From 16f460a2d2a9f68f942c72ed40ae744b9daba536 Mon Sep 17 00:00:00 2001
From: Danny Robson <danny@nerdcruft.net>
Date: Thu, 19 Dec 2019 14:44:58 +1100
Subject: [PATCH] quaternion: assert angles are less than a full rotation

---
 quaternion.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/quaternion.cpp b/quaternion.cpp
index 7b0313a3..af634e08 100644
--- a/quaternion.cpp
+++ b/quaternion.cpp
@@ -23,6 +23,8 @@ template <typename T>
 quaternion<T>
 quaternion<T>::angle_axis (const T radians, const vector<3,T> axis)
 {
+    CHECK (radians <  cruft::pi<T> * 2);
+    CHECK (radians > -cruft::pi<T> * 2);
     CHECK (is_normalised (axis));
 
     auto w   = std::cos (radians / 2);
@@ -39,6 +41,8 @@ template <typename T>
 quaternion<T>
 quaternion<T>::from_euler (vector<3,T> angles)
 {
+    CHECK (all (angles > -cruft::pi<T> * 2));
+    CHECK (all (angles <  cruft::pi<T> * 2));
     auto half = angles / 2;
 
     auto c = std::cos (half);