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qt5base-lts/tests/auto/gui/math3d/qquaternion/tst_qquaternion.cpp
Jason McDonald 5635823e17 Remove "All rights reserved" line from license headers. 
As in the past, to avoid rewriting various autotests that contain
line-number information, an extra blank line has been inserted at the
end of the license text to ensure that this commit does not change the
total number of lines in the license header.

Change-Id: I311e001373776812699d6efc045b5f742890c689
Reviewed-by: Rohan McGovern <rohan.mcgovern@nokia.com>
2012-01-30 03:54:59 +01:00

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/****************************************************************************
**
** Copyright (C) 2012 Nokia Corporation and/or its subsidiary(-ies).
** Contact: http://www.qt-project.org/
**
** This file is part of the test suite of the Qt Toolkit.
**
** $QT_BEGIN_LICENSE:LGPL$
** GNU Lesser General Public License Usage
** This file may be used under the terms of the GNU Lesser General Public
** License version 2.1 as published by the Free Software Foundation and
** appearing in the file LICENSE.LGPL included in the packaging of this
** file. Please review the following information to ensure the GNU Lesser
** General Public License version 2.1 requirements will be met:
** http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html.
**
** In addition, as a special exception, Nokia gives you certain additional
** rights. These rights are described in the Nokia Qt LGPL Exception
** version 1.1, included in the file LGPL_EXCEPTION.txt in this package.
**
** GNU General Public License Usage
** Alternatively, this file may be used under the terms of the GNU General
** Public License version 3.0 as published by the Free Software Foundation
** and appearing in the file LICENSE.GPL included in the packaging of this
** file. Please review the following information to ensure the GNU General
** Public License version 3.0 requirements will be met:
** http://www.gnu.org/copyleft/gpl.html.
**
** Other Usage
** Alternatively, this file may be used in accordance with the terms and
** conditions contained in a signed written agreement between you and Nokia.
**
**
**
**
**
**
** $QT_END_LICENSE$
**
****************************************************************************/
#include <QtTest/QtTest>
#include <QtCore/qmath.h>
#include <QtGui/qquaternion.h>
class tst_QQuaternion : public QObject
{
Q_OBJECT
public:
tst_QQuaternion() {}
~tst_QQuaternion() {}
private slots:
void create();
void length_data();
void length();
void normalized_data();
void normalized();
void normalize_data();
void normalize();
void compare();
void add_data();
void add();
void subtract_data();
void subtract();
void multiply_data();
void multiply();
void multiplyFactor_data();
void multiplyFactor();
void divide_data();
void divide();
void negate_data();
void negate();
void conjugate_data();
void conjugate();
void fromAxisAndAngle_data();
void fromAxisAndAngle();
void slerp_data();
void slerp();
void nlerp_data();
void nlerp();
void properties();
void metaTypes();
};
// QVector3D uses float internally, which can lead to some precision
// issues when using it with the qreal-based QQuaternion.
static bool fuzzyCompare(qreal x, qreal y)
{
return qFuzzyIsNull(float(x - y));
}
// Test the creation of QQuaternion objects in various ways:
// construct, copy, and modify.
void tst_QQuaternion::create()
{
QQuaternion identity;
QCOMPARE(identity.x(), (qreal)0.0f);
QCOMPARE(identity.y(), (qreal)0.0f);
QCOMPARE(identity.z(), (qreal)0.0f);
QCOMPARE(identity.scalar(), (qreal)1.0f);
QVERIFY(identity.isIdentity());
QQuaternion v1(34.0f, 1.0f, 2.5f, -89.25f);
QCOMPARE(v1.x(), (qreal)1.0f);
QCOMPARE(v1.y(), (qreal)2.5f);
QCOMPARE(v1.z(), (qreal)-89.25f);
QCOMPARE(v1.scalar(), (qreal)34.0f);
QVERIFY(!v1.isNull());
QQuaternion v1i(34, 1, 2, -89);
QCOMPARE(v1i.x(), (qreal)1.0f);
QCOMPARE(v1i.y(), (qreal)2.0f);
QCOMPARE(v1i.z(), (qreal)-89.0f);
QCOMPARE(v1i.scalar(), (qreal)34.0f);
QVERIFY(!v1i.isNull());
QQuaternion v2(v1);
QCOMPARE(v2.x(), (qreal)1.0f);
QCOMPARE(v2.y(), (qreal)2.5f);
QCOMPARE(v2.z(), (qreal)-89.25f);
QCOMPARE(v2.scalar(), (qreal)34.0f);
QVERIFY(!v2.isNull());
QQuaternion v4;
QCOMPARE(v4.x(), (qreal)0.0f);
QCOMPARE(v4.y(), (qreal)0.0f);
QCOMPARE(v4.z(), (qreal)0.0f);
QCOMPARE(v4.scalar(), (qreal)1.0f);
QVERIFY(v4.isIdentity());
v4 = v1;
QCOMPARE(v4.x(), (qreal)1.0f);
QCOMPARE(v4.y(), (qreal)2.5f);
QCOMPARE(v4.z(), (qreal)-89.25f);
QCOMPARE(v4.scalar(), (qreal)34.0f);
QVERIFY(!v4.isNull());
QQuaternion v9(34, QVector3D(1.0f, 2.5f, -89.25f));
QCOMPARE(v9.x(), (qreal)1.0f);
QCOMPARE(v9.y(), (qreal)2.5f);
QCOMPARE(v9.z(), (qreal)-89.25f);
QCOMPARE(v9.scalar(), (qreal)34.0f);
QVERIFY(!v9.isNull());
v1.setX(3.0f);
QCOMPARE(v1.x(), (qreal)3.0f);
QCOMPARE(v1.y(), (qreal)2.5f);
QCOMPARE(v1.z(), (qreal)-89.25f);
QCOMPARE(v1.scalar(), (qreal)34.0f);
QVERIFY(!v1.isNull());
v1.setY(10.5f);
QCOMPARE(v1.x(), (qreal)3.0f);
QCOMPARE(v1.y(), (qreal)10.5f);
QCOMPARE(v1.z(), (qreal)-89.25f);
QCOMPARE(v1.scalar(), (qreal)34.0f);
QVERIFY(!v1.isNull());
v1.setZ(15.5f);
QCOMPARE(v1.x(), (qreal)3.0f);
QCOMPARE(v1.y(), (qreal)10.5f);
QCOMPARE(v1.z(), (qreal)15.5f);
QCOMPARE(v1.scalar(), (qreal)34.0f);
QVERIFY(!v1.isNull());
v1.setScalar(6.0f);
QCOMPARE(v1.x(), (qreal)3.0f);
QCOMPARE(v1.y(), (qreal)10.5f);
QCOMPARE(v1.z(), (qreal)15.5f);
QCOMPARE(v1.scalar(), (qreal)6.0f);
QVERIFY(!v1.isNull());
v1.setVector(2.0f, 6.5f, -1.25f);
QCOMPARE(v1.x(), (qreal)2.0f);
QCOMPARE(v1.y(), (qreal)6.5f);
QCOMPARE(v1.z(), (qreal)-1.25f);
QCOMPARE(v1.scalar(), (qreal)6.0f);
QVERIFY(!v1.isNull());
QVERIFY(v1.vector() == QVector3D(2.0f, 6.5f, -1.25f));
v1.setVector(QVector3D(-2.0f, -6.5f, 1.25f));
QCOMPARE(v1.x(), (qreal)-2.0f);
QCOMPARE(v1.y(), (qreal)-6.5f);
QCOMPARE(v1.z(), (qreal)1.25f);
QCOMPARE(v1.scalar(), (qreal)6.0f);
QVERIFY(!v1.isNull());
QVERIFY(v1.vector() == QVector3D(-2.0f, -6.5f, 1.25f));
v1.setX(0.0f);
v1.setY(0.0f);
v1.setZ(0.0f);
v1.setScalar(0.0f);
QCOMPARE(v1.x(), (qreal)0.0f);
QCOMPARE(v1.y(), (qreal)0.0f);
QCOMPARE(v1.z(), (qreal)0.0f);
QCOMPARE(v1.scalar(), (qreal)0.0f);
QVERIFY(v1.isNull());
QVector4D v10 = v9.toVector4D();
QCOMPARE(v10.x(), (qreal)1.0f);
QCOMPARE(v10.y(), (qreal)2.5f);
QCOMPARE(v10.z(), (qreal)-89.25f);
QCOMPARE(v10.w(), (qreal)34.0f);
}
// Test length computation for quaternions.
void tst_QQuaternion::length_data()
{
QTest::addColumn<qreal>("x");
QTest::addColumn<qreal>("y");
QTest::addColumn<qreal>("z");
QTest::addColumn<qreal>("w");
QTest::addColumn<qreal>("len");
QTest::newRow("null") << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f;
QTest::newRow("1x") << (qreal)1.0f << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f << (qreal)1.0f;
QTest::newRow("1y") << (qreal)0.0f << (qreal)1.0f << (qreal)0.0f << (qreal)0.0f << (qreal)1.0f;
QTest::newRow("1z") << (qreal)0.0f << (qreal)0.0f << (qreal)1.0f << (qreal)0.0f << (qreal)1.0f;
QTest::newRow("1w") << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f << (qreal)1.0f << (qreal)1.0f;
QTest::newRow("-1x") << (qreal)-1.0f << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f << (qreal)1.0f;
QTest::newRow("-1y") << (qreal)0.0f << (qreal)-1.0f << (qreal)0.0f << (qreal)0.0f << (qreal)1.0f;
QTest::newRow("-1z") << (qreal)0.0f << (qreal)0.0f << (qreal)-1.0f << (qreal)0.0f << (qreal)1.0f;
QTest::newRow("-1w") << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f << (qreal)-1.0f << (qreal)1.0f;
QTest::newRow("two") << (qreal)2.0f << (qreal)-2.0f << (qreal)2.0f << (qreal)2.0f << (qreal)qSqrt(16.0f);
}
void tst_QQuaternion::length()
{
QFETCH(qreal, x);
QFETCH(qreal, y);
QFETCH(qreal, z);
QFETCH(qreal, w);
QFETCH(qreal, len);
QQuaternion v(w, x, y, z);
QCOMPARE(v.length(), len);
QCOMPARE(v.lengthSquared(), x * x + y * y + z * z + w * w);
}
// Test the unit vector conversion for quaternions.
void tst_QQuaternion::normalized_data()
{
// Use the same test data as the length test.
length_data();
}
void tst_QQuaternion::normalized()
{
QFETCH(qreal, x);
QFETCH(qreal, y);
QFETCH(qreal, z);
QFETCH(qreal, w);
QFETCH(qreal, len);
QQuaternion v(w, x, y, z);
QQuaternion u = v.normalized();
if (v.isNull())
QVERIFY(u.isNull());
else
QCOMPARE(u.length(), qreal(1.0f));
QCOMPARE(u.x() * len, v.x());
QCOMPARE(u.y() * len, v.y());
QCOMPARE(u.z() * len, v.z());
QCOMPARE(u.scalar() * len, v.scalar());
}
// Test the unit vector conversion for quaternions.
void tst_QQuaternion::normalize_data()
{
// Use the same test data as the length test.
length_data();
}
void tst_QQuaternion::normalize()
{
QFETCH(qreal, x);
QFETCH(qreal, y);
QFETCH(qreal, z);
QFETCH(qreal, w);
QQuaternion v(w, x, y, z);
bool isNull = v.isNull();
v.normalize();
if (isNull)
QVERIFY(v.isNull());
else
QCOMPARE(v.length(), qreal(1.0f));
}
// Test the comparison operators for quaternions.
void tst_QQuaternion::compare()
{
QQuaternion v1(8, 1, 2, 4);
QQuaternion v2(8, 1, 2, 4);
QQuaternion v3(8, 3, 2, 4);
QQuaternion v4(8, 1, 3, 4);
QQuaternion v5(8, 1, 2, 3);
QQuaternion v6(3, 1, 2, 4);
QVERIFY(v1 == v2);
QVERIFY(v1 != v3);
QVERIFY(v1 != v4);
QVERIFY(v1 != v5);
QVERIFY(v1 != v6);
}
// Test addition for quaternions.
void tst_QQuaternion::add_data()
{
QTest::addColumn<qreal>("x1");
QTest::addColumn<qreal>("y1");
QTest::addColumn<qreal>("z1");
QTest::addColumn<qreal>("w1");
QTest::addColumn<qreal>("x2");
QTest::addColumn<qreal>("y2");
QTest::addColumn<qreal>("z2");
QTest::addColumn<qreal>("w2");
QTest::addColumn<qreal>("x3");
QTest::addColumn<qreal>("y3");
QTest::addColumn<qreal>("z3");
QTest::addColumn<qreal>("w3");
QTest::newRow("null")
<< (qreal)0.0f << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f
<< (qreal)0.0f << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f
<< (qreal)0.0f << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f;
QTest::newRow("xonly")
<< (qreal)1.0f << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f
<< (qreal)2.0f << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f
<< (qreal)3.0f << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f;
QTest::newRow("yonly")
<< (qreal)0.0f << (qreal)1.0f << (qreal)0.0f << (qreal)0.0f
<< (qreal)0.0f << (qreal)2.0f << (qreal)0.0f << (qreal)0.0f
<< (qreal)0.0f << (qreal)3.0f << (qreal)0.0f << (qreal)0.0f;
QTest::newRow("zonly")
<< (qreal)0.0f << (qreal)0.0f << (qreal)1.0f << (qreal)0.0f
<< (qreal)0.0f << (qreal)0.0f << (qreal)2.0f << (qreal)0.0f
<< (qreal)0.0f << (qreal)0.0f << (qreal)3.0f << (qreal)0.0f;
QTest::newRow("wonly")
<< (qreal)0.0f << (qreal)0.0f << (qreal)0.0f << (qreal)1.0f
<< (qreal)0.0f << (qreal)0.0f << (qreal)0.0f << (qreal)2.0f
<< (qreal)0.0f << (qreal)0.0f << (qreal)0.0f << (qreal)3.0f;
QTest::newRow("all")
<< (qreal)1.0f << (qreal)2.0f << (qreal)3.0f << (qreal)8.0f
<< (qreal)4.0f << (qreal)5.0f << (qreal)-6.0f << (qreal)9.0f
<< (qreal)5.0f << (qreal)7.0f << (qreal)-3.0f << (qreal)17.0f;
}
void tst_QQuaternion::add()
{
QFETCH(qreal, x1);
QFETCH(qreal, y1);
QFETCH(qreal, z1);
QFETCH(qreal, w1);
QFETCH(qreal, x2);
QFETCH(qreal, y2);
QFETCH(qreal, z2);
QFETCH(qreal, w2);
QFETCH(qreal, x3);
QFETCH(qreal, y3);
QFETCH(qreal, z3);
QFETCH(qreal, w3);
QQuaternion v1(w1, x1, y1, z1);
QQuaternion v2(w2, x2, y2, z2);
QQuaternion v3(w3, x3, y3, z3);
QVERIFY((v1 + v2) == v3);
QQuaternion v4(v1);
v4 += v2;
QVERIFY(v4 == v3);
QCOMPARE(v4.x(), v1.x() + v2.x());
QCOMPARE(v4.y(), v1.y() + v2.y());
QCOMPARE(v4.z(), v1.z() + v2.z());
QCOMPARE(v4.scalar(), v1.scalar() + v2.scalar());
}
// Test subtraction for quaternions.
void tst_QQuaternion::subtract_data()
{
// Use the same test data as the add test.
add_data();
}
void tst_QQuaternion::subtract()
{
QFETCH(qreal, x1);
QFETCH(qreal, y1);
QFETCH(qreal, z1);
QFETCH(qreal, w1);
QFETCH(qreal, x2);
QFETCH(qreal, y2);
QFETCH(qreal, z2);
QFETCH(qreal, w2);
QFETCH(qreal, x3);
QFETCH(qreal, y3);
QFETCH(qreal, z3);
QFETCH(qreal, w3);
QQuaternion v1(w1, x1, y1, z1);
QQuaternion v2(w2, x2, y2, z2);
QQuaternion v3(w3, x3, y3, z3);
QVERIFY((v3 - v1) == v2);
QVERIFY((v3 - v2) == v1);
QQuaternion v4(v3);
v4 -= v1;
QVERIFY(v4 == v2);
QCOMPARE(v4.x(), v3.x() - v1.x());
QCOMPARE(v4.y(), v3.y() - v1.y());
QCOMPARE(v4.z(), v3.z() - v1.z());
QCOMPARE(v4.scalar(), v3.scalar() - v1.scalar());
QQuaternion v5(v3);
v5 -= v2;
QVERIFY(v5 == v1);
QCOMPARE(v5.x(), v3.x() - v2.x());
QCOMPARE(v5.y(), v3.y() - v2.y());
QCOMPARE(v5.z(), v3.z() - v2.z());
QCOMPARE(v5.scalar(), v3.scalar() - v2.scalar());
}
// Test quaternion multiplication.
void tst_QQuaternion::multiply_data()
{
QTest::addColumn<qreal>("x1");
QTest::addColumn<qreal>("y1");
QTest::addColumn<qreal>("z1");
QTest::addColumn<qreal>("w1");
QTest::addColumn<qreal>("x2");
QTest::addColumn<qreal>("y2");
QTest::addColumn<qreal>("z2");
QTest::addColumn<qreal>("w2");
QTest::newRow("null")
<< (qreal)0.0f << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f
<< (qreal)0.0f << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f;
QTest::newRow("unitvec")
<< (qreal)1.0f << (qreal)0.0f << (qreal)0.0f << (qreal)1.0f
<< (qreal)0.0f << (qreal)1.0f << (qreal)0.0f << (qreal)1.0f;
QTest::newRow("complex")
<< (qreal)1.0f << (qreal)2.0f << (qreal)3.0f << (qreal)7.0f
<< (qreal)4.0f << (qreal)5.0f << (qreal)6.0f << (qreal)8.0f;
for (qreal w = -1.0f; w <= 1.0f; w += 0.5f)
for (qreal x = -1.0f; x <= 1.0f; x += 0.5f)
for (qreal y = -1.0f; y <= 1.0f; y += 0.5f)
for (qreal z = -1.0f; z <= 1.0f; z += 0.5f) {
QTest::newRow("exhaustive")
<< x << y << z << w
<< z << w << y << x;
}
}
void tst_QQuaternion::multiply()
{
QFETCH(qreal, x1);
QFETCH(qreal, y1);
QFETCH(qreal, z1);
QFETCH(qreal, w1);
QFETCH(qreal, x2);
QFETCH(qreal, y2);
QFETCH(qreal, z2);
QFETCH(qreal, w2);
QQuaternion q1(w1, x1, y1, z1);
QQuaternion q2(w2, x2, y2, z2);
// Use the simple algorithm at:
// http://www.j3d.org/matrix_faq/matrfaq_latest.html#Q53
// to calculate the answer we expect to get.
QVector3D v1(x1, y1, z1);
QVector3D v2(x2, y2, z2);
qreal scalar = w1 * w2 - QVector3D::dotProduct(v1, v2);
QVector3D vector = w1 * v2 + w2 * v1 + QVector3D::crossProduct(v1, v2);
QQuaternion result(scalar, vector);
QVERIFY((q1 * q2) == result);
}
// Test multiplication by a factor for quaternions.
void tst_QQuaternion::multiplyFactor_data()
{
QTest::addColumn<qreal>("x1");
QTest::addColumn<qreal>("y1");
QTest::addColumn<qreal>("z1");
QTest::addColumn<qreal>("w1");
QTest::addColumn<qreal>("factor");
QTest::addColumn<qreal>("x2");
QTest::addColumn<qreal>("y2");
QTest::addColumn<qreal>("z2");
QTest::addColumn<qreal>("w2");
QTest::newRow("null")
<< (qreal)0.0f << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f
<< (qreal)100.0f
<< (qreal)0.0f << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f;
QTest::newRow("xonly")
<< (qreal)1.0f << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f
<< (qreal)2.0f
<< (qreal)2.0f << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f;
QTest::newRow("yonly")
<< (qreal)0.0f << (qreal)1.0f << (qreal)0.0f << (qreal)0.0f
<< (qreal)2.0f
<< (qreal)0.0f << (qreal)2.0f << (qreal)0.0f << (qreal)0.0f;
QTest::newRow("zonly")
<< (qreal)0.0f << (qreal)0.0f << (qreal)1.0f << (qreal)0.0f
<< (qreal)2.0f
<< (qreal)0.0f << (qreal)0.0f << (qreal)2.0f << (qreal)0.0f;
QTest::newRow("wonly")
<< (qreal)0.0f << (qreal)0.0f << (qreal)0.0f << (qreal)1.0f
<< (qreal)2.0f
<< (qreal)0.0f << (qreal)0.0f << (qreal)0.0f << (qreal)2.0f;
QTest::newRow("all")
<< (qreal)1.0f << (qreal)2.0f << (qreal)-3.0f << (qreal)4.0f
<< (qreal)2.0f
<< (qreal)2.0f << (qreal)4.0f << (qreal)-6.0f << (qreal)8.0f;
QTest::newRow("allzero")
<< (qreal)1.0f << (qreal)2.0f << (qreal)-3.0f << (qreal)4.0f
<< (qreal)0.0f
<< (qreal)0.0f << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f;
}
void tst_QQuaternion::multiplyFactor()
{
QFETCH(qreal, x1);
QFETCH(qreal, y1);
QFETCH(qreal, z1);
QFETCH(qreal, w1);
QFETCH(qreal, factor);
QFETCH(qreal, x2);
QFETCH(qreal, y2);
QFETCH(qreal, z2);
QFETCH(qreal, w2);
QQuaternion v1(w1, x1, y1, z1);
QQuaternion v2(w2, x2, y2, z2);
QVERIFY((v1 * factor) == v2);
QVERIFY((factor * v1) == v2);
QQuaternion v3(v1);
v3 *= factor;
QVERIFY(v3 == v2);
QCOMPARE(v3.x(), v1.x() * factor);
QCOMPARE(v3.y(), v1.y() * factor);
QCOMPARE(v3.z(), v1.z() * factor);
QCOMPARE(v3.scalar(), v1.scalar() * factor);
}
// Test division by a factor for quaternions.
void tst_QQuaternion::divide_data()
{
// Use the same test data as the multiply test.
multiplyFactor_data();
}
void tst_QQuaternion::divide()
{
QFETCH(qreal, x1);
QFETCH(qreal, y1);
QFETCH(qreal, z1);
QFETCH(qreal, w1);
QFETCH(qreal, factor);
QFETCH(qreal, x2);
QFETCH(qreal, y2);
QFETCH(qreal, z2);
QFETCH(qreal, w2);
QQuaternion v1(w1, x1, y1, z1);
QQuaternion v2(w2, x2, y2, z2);
if (factor == (qreal)0.0f)
return;
QVERIFY((v2 / factor) == v1);
QQuaternion v3(v2);
v3 /= factor;
QVERIFY(v3 == v1);
QCOMPARE(v3.x(), v2.x() / factor);
QCOMPARE(v3.y(), v2.y() / factor);
QCOMPARE(v3.z(), v2.z() / factor);
QCOMPARE(v3.scalar(), v2.scalar() / factor);
}
// Test negation for quaternions.
void tst_QQuaternion::negate_data()
{
// Use the same test data as the add test.
add_data();
}
void tst_QQuaternion::negate()
{
QFETCH(qreal, x1);
QFETCH(qreal, y1);
QFETCH(qreal, z1);
QFETCH(qreal, w1);
QQuaternion v1(w1, x1, y1, z1);
QQuaternion v2(-w1, -x1, -y1, -z1);
QVERIFY(-v1 == v2);
}
// Test quaternion conjugate calculations.
void tst_QQuaternion::conjugate_data()
{
// Use the same test data as the add test.
add_data();
}
void tst_QQuaternion::conjugate()
{
QFETCH(qreal, x1);
QFETCH(qreal, y1);
QFETCH(qreal, z1);
QFETCH(qreal, w1);
QQuaternion v1(w1, x1, y1, z1);
QQuaternion v2(w1, -x1, -y1, -z1);
QVERIFY(v1.conjugate() == v2);
}
// Test quaternion creation from an axis and an angle.
void tst_QQuaternion::fromAