v4d_3) << endl;
+   }
+
+   {
+   cout << "===============================================================" << endl <<
+	 "Testing Vector addition" << endl;
+   Vector2i v2i(1,2);
+   Vector3f v3f(1.1f, 2.2f, 3.3f);
+   Vector4d v4d(1.1, 2.2, 3.3, 4.4);
+   Vector2i v2i_2(3,4);
+   Vector3f v3f_2(4.4, 5.5, 6.6);
+   Vector4d v4d_2(5.5, 6.6, 7.7, 8.8);
+   Vector2i v2i_3(0);
+   Vector3f v3f_3(0);
+   Vector4d v4d_3(0);
+
+   cout << setw(40) << "v2i: " << v2i.to_string() << endl;
+   cout << setw(40) << "v3f: " << v3f.to_string() << endl;
+   cout << setw(40) << "v4d: " << v4d.to_string() << endl;
+   cout << setw(40) << "v2i_2: " << v2i_2.to_string() << endl;
+   cout << setw(40) << "v3f_2: " << v3f_2.to_string() << endl;
+   cout << setw(40) << "v4d_2: " << v4d_2.to_string() << endl;
+   v2i_3 = v2i + v2i_2;
+   v3f_3 = v3f + v3f_2;
+   v4d_3 = v4d + v4d_2;
+   cout << setw(40) << "v2i_3 = v2i + v2i_2: " << v2i_3.to_string() << endl;
+   cout << setw(40) << "v3f_3 = v3f + v3f_2: " << v3f_3.to_string() << endl;
+   cout << setw(40) << "v4d_3 = v4d + v4d_2: " << v4d_3.to_string() << endl;
+   v2i_3 += v2i_2;
+   v3f_3 += v3f_2;
+   v4d_3 += v4d_3;
+   cout << setw(40) << "v2i_3 += v2i_2: " << v2i_3.to_string() << endl;
+   cout << setw(40) << "v3f_3 += v3f_2: " << v3f_3.to_string() << endl;
+   cout << setw(40) << "v4d_3 += v4d_3: " << v4d_3.to_string() << endl;
+   }
+
+   {
+   cout << "===============================================================" << endl <<
+	 "Testing Vector subtraction" << endl;
+   Vector2i v2i(1,2);
+   Vector3f v3f(1.1f, 2.2f, 3.3f);
+   Vector4d v4d(1.1, 2.2, 3.3, 4.4);
+   Vector2i v2i_2(3,4);
+   Vector3f v3f_2(4.4, 5.5, 6.6);
+   Vector4d v4d_2(5.5, 6.6, 7.7, 8.8);
+   Vector2i v2i_3(0);
+   Vector3f v3f_3(0);
+   Vector4d v4d_3(0);
+
+   cout << setw(40) << "v2i: " << v2i.to_string() << endl;
+   cout << setw(40) << "v3f: " << v3f.to_string() << endl;
+   cout << setw(40) << "v4d: " << v4d.to_string() << endl;
+   cout << setw(40) << "v2i_2: " << v2i_2.to_string() << endl;
+   cout << setw(40) << "v3f_2: " << v3f_2.to_string() << endl;
+   cout << setw(40) << "v4d_2: " << v4d_2.to_string() << endl;
+   v2i_3 = v2i - v2i_2;
+   v3f_3 = v3f - v3f_2;
+   v4d_3 = v4d - v4d_2;
+   cout << setw(40) << "v2i_3 = v2i - v2i_2: " << v2i_3.to_string() << endl;
+   cout << setw(40) << "v3f_3 = v3f - v3f_2: " << v3f_3.to_string() << endl;
+   cout << setw(40) << "v4d_3 = v4d - v4d_2: " << v4d_3.to_string() << endl;
+   v2i_3 -= v2i_2;
+   v3f_3 -= v3f_2;
+   v4d_3 -= v4d_3;
+   cout << setw(40) << "v2i_3 -= v2i_2: " << v2i_3.to_string() << endl;
+   cout << setw(40) << "v3f_3 -= v3f_2: " << v3f_3.to_string() << endl;
+   cout << setw(40) << "v4d_3 -= v4d_3: " << v4d_3.to_string() << endl;
+   }
+
+   {
+   cout << "===============================================================" << endl <<
+	 "Testing Vector scalar multiplication" << endl;
+   Vector2i v2i(1,2);
+   Vector3f v3f(1.1f, 2.2f, 3.3f);
+   Vector4d v4d(1.1, 2.2, 3.3, 4.4);
+   Vector2i v2i_2(0);
+   Vector3f v3f_2(0);
+   Vector4d v4d_2(0);
+   int i = 2;
+   float f = 2.f;
+   double d = 2.0;
+
+   cout << setw(40) << "i: " << i << endl;
+   cout << setw(40) << "f: " << f << endl;
+   cout << setw(40) << "d: " << d << endl;
+   cout << setw(40) << "v2i: " << v2i.to_string() << endl;
+   cout << setw(40) << "v3f: " << v3f.to_string() << endl;
+   cout << setw(40) << "v4d: " << v4d.to_string() << endl;
+   cout << setw(40) << "v2i_2: " << v2i_2.to_string() << endl;
+   cout << setw(40) << "v3f_2: " << v3f_2.to_string() << endl;
+   cout << setw(40) << "v4d_2: " << v4d_2.to_string() << endl;
+   v2i_2 = v2i * i;
+   v3f_2 = v3f * f;
+   v4d_2 = v4d * d;
+   cout << setw(40) << "v2i_2 = v2i * i: " << v2i_2.to_string() << endl;
+   cout << setw(40) << "v3f_2 = v3f * f: " << v3f_2.to_string() << endl;
+   cout << setw(40) << "v4d_2 = v4d * d: " << v4d_2.to_string() << endl;
+   v2i_2 *= i;
+   v3f_2 *= f;
+   v4d_2 *= d;
+   cout << setw(40) << "v2i_2 *= i: " << v2i_2.to_string() << endl;
+   cout << setw(40) << "v3f_2 *= f: " << v3f_2.to_string() << endl;
+   cout << setw(40) << "v4d_2 *= d: " << v4d_2.to_string() << endl;
+   }
+
+   {
+   cout << "===============================================================" << endl <<
+	 "Testing Vector scalar division" << endl;
+   Vector2i v2i(1,2);
+   Vector3f v3f(1.1f, 2.2f, 3.3f);
+   Vector4d v4d(1.1, 2.2, 3.3, 4.4);
+   Vector2i v2i_2(0);
+   Vector3f v3f_2(0);
+   Vector4d v4d_2(0);
+   int i = 2;
+   float f = 2.f;
+   double d = 2.0;
+
+   cout << setw(40) << "v2i: " << v2i.to_string() << endl;
+   cout << setw(40) << "v3f: " << v3f.to_string() << endl;
+   cout << setw(40) << "v4d: " << v4d.to_string() << endl;
+   cout << setw(40) << "v2i_2: " << v2i_2.to_string() << endl;
+   cout << setw(40) << "v3f_2: " << v3f_2.to_string() << endl;
+   cout << setw(40) << "v4d_2: " << v4d_2.to_string() << endl;
+   v2i_2 = v2i / i;
+   v3f_2 = v3f / f;
+   v4d_2 = v4d / d;
+   cout << setw(40) << "v2i_2 = v2i / i: " << v2i_2.to_string() << endl;
+   cout << setw(40) << "v3f_2 = v3f / f: " << v3f_2.to_string() << endl;
+   cout << setw(40) << "v4d_2 = v4d / d: " << v4d_2.to_string() << endl;
+   v2i_2 /= i;
+   v3f_2 /= f;
+   v4d_2 /= d;
+   cout << setw(40) << "v2i_2 /= i: " << v2i_2.to_string() << endl;
+   cout << setw(40) << "v3f_2 /= f: " << v3f_2.to_string() << endl;
+   cout << setw(40) << "v4d_2 /= d: " << v4d_2.to_string() << endl;
+   }
+
+   {
+   cout << "===============================================================" << endl <<
+	 "Testing Vector cross product" << endl;
+   Vector3f v3f(1.1f, 2.2f, 3.3f);
+   Vector3f v3f_2(4.4, 5.5, 6.6);
+   Vector3f v3f_3(0);
+   Vector3f v3f_4(0);
+   cout << setw(40) << "v3f: " << v3f.to_string() << endl;
+   cout << setw(40) << "v3f_2: " << v3f_2.to_string() << endl;
+   cout << setw(40) << "v3f_3: " << v3f_3.to_string() << endl;
+   v3f.cross(v3f_2, v3f_3);
+   cout << setw(40) << "v3f.cross(v3f_2, v3f_3): " << v3f_3.to_string() << endl;
+   v3f_4 = 2.0 * v3f.cross(v3f_2);
+   cout << setw(40) << "2.0 * v3f.cross(v3f_2,): " << v3f_4.to_string() << endl;
+   v3f_4.assign(0,0,0);
+   v3f.cross(v3f_2, v3f_4);
+   cout << setw(40) << "v3f.cross(v3f_2, v3f_4): " << v3f_4.to_string() << endl;
+   }
+
+   {
+   cout << "===============================================================" << endl <<
+	 "Testing Vector dot product" << endl;
+   Vector2i v2i(1, 2);
+   Vector2i v2i_2(3, 4);
+   Vector3f v3f(1.1f, 2.2f, 3.3f);
+   Vector3f v3f_2(4.4, 5.5, 6.6);
+   Vector4d v4d(1.1, 2.2, 3.3, 4.4);
+   Vector4d v4d_2(5.5, 6.6, 7.7, 8.8);
+   int i;
+   float f;
+   double d;
+   cout << setw(40) << "v2i: " << v2i.to_string() << endl;
+   cout << setw(40) << "v2i_2: " << v2i_2.to_string() << endl;
+   cout << setw(40) << "v3f: " << v3f.to_string() << endl;
+   cout << setw(40) << "v3f_2: " << v3f_2.to_string() << endl;
+   cout << setw(40) << "v4d: " << v4d.to_string() << endl;
+   cout << setw(40) << "v4d_2: " << v4d_2.to_string() << endl;
+   i = v2i.dot(v2i_2);
+   cout << setw(40) << "i = v2i.dot(v2i_2): " << i << endl;
+   f = v3f.dot(v3f_2);
+   cout << setw(40) << "f = v3f.dot(v3f_2): " << f << endl;
+   d = v4d.dot(v4d_2);
+   cout << setw(40) << "d = v4d.dot(v4d_2): " << d << endl;
+   }
+
+   {
+   cout << "===============================================================" << endl <<
+	 "Testing Vector length" << endl;
+   Vector2i v2i(1, 2);
+   Vector3f v3f(1.1f, 2.2f, 3.3f);
+   Vector4d v4d(1.1, 2.2, 3.3, 4.4);
+   cout << setw(40) << "v2i: " << v2i.to_string() << endl;
+   cout << setw(40) << "v3f: " << v3f.to_string() << endl;
+   cout << setw(40) << "v4d: " << v4d.to_string() << endl;
+   cout << setw(40) << "v2i.length(): " << v2i.length() << endl;
+   cout << setw(40) << "v3f.length(): " << v3f.length() << endl;
+   cout << setw(40) << "v4d.length(): " << v4d.length() << endl;
+   }
+
+   {
+   cout << "===============================================================" << endl <<
+	 "Testing Vector normalize" << endl;
+   Vector2f v2f(1.1, 2.2);
+   Vector3f v3f(1.1f, 2.2f, 3.3f);
+   Vector4d v4d(1.1, 2.2, 3.3, 4.4);
+   cout << setw(40) << "v2f: " << v2f.to_string() << endl;
+   cout << setw(40) << "v3f: " << v3f.to_string() << endl;
+   cout << setw(40) << "v4d: " << v4d.to_string() << endl;
+   v2f.normalize();
+   cout << setw(40) << "v2f.normalize() " << v2f.to_string() << endl;
+   v3f.normalize();
+   cout << setw(40) << "v3f.normalize() " << v3f.to_string() << endl;
+   v4d.normalize();
+   cout << setw(40) << "v4d.normalize() " << v4d.to_string() << endl;
+   cout << setw(40) << "v2f.length(): " << v2f.length() << endl;
+   cout << setw(40) << "v3f.length(): " << v3f.length() << endl;
+   cout << setw(40) << "v4d.length(): " << v4d.length() << endl;
+   }
+
+   {
+   cout << "===============================================================" << endl <<
+	 "Testing Vector get_angle" << endl;
+   Vector2i v2i(1, 2);
+   Vector2i v2i_2(3, 4);
+   Vector3f v3f(1.1f, 2.2f, 3.3f);
+   Vector3f v3f_2(4.4, 5.5, 6.6);
+   Vector4d v4d(1.1, 2.2, 3.3, 4.4);
+   Vector4d v4d_2(5.5, 6.6, 7.7, 8.8);
+   double d;
+   cout << setw(40) << "v2i: " << v2i.to_string() << endl;
+   cout << setw(40) << "v2i_2: " << v2i_2.to_string() << endl;
+   cout << setw(40) << "v3f: " << v3f.to_string() << endl;
+   cout << setw(40) << "v3f_2: " << v3f_2.to_string() << endl;
+   cout << setw(40) << "v4d: " << v4d.to_string() << endl;
+   cout << setw(40) << "v4d_2: " << v4d_2.to_string() << endl;
+   d = v2i.get_angle(v2i_2);
+   cout << setw(40) << "d = v2i.get_angle(v2i_2): " << d << endl;
+   d = v3f.get_angle(v3f_2);
+   cout << setw(40) << "d = v3f.get_angle(v3f_2): " << d << endl;
+   d = v4d.get_angle(v4d_2);
+   cout << setw(40) << "d = v4d.get_angle(v4d_2): " << d << endl;
+   }
+
+   {
+   cout << "===============================================================" << endl <<
+	 "Testing Vector get_anglen" << endl;
+   Vector2f v2f(1.1, 2.2);
+   Vector2f v2f_2(3.3, 4.4);
+   Vector3f v3f(1.1f, 2.2f, 3.3f);
+   Vector3f v3f_2(4.4, 5.5, 6.6);
+   Vector4d v4d(1.1, 2.2, 3.3, 4.4);
+   Vector4d v4d_2(5.5, 6.6, 7.7, 8.8);
+   double d;
+   v2f.normalize();
+   v2f_2.normalize();
+   v3f.normalize();
+   v3f_2.normalize();
+   v4d.normalize();
+   v4d_2.normalize();
+   cout << setw(40) << "v2f: " << v2f.to_string() << endl;
+   cout << setw(40) << "v2f_2: " << v2f_2.to_string() << endl;
+   cout << setw(40) << "v3f: " << v3f.to_string() << endl;
+   cout << setw(40) << "v3f_2: " << v3f_2.to_string() << endl;
+   cout << setw(40) << "v4d: " << v4d.to_string() << endl;
+   cout << setw(40) << "v4d_2: " << v4d_2.to_string() << endl;
+   d = v2f.get_anglen(v2f_2);
+   cout << setw(40) << "d = v2f.get_anglen(v2f_2): " << d << endl;
+   d = v3f.get_anglen(v3f_2);
+   cout << setw(40) << "d = v3f.get_anglen(v3f_2): " << d << endl;
+   d = v4d.get_anglen(v4d_2);
+   cout << setw(40) << "d = v4d.get_anglen(v4d_2): " << d << endl;
+   }
+
+   {
+   cout << "===============================================================" << endl <<
+	 "Testing Vector get_proj" << endl;
+   Vector2f v2f(1.1, 2.2);
+   Vector2f v2f_2(3.3, 4.4);
+   Vector2f v2f_3(0);
+   Vector3f v3f(1.1f, 2.2f, 3.3f);
+   Vector3f v3f_2(4.4, 5.5, 6.6);
+   Vector3f v3f_3(0);
+   Vector4d v4d(1.1, 2.2, 3.3, 4.4);
+   Vector4d v4d_2(5.5, 6.6, 7.7, 8.8);
+   Vector4d v4d_3(0);
+   cout << setw(40) << "v2f: " << v2f.to_string() << endl;
+   cout << setw(40) << "v2f_2: " << v2f_2.to_string() << endl;
+   cout << setw(40) << "v3f: " << v3f.to_string() << endl;
+   cout << setw(40) << "v3f_2: " << v3f_2.to_string() << endl;
+   cout << setw(40) << "v4d: " << v4d.to_string() << endl;
+   cout << setw(40) << "v4d_2: " << v4d_2.to_string() << endl;
+   v2f_3 = v2f.proj(v2f_2);
+   cout << setw(40) << "v2f_3 = v2f.proj(v3f_2): " << v2f_3.to_string() << endl;
+   v3f_3 = v3f.proj(v3f_2);
+   cout << setw(40) << "v3f_3 = v3f.proj(v3f_2): " << v3f_3.to_string() << endl;
+   v4d_3 = v4d.proj(v4d_2);
+   cout << setw(40) << "v4d_3 = v4d.proj(v4d_2): " << v4d_3.to_string() << endl;
+   v2f_3.assign(0,0);
+   v3f_3.assign(0,0,0);
+   v4d_3.assign(0,0,0,0);
+   v2f.proj(v2f_2, v2f_3);
+   cout << setw(40) << "v2f.proj(v2f_2, v2f_3): " << v2f_3.to_string() << endl;
+   v3f.proj(v3f_2, v3f_3);
+   cout << setw(40) << "v3f.proj(v3f_2, v3f_3): " << v3f_3.to_string() << endl;
+   v4d.proj(v4d_2, v4d_3);
+   cout << setw(40) << "v4d.proj(v4d_2, v4d_3): " << v4d_3.to_string() << endl;
+   }
+
+   }
+
+////////////////////////////////////////////////////////////////////////////////
+void test_matrix(void)
+   {
+   string s1, s2;
+
+   {
+   cout << "===============================================================" << endl <<
+	 "Testing Maxtrix constructors" << endl;
+   Matrix22i m22i_1(0);
+   Matrix22i m22i_2(1);
+   Matrix22i m22i_3(1, 2, 3, 4);
+   Matrix22i m22i_4(m22i_3);
+
+   cout << setw(40) << "m22i_1: " << m22i_1.to_string() << endl;
+   cout << setw(40) << "m22i_2: " << m22i_2.to_string() << endl;
+   cout << setw(40) << "m22i_3: " << m22i_3.to_string() << endl;
+   cout << setw(40) << "m22i_4: " << m22i_4.to_string() << endl;
+
+   Matrix33f m33f_1(0.0f);
+   Matrix33f m33f_2(1.1f);
+   Matrix33f m33f_3(1.1f, 2.2f, 3.3f, 4.4f, 5.5f, 6.6f, 7.7f, 8.8f, 9.9f);
+   Matrix33f m33f_4(m33f_3);
+
+   cout << setw(40) << "m33f_1: " << m33f_1.to_string() << endl;
+   cout << setw(40) << "m33f_2: " << m33f_2.to_string() << endl;
+   cout << setw(40) << "m33f_3: " << m33f_3.to_string() << endl;
+   cout << setw(40) << "m33f_4: " << m33f_4.to_string() << endl;
+
+   Matrix44d m44d_1(0.0);
+   Matrix44d m44d_2(1.1);
+   Matrix44d m44d_3(1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7, 8.8, 9.9, 10.10, 11.11,
+		    12.12, 13.13, 14.14, 15.15, 16.16);
+   Matrix44d m44d_4(m44d_3);
+
+   cout << setw(40) << "m44d_1: " << m44d_1.to_string() << endl;
+   cout << setw(40) << "m44d_2: " << m44d_2.to_string() << endl;
+   cout << setw(40) << "m44d_3: " << m44d_3.to_string() << endl;
+   cout << setw(40) << "m44d_4: " << m44d_4.to_string() << endl;
+   }
+
+   {
+   cout << "===============================================================" << endl <<
+	 "Testing Maxtrix array indexing" << endl;
+   Matrix22i m22i(1, 2, 3, 4);
+
+   cout << setw(40) << "m22i: " << m22i[0] << " "  << m22i[1] << " " << m22i[2] << " " << m22i[3] << " "<< endl;
+
+   Matrix33f m33f(1.1f, 2.2f, 3.3f, 4.4f, 5.5f, 6.6f, 7.7f, 8.8f, 9.9f);
+
+   cout << setw(40) << "m33f: " << m33f[0] << " " << m33f[1] << " " << m33f[2] << " " << m33f[3] << " " << m33f[4] << " " << m33f[5] << " " << m33f[6] << " " << m33f[7] << " " << m33f[8] << endl;
+
+   Matrix44d m44d(1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7, 8.8, 9.9, 10.10, 11.11,
+		  12.12, 13.13, 14.14, 15.15, 16.16);
+
+   cout << setw(40) << "m44d: " << m44d[0] << " " << m44d[1] << " " << m44d[2] << " " << m44d[3] << " " << m44d[4] << " " << m44d[5] << " " << m44d[6] << " " << m44d[7] << " " << m44d[8] << " " << m44d[9] << " " << m44d[10] << " " << m44d[11] << " " << m44d[12] << " " << m44d[13] << " " << m44d[14] << " " << m44d[15] << endl;
+   }
+
+   {
+   cout << "===============================================================" << endl <<
+	 "Testing Maxtrix assignment" << endl;
+   Matrix22i m22i_1(1, 2, 3, 4);
+   Matrix22i m22i_2(5, 6, 7, 8);
+
+   cout << setw(40) << "m22i_1: " << m22i_1.to_string() << endl;
+   cout << setw(40) << "m22i_2: " << m22i_2.to_string() << endl;
+
+   m22i_2 = m22i_1;
+   cout << setw(40) << "m22i_2 = m22i_1: " << m22i_2.to_string() << endl;
+
+   m22i_2.assign(9, 10, 11, 12);
+   cout << setw(40) << "m22i_2.assign(9, 10, 11, 12): " 
+	<< m22i_2.to_string() << endl;
+
+   Matrix33f m33f_1(1.1f, 2.2f, 3.3f, 4.4f, 5.5f, 6.6f, 7.7f, 8.8f, 9.9f);
+   Matrix33f m33f_2(10.10f, 11.11f, 12.12f, 13.13f, 14.14f, 15.15f, 16.16f, 17.17f, 18.18f);
+
+   cout << setw(40) << "m33f_1: " << m33f_1.to_string() << endl;
+   cout << setw(40) << "m33f_2: " << m33f_2.to_string() << endl;
+
+   m33f_2 = m33f_1;
+   cout << setw(40) << "m33f_2 = m33f_1: " << m33f_2.to_string() << endl;
+
+   m33f_2.assign(19.19f, 20.20f, 21.21f, 22.22f, 23.23f, 24.24f, 25.25f, 26.26f, 27.27f);
+   cout << setw(40) << "m33f_2.assign(19.19f, 20.20f, ... , 27.27f): " 
+	<< m33f_2.to_string() << endl;
+
+   Matrix44d m44d_1(1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7, 8.8, 9.9, 10.10, 11.11,
+		    12.12, 13.13, 14.14, 15.15, 16.16);
+   Matrix44d m44d_2(16.16, 17.17, 18.18, 19.19,
+		    20.20, 21.21, 22.22, 23.23,
+		    24.24, 25.25, 26.26, 27.27,
+		    28.28, 29.29, 30.30, 31.31);
+
+   cout << setw(40) << "m44d_1: " << m44d_1.to_string() << endl;
+   cout << setw(40) << "m44d_2: " << m44d_2.to_string() << endl;
+
+   m44d_2 = m44d_1;
+   cout << setw(40) << "m44d_2 = m44d_1: " << m44d_2.to_string() << endl;
+
+   m44d_2.assign(32.32, 33.33, 34.34, 35.35,
+		 36.36, 37.37, 38.38, 39.39,
+		 40.40, 41.41, 42.42, 43.43,
+		 44.44, 45.45, 46.46, 47.47);
+   cout << setw(40) << "m44d_2.assign(32.32, 33.33, ... , 47.47): " 
+	<< m44d_2.to_string() << endl;
+   }
+
+   {
+   cout << "===============================================================" << endl <<
+	 "Testing Maxtrix comparison" << endl;
+   Matrix22i m22i_1(1, 2, 3, 4);
+   Matrix22i m22i_2(1, 2, 3, 4);
+   Matrix22i m22i_3(0);
+
+   cout << setw(40) << "m22i_1: " << m22i_1.to_string() << endl;
+   cout << setw(40) << "m22i_2: " << m22i_2.to_string() << endl;
+   cout << setw(40) << "m22i_3: " << m22i_3.to_string() << endl;
+   cout << boolalpha;
+   cout << setw(40) << "m22i_1 == m22i_2: " << (m22i_1 == m22i_2) << endl;
+   cout << setw(40) << "m22i_1 == m22i_3: " << (m22i_2 == m22i_3) << endl;
+   cout << setw(40) << "m22i_1 != m22i_2: " << (m22i_1 != m22i_2) << endl;
+   cout << setw(40) << "m22i_1 != m22i_3: " << (m22i_2 != m22i_3) << endl;
+
+   Matrix33f m33f_1(1.1f, 2.2f, 3.3f, 4.4f, 5.5f, 6.6f, 7.7f, 8.8f, 9.9f);
+   Matrix33f m33f_2(1.1f, 2.2f, 3.3f, 4.4f, 5.5f, 6.6f, 7.7f, 8.8f, 9.9f);
+   Matrix33f m33f_3(0.0f);
+
+   cout << setw(40) << "m33f_1: " << m33f_1.to_string() << endl;
+   cout << setw(40) << "m33f_2: " << m33f_2.to_string() << endl;
+   cout << setw(40) << "m33f_3: " << m33f_3.to_string() << endl;
+   cout << boolalpha;
+   cout << setw(40) << "m33f_1 == m33f_2: " << (m33f_1 == m33f_2) << endl;
+   cout << setw(40) << "m33f_1 == m33f_3: " << (m33f_2 == m33f_3) << endl;
+   cout << setw(40) << "m33f_1 != m33f_2: " << (m33f_1 != m33f_2) << endl;
+   cout << setw(40) << "m33f_1 != m33f_3: " << (m33f_2 != m33f_3) << endl;
+
+   Matrix44d m44d_1(1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7, 8.8, 9.9, 10.10, 11.11,
+		    12.12, 13.13, 14.14, 15.15, 16.16);
+   Matrix44d m44d_2(1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7, 8.8, 9.9, 10.10, 11.11,
+		    12.12, 13.13, 14.14, 15.15, 16.16);
+   Matrix44d m44d_3(0.0);
+
+   cout << setw(40) << "m44d_1: " << m44d_1.to_string() << endl;
+   cout << setw(40) << "m44d_2: " << m44d_2.to_string() << endl;
+   cout << setw(40) << "m44d_3: " << m44d_3.to_string() << endl;
+   cout << boolalpha;
+   cout << setw(40) << "m44d_1 == m44d_2: " << (m44d_1 == m44d_2) << endl;
+   cout << setw(40) << "m44d_1 == m44d_3: " << (m44d_2 == m44d_3) << endl;
+   cout << setw(40) << "m44d_1 != m44d_2: " << (m44d_1 != m44d_2) << endl;
+   cout << setw(40) << "m44d_1 != m44d_3: " << (m44d_2 != m44d_3) << endl;
+   }
+
+   {
+   cout << "===============================================================" << endl <<
+	 "Testing Maxtrix addition" << endl;
+   Matrix22i m22i_1(1, 2, 3, 4);
+   Matrix22i m22i_2(5, 6, 7, 8);
+   Matrix22i m22i_3(0);
+
+   cout << setw(40) << "m22i_1: " << m22i_1.to_string() << endl;
+   cout << setw(40) << "m22i_2: " << m22i_2.to_string() << endl;
+   cout << setw(40) << "m22i_3: " << m22i_3.to_string() << endl;
+   m22i_3 = m22i_1 + m22i_2;
+   cout << setw(40) << "m22i_3 = m22i_1 + m22i_2: " << m22i_3.to_string() << endl;
+
+   m22i_3 += m22i_1;
+   cout << setw(40) << "m22i_3 += m22i_1: " << m22i_3.to_string() << endl;
+
+   Matrix33f m33f_1(1.1f, 2.2f, 3.3f, 4.4f, 5.5f, 6.6f, 7.7f, 8.8f, 9.9f);
+   Matrix33f m33f_2(10.10f, 11.11f, 12.12f, 13.13f, 14.14f, 15.15f, 16.16f, 17.17f, 18.18f);
+   Matrix33f m33f_3(0.0f);
+
+   cout << setw(40) << "m33f_1: " << m33f_1.to_string() << endl;
+   cout << setw(40) << "m33f_2: " << m33f_2.to_string() << endl;
+   cout << setw(40) << "m33f_3: " << m33f_3.to_string() << endl;
+   m33f_3 = m33f_1 + m33f_2;
+   cout << setw(40) << "m33f_3 = m33f_1 + m33f_2: " << m33f_3.to_string() << endl;
+
+   m33f_3 += m33f_1;
+   cout << setw(40) << "m33f_3 += m33f_1: " << m33f_3.to_string() << endl;
+
+   Matrix44d m44d_1(1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7, 8.8, 9.9, 10.10, 11.11,
+		    12.12, 13.13, 14.14, 15.15, 16.16);
+   Matrix44d m44d_2(16.16, 17.17, 18.18, 19.19,
+		    20.20, 21.21, 22.22, 23.23,
+		    24.24, 25.25, 26.26, 27.27,
+		    28.28, 29.29, 30.30, 31.31);
+   Matrix44d m44d_3(0.0);
+
+   cout << setw(40) << "m44d_1: " << m44d_1.to_string() << endl;
+   cout << setw(40) << "m44d_2: " << m44d_2.to_string() << endl;
+   cout << setw(40) << "m44d_3: " << m44d_3.to_string() << endl;
+   m44d_3 = m44d_1 + m44d_2;
+   cout << setw(40) << "m44d_3 = m44d_1 + m44d_2: " << m44d_3.to_string() << endl;
+
+   m44d_3 += m44d_1;
+   cout << setw(40) << "m44d_3 += m44d_1: " << m44d_3.to_string() << endl;
+   }
+
+   {
+   cout << "===============================================================" << endl <<
+	 "Testing Maxtrix subtraction" << endl;
+   Matrix22i m22i_1(1, 2, 3, 4);
+   Matrix22i m22i_2(5, 6, 7, 8);
+   Matrix22i m22i_3(0);
+
+   cout << setw(40) << "m22i_1: " << m22i_1.to_string() << endl;
+   cout << setw(40) << "m22i_2: " << m22i_2.to_string() << endl;
+   cout << setw(40) << "m22i_3: " << m22i_3.to_string() << endl;
+   m22i_3 = m22i_1 - m22i_2;
+   cout << setw(40) << "m22i_3 = m22i_1 - m22i_2: " << m22i_3.to_string() << endl;
+
+   m22i_3 -= m22i_1;
+   cout << setw(40) << "m22i_3 -= m22i_1: " << m22i_3.to_string() << endl;
+
+   Matrix33f m33f_1(1.1f, 2.2f, 3.3f, 4.4f, 5.5f, 6.6f, 7.7f, 8.8f, 9.9f);
+   Matrix33f m33f_2(10.10f, 11.11f, 12.12f, 13.13f, 14.14f, 15.15f, 16.16f, 17.17f, 18.18f);
+   Matrix33f m33f_3(0.0f);
+
+   cout << setw(40) << "m33f_1: " << m33f_1.to_string() << endl;
+   cout << setw(40) << "m33f_2: " << m33f_2.to_string() << endl;
+   cout << setw(40) << "m33f_3: " << m33f_3.to_string() << endl;
+   m33f_3 = m33f_1 - m33f_2;
+   cout << setw(40) << "m33f_3 = m33f_1 - m33f_2: " << m33f_3.to_string() << endl;
+
+   m33f_3 -= m33f_1;
+   cout << setw(40) << "m33f_3 -= m33f_1: " << m33f_3.to_string() << endl;
+
+   Matrix44d m44d_1(1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7, 8.8, 9.9, 10.10, 11.11,
+		    12.12, 13.13, 14.14, 15.15, 16.16);
+   Matrix44d m44d_2(16.16, 17.17, 18.18, 19.19,
+		    20.20, 21.21, 22.22, 23.23,
+		    24.24, 25.25, 26.26, 27.27,
+		    28.28, 29.29, 30.30, 31.31);
+   Matrix44d m44d_3(0.0);
+
+   cout << setw(40) << "m44d_1: " << m44d_1.to_string() << endl;
+   cout << setw(40) << "m44d_2: " << m44d_2.to_string() << endl;
+   cout << setw(40) << "m44d_3: " << m44d_3.to_string() << endl;
+   m44d_3 = m44d_1 - m44d_2;
+   cout << setw(40) << "m44d_3 = m44d_1 - m44d_2: " << m44d_3.to_string() << endl;
+
+   m44d_3 -= m44d_1;
+   cout << setw(40) << "m44d_3 -= m44d_1: " << m44d_3.to_string() << endl;
+   }
+
+   {
+   cout << "===============================================================" << endl <<
+	 "Testing Matrix scalar multiplication" << endl;
+   Matrix22i m22i_1(1, 2, 3, 4);
+   Matrix22i m22i_2(0);
+   int i = 2;
+
+   cout << setw(40) << "i: " << i << endl;
+   cout << setw(40) << "m22i_1: " << m22i_1.to_string() << endl;
+   cout << setw(40) << "m22i_2: " << m22i_2.to_string() << endl;
+   m22i_2 = m22i_1 *i;
+   cout << setw(40) << "m22i_2 = m22i_1 * i: " << m22i_2.to_string() << endl;
+   m22i_2 = i * m22i_1;
+   cout << setw(40) << "m22i_2 = i * m22i_1: " << m22i_2.to_string() << endl;
+   m22i_2 *= i;
+   cout << setw(40) << "m22i_2 *= i: " << m22i_2.to_string() << endl;
+
+   Matrix33f m33f_1(1.1f, 2.2f, 3.3f, 4.4f, 5.5f, 6.6f, 7.7f, 8.8f, 9.9f);
+   Matrix33f m33f_2(0.0f);
+   float f = 2.0f;
+
+   cout << setw(40) << "f: " << f << endl;
+   cout << setw(40) << "m33f_1: " << m33f_1.to_string() << endl;
+   cout << setw(40) << "m33f_2: " << m33f_2.to_string() << endl;
+   m33f_2 = m33f_1 * f;
+   cout << setw(40) << "m33f_2 = m33f_1 * f: " << m33f_2.to_string() << endl;
+   m33f_2 = f * m33f_1;
+   cout << setw(40) << "m33f_2 = f * m33f_1: " << m33f_2.to_string() << endl;
+   m33f_2 *= f;
+   cout << setw(40) << "m33f_2 *= f: " << m33f_2.to_string() << endl;
+
+   Matrix44d m44d_1(1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7, 8.8, 9.9, 10.10, 11.11,
+		    12.12, 13.13, 14.14, 15.15, 16.16);
+   Matrix44d m44d_2(0.0);
+   double d = 2.0f;
+
+   cout << setw(40) << "d: " << d << endl;
+   cout << setw(40) << "m44d_1: " << m44d_1.to_string() << endl;
+   cout << setw(40) << "m44d_2: " << m44d_2.to_string() << endl;
+   m44d_2 = m44d_1 * d;
+   cout << setw(40) << "m44d_2 = m44d_1 * d: " << m44d_2.to_string() << endl;
+   m44d_2 = d * m44d_1;
+   cout << setw(40) << "m44d_2 = d * m44d_1: " << m44d_2.to_string() << endl;
+   m44d_2 *= d;
+   cout << setw(40) << "m44d_2 *= d: " << m44d_2.to_string() << endl;
+   }
+
+   {
+   cout << "===============================================================" << endl <<
+	 "Testing Matrix scalar division" << endl;
+   Matrix22i m22i_1(1, 2, 3, 4);
+   Matrix22i m22i_2(0);
+   int i = 2;
+
+   cout << setw(40) << "i: " << i << endl;
+   cout << setw(40) << "m22i_1: " << m22i_1.to_string() << endl;
+   cout << setw(40) << "m22i_2: " << m22i_2.to_string() << endl;
+   m22i_2 = m22i_1 / i;
+   cout << setw(40) << "m22i_2 = m22i_1 / i: " << m22i_2.to_string() << endl;
+   m22i_1 /= i;
+   cout << setw(40) << "m22i_1 /= i: " << m22i_2.to_string() << endl;
+
+   Matrix33f m33f_1(1.1f, 2.2f, 3.3f, 4.4f, 5.5f, 6.6f, 7.7f, 8.8f, 9.9f);
+   Matrix33f m33f_2(0.0f);
+   float f = 2.0f;
+
+   cout << setw(40) << "f: " << f << endl;
+   cout << setw(40) << "m33f_1: " << m33f_1.to_string() << endl;
+   cout << setw(40) << "m33f_2: " << m33f_2.to_string() << endl;
+   m33f_2 = m33f_1 / f;
+   cout << setw(40) << "m33f_2 = m33f_1 / f: " << m33f_2.to_string() << endl;
+   m33f_1 /= f;
+   cout << setw(40) << "m33f_1 /= f: " << m33f_2.to_string() << endl;
+
+   Matrix44d m44d_1(1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7, 8.8, 9.9, 10.10, 11.11,
+		    12.12, 13.13, 14.14, 15.15, 16.16);
+   Matrix44d m44d_2(0.0);
+   double d = 2.0f;
+
+   cout << setw(40) << "d: " << d << endl;
+   cout << setw(40) << "m44d_1: " << m44d_1.to_string() << endl;
+   cout << setw(40) << "m44d_2: " << m44d_2.to_string() << endl;
+   m44d_2 = m44d_1 / d;
+   cout << setw(40) << "m44d_2 = m44d_1 / d: " << m44d_2.to_string() << endl;
+   m44d_1 /= d;
+   cout << setw(40) << "m44d_1 /= d: " << m44d_2.to_string() << endl;
+   }
+
+   {
+   cout << "===============================================================" << endl <<
+	 "Testing Maxtrix multiplication" << endl;
+   Matrix22i m22i_1(1, 2, 3, 4);
+   Matrix22i m22i_2(5, 6, 7, 8);
+   Matrix22i m22i_3(0);
+
+   cout << setw(40) << "m22i_1: " << m22i_1.to_string() << endl;
+   cout << setw(40) << "m22i_2: " << m22i_2.to_string() << endl;
+   cout << setw(40) << "m22i_3: " << m22i_3.to_string() << endl;
+   m22i_3 = m22i_1 * m22i_2;
+   cout << setw(40) << "m22i_3 = m22i_1 * m22i_2: " << m22i_3.to_string() << endl;
+
+   Matrix33f m33f_1(1.1f, 2.2f, 3.3f, 4.4f, 5.5f, 6.6f, 7.7f, 8.8f, 9.9f);
+   Matrix33f m33f_2(10.10f, 11.11f, 12.12f, 13.13f, 14.14f, 15.15f, 16.16f, 17.17f, 18.18f);
+   Matrix33f m33f_3(0.0f);
+
+   cout << setw(40) << "m33f_1: " << m33f_1.to_string() << endl;
+   cout << setw(40) << "m33f_2: " << m33f_2.to_string() << endl;
+   cout << setw(40) << "m33f_3: " << m33f_3.to_string() << endl;
+   m33f_3 = m33f_1 * m33f_2;
+   cout << setw(40) << "m33f_3 = m33f_1 * m33f_2: " << m33f_3.to_string() << endl;
+
+   Matrix44d m44d_1(1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7, 8.8, 9.9, 10.10, 11.11,
+		    12.12, 13.13, 14.14, 15.15, 16.16);
+   Matrix44d m44d_2(16.16, 17.17, 18.18, 19.19,
+		    20.20, 21.21, 22.22, 23.23,
+		    24.24, 25.25, 26.26, 27.27,
+		    28.28, 29.29, 30.30, 31.31);
+   Matrix44d m44d_3(0.0);
+
+   cout << setw(40) << "m44d_1: " << m44d_1.to_string() << endl;
+   cout << setw(40) << "m44d_2: " << m44d_2.to_string() << endl;
+   cout << setw(40) << "m44d_3: " << m44d_3.to_string() << endl;
+   m44d_3 = m44d_1 * m44d_2;
+   cout << setw(40) << "m44d_3 = m44d_1 * m44d_2: " << m44d_3.to_string() << endl;
+   }
+
+   {
+   cout << "===============================================================" << endl <<
+	 "Testing Maxtrix det" << endl;
+   Matrix22i m22i_1(1, 2, 3, 4);
+   double d;
+
+   cout << setw(40) << "m22i_1: " << m22i_1.to_string() << endl;
+   d = det(m22i_1);
+   cout << setw(40) << "d = det(m22i_1): " << d << endl;
+
+   // Note: singular matrix.  The real determinant is exactly zero.
+   Matrix33f m33f_1(1.1f, 2.2f, 3.3f, 4.4f, 5.5f, 6.6f, 7.7f, 8.8f, 9.9f);
+
+   cout << setw(40) << "m33f_1: " << m33f_1.to_string() << endl;
+   d = det(m33f_1);
+   cout << setw(40) << "d = det(m33f_1): " << d << endl;
+
+   // Note: singular matrix.  The real determinant is exactly zero.
+   Matrix44d m44d_1(1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7, 8.8, 9.9, 10.10, 11.11,
+		  12.12, 13.13, 14.14, 15.15, 16.16);
+
+   cout << setw(40) << "m44d_1: " << m44d_1.to_string() << endl;
+   d = det(m44d_1);
+   cout << setw(40) << "d = det(m44d_1): " << d << endl;
+
+   }
+
+   {
+   cout << "===============================================================" << endl <<
+	 "Testing Maxtrix transpose" << endl;
+   Matrix22i m22i_1(1, 2, 3, 4);
+   Matrix22i m22i_2;
+
+   cout << setw(40) << "m22i_1: " << m22i_1.to_string() << endl;
+   m22i_2 = transpose(m22i_1);
+   cout << setw(40) << "m22i_2 = transpose(m22i_1): " << m22i_2.to_string() << endl;
+
+   Matrix33f m33f_1(1.1f, 2.2f, 3.3f, 4.4f, 5.5f, 6.6f, 7.7f, 8.8f, 9.9f);
+   Matrix33f m33f_2(0.0f);
+
+   cout << setw(40) << "m33f_1: " << m33f_1.to_string() << endl;
+   m33f_2 = transpose(m33f_1);
+   cout << setw(40) << "m33f_2 = transpose(m33f_1): " << m33f_2.to_string() << endl;
+
+   Matrix44d m44d_1(1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7, 8.8, 9.9, 10.10, 11.11,
+		    12.12, 13.13, 14.14, 15.15, 16.16);
+   Matrix44d m44d_2(0.0);
+
+   cout << setw(40) << "m44d_1: " << m44d_1.to_string() << endl;
+   m44d_2 = transpose(m44d_1);
+   cout << setw(40) << "m44d_2 = transpose(m44d_1): " << m44d_2.to_string() << endl;
+   }
+
+   {
+   cout << "===============================================================" << endl <<
+	 "Testing Maxtrix setidentity" << endl;
+   Matrix22i m22i_1(1, 2, 3, 4);
+
+   cout << setw(40) << "m22i_1: " << m22i_1.to_string() << endl;
+   m22i_1.setidentity();
+   cout << setw(40) << "m22i_1.setidentity(): " << m22i_1.to_string() << endl;
+
+   Matrix33f m33f_1(1.1f, 2.2f, 3.3f, 4.4f, 5.5f, 6.6f, 7.7f, 8.8f, 9.9f);
+
+   cout << setw(40) << "m33f_1: " << m33f_1.to_string() << endl;
+   m33f_1.setidentity();
+   cout << setw(40) << "m33f_1.setidentity(): " << m33f_1.to_string() << endl;
+   
+   Matrix44d m44d_1(1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7, 8.8, 9.9, 10.10, 11.11,
+		    12.12, 13.13, 14.14, 15.15, 16.16);
+   
+   cout << setw(40) << "m44d_1: " << m44d_1.to_string() << endl;
+   m44d_1.setidentity();
+   cout << setw(40) << "m44d_1.setidentity(): " << m44d_1.to_string() << endl;
+   }
+
+   {
+   cout << "===============================================================" << endl <<
+	 "Testing Matrix getrow() and getcol()" << endl;
+   Matrix22i m22i_1(1, 2, 3, 4);
+   Vector2i v2i_1(0);
+
+   cout << setw(40) << "m22i_1: " << m22i_1.to_string() << endl;
+   v2i_1 = m22i_1.getrow(0);
+   cout << setw(40) << "v2i_1 = m22i_1.getrow(0): " << v2i_1.to_string() << endl;
+   v2i_1 = m22i_1.getrow(1);
+   cout << setw(40) << "v2i_1 = m22i_1.getrow(1): " << v2i_1.to_string() << endl;
+   v2i_1 = m22i_1.getcol(0);
+   cout << setw(40) << "v2i_1 = m22i_1.getcol(0): " << v2i_1.to_string() << endl;
+   v2i_1 = m22i_1.getcol(1);
+   cout << setw(40) << "v2i_1 = m22i_1.getcol(1): " << v2i_1.to_string() << endl;
+
+   Matrix33f m33f_1(1.1f, 2.2f, 3.3f, 4.4f, 5.5f, 6.6f, 7.7f, 8.8f, 9.9f);
+   Vector3f v3f_1(0);
+
+   cout << setw(40) << "m33f_1: " << m33f_1.to_string() << endl;
+   v3f_1 = m33f_1.getrow(0);
+   cout << setw(40) << "v3f_1 = m33f_1.getrow(0): " << v3f_1.to_string() << endl;
+   v3f_1 = m33f_1.getrow(1);
+   cout << setw(40) << "v3f_1 = m33f_1.getrow(1): " << v3f_1.to_string() << endl;
+   v3f_1 = m33f_1.getrow(2);
+   cout << setw(40) << "v3f_1 = m33f_1.getrow(2): " << v3f_1.to_string() << endl;
+   v3f_1 = m33f_1.getcol(0);
+   cout << setw(40) << "v3f_1 = m33f_1.getcol(0): " << v3f_1.to_string() << endl;
+   v3f_1 = m33f_1.getcol(1);
+   cout << setw(40) << "v3f_1 = m33f_1.getcol(1): " << v3f_1.to_string() << endl;
+   v3f_1 = m33f_1.getcol(2);
+   cout << setw(40) << "v3f_1 = m33f_1.getcol(2): " << v3f_1.to_string() << endl;
+
+   Matrix44d m44d_1(1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7, 8.8, 9.9, 10.10, 11.11,
+		    12.12, 13.13, 14.14, 15.15, 16.16);
+   Vector4d v4d_1(0);
+
+   cout << setw(40) << "m44d_1: " << m44d_1.to_string() << endl;
+   v4d_1 = m44d_1.getrow(0);
+   cout << setw(40) << "v4d_1 = m44d_1.getrow(0): " << v4d_1.to_string() << endl;
+   v4d_1 = m44d_1.getrow(1);
+   cout << setw(40) << "v4d_1 = m44d_1.getrow(1): " << v4d_1.to_string() << endl;
+   v4d_1 = m44d_1.getrow(2);
+   cout << setw(40) << "v4d_1 = m44d_1.getrow(2): " << v4d_1.to_string() << endl;
+   v4d_1 = m44d_1.getrow(3);
+   cout << setw(40) << "v4d_1 = m44d_1.getrow(3): " << v4d_1.to_string() << endl;
+
+   v4d_1 = m44d_1.getcol(0);
+   cout << setw(40) << "v4d_1 = m44d_1.getcol(0): " << v4d_1.to_string() << endl;
+   v4d_1 = m44d_1.getcol(1);
+   cout << setw(40) << "v4d_1 = m44d_1.getcol(1): " << v4d_1.to_string() << endl;
+   v4d_1 = m44d_1.getcol(2);
+   cout << setw(40) << "v4d_1 = m44d_1.getcol(2): " << v4d_1.to_string() << endl;
+   v4d_1 = m44d_1.getcol(3);
+   cout << setw(40) << "v4d_1 = m44d_1.getcol(3): " << v4d_1.to_string() << endl;
+   }
+
+   {
+   cout << "===============================================================" << endl <<
+	 "Testing Matrix setrow() and setcol()" << endl;
+   Matrix22i m22i_1;
+   Vector2i v2i_1(2, 3);
+
+   m22i_1.setidentity();
+   cout << setw(40) << "m22i_1: " << m22i_1.to_string() << endl;
+   m22i_1.setrow(0, v2i_1);
+   cout << setw(40) << "m22i_1.setrow(0, v2i_1): " << m22i_1.to_string() << endl;
+
+   m22i_1.setidentity();
+   m22i_1.setrow(1, v2i_1);
+   cout << setw(40) << "m22i_1.setrow(1, v2i_1): " << m22i_1.to_string() << endl;
+
+   m22i_1.setidentity();
+   m22i_1.setrow(1, 4, 5);
+   cout << setw(40) << "m22i_1.setrow(1, 4, 5): " << m22i_1.to_string() << endl;
+
+   m22i_1.setidentity();
+   m22i_1.setcol(0, v2i_1);
+   cout << setw(40) << "m22i_1.setcol(0, v2i_1): " << m22i_1.to_string() << endl;
+
+   m22i_1.setidentity();
+   m22i_1.setcol(1, v2i_1);
+   cout << setw(40) << "m22i_1.setcol(1, v2i_1): " << m22i_1.to_string() << endl;
+
+   m22i_1.setidentity();
+   m22i_1.setcol(1, 4, 5);
+   cout << setw(40) << "m22i_1.setcol(1, 4, 5): " << m22i_1.to_string() << endl;
+
+   Matrix33f m33f_1;
+   Vector3f v3f_1(0);
+
+   m33f_1.setidentity();
+   cout << setw(40) << "m33f_1: " << m33f_1.to_string() << endl;
+   m33f_1.setrow(0, v3f_1);
+   cout << setw(40) << "m33f_1.setrow(0, v3f_1): " << m33f_1.to_string() << endl;
+
+   m33f_1.setidentity();
+   m33f_1.setrow(1, v3f_1);
+   cout << setw(40) << "m33f_1.setrow(1, v3f_1): " << m33f_1.to_string() << endl;
+
+   m33f_1.setidentity();
+   m33f_1.setrow(1, 2.2f, 3.3f, 4.4f);
+   cout << setw(40) << "m33f_1.setrow(1, 2.2f, 3.3f, 4.4f): " 
+	<< m33f_1.to_string() << endl;
+
+   m33f_1.setidentity();
+   m33f_1.setcol(0, v3f_1);
+   cout << setw(40) << "m33f_1.setcol(0, v3f_1): " << m33f_1.to_string() << endl;
+
+   m33f_1.setidentity();
+   m33f_1.setcol(1, v3f_1);
+   cout << setw(40) << "m33f_1.setcol(1, v3f_1): " << m33f_1.to_string() << endl;
+
+   m33f_1.setidentity();
+   m33f_1.setcol(1, 2.2f, 3.3f, 4.4f);
+   cout << setw(40) << "m33f_1.setcol(1, 2.2f, 3.3f, 4.4f: " 
+	<< m33f_1.to_string() << endl;
+
+   Matrix44d m44d_1;
+   Vector4d v4d_1(0);
+
+   m44d_1.setidentity();
+   cout << setw(40) << "m44d_1: " << m44d_1.to_string() << endl;
+   m44d_1.setrow(0, v4d_1);
+   cout << setw(40) << "m44d_1.setrow(0, v4d_1): " << m44d_1.to_string() << endl;
+
+   m44d_1.setidentity();
+   m44d_1.setrow(1, v4d_1);
+   cout << setw(40) << "m44d_1.setrow(1, v4d_1): " << m44d_1.to_string() << endl;
+
+   m44d_1.setidentity();
+   m44d_1.setrow(1, 2.2, 3.3, 4.4, 5.5);
+   cout << setw(40) << "m44d_1.setrow(1, 2.2, 3.3, 4.4, 5.5): " 
+	<< m44d_1.to_string() << endl;
+
+   m44d_1.setidentity();
+   m44d_1.setcol(0, v4d_1);
+   cout << setw(40) << "m44d_1.setcol(0, v4d_1): " << m44d_1.to_string() << endl;
+
+   m44d_1.setidentity();
+   m44d_1.setcol(1, v4d_1);
+   cout << setw(40) << "m44d_1.setcol(1, v4d_1): " << m44d_1.to_string() << endl;
+
+   m44d_1.setidentity();
+   m44d_1.setcol(1, 2.2, 3.3, 4.4, 5.5);
+   cout << setw(40) << "m44d_1.setcol(1, 2.2, 3.3, 4.4, 5.5: " 
+	<< m44d_1.to_string() << endl;
+   }
+   }
+
+////////////////////////////////////////////////////////////////////////////////
+void test_all(void)
+   {
+   test_vector();
+   test_matrix();
+   }
+
+////////////////////////////////////////////////////////////////////////////////
+void show_menu(void)
+   {
+   cout << endl << endl
+	<< "Test what?" << endl
+	<< "0)      All" << endl << endl
+	<< "1)      Vector" << endl
+	<< "2)      Matrix" << endl
+	<< endl
+	<< "99      Quit" << endl;
+   }
+
+////////////////////////////////////////////////////////////////////////////////
+int main (int argc, char * argv[]) 
+   {
+   int retval = 0;
+
+   test_all();
+   return 0;
+
+   try
+      {
+      int choice = -1;
+      
+      while (choice != 99)
+	 {
+	 show_menu();
+	 cin >> choice;
+	 if(!cin)
+	    {
+	    cin.clear();
+	    cin.ignore(std::numeric_limits<std::streamsize>::max(),'\n');
+	    }
+	 if (choice != 99)
+	    {
+	    switch (choice)
+	       {
+	       case 0:
+		  test_all();
+		  break;
+	       case 1:
+		  test_vector();
+		  break;
+	       case 2:
+		  test_matrix();
+		  break;
+	       default:
+		  cout << "Unrecognized choice.  Please try again." << endl;
+	       }
+	    choice = -1;
+	    }
+	 }
+      }
+   catch (const std::exception & error)
+      {
+      string e = "Caught exception: ";
+      e += error.what();
+      cerr << e << endl;
+      retval = 1;
+      }
+
+   return retval;;
+
+   }
+
+#endif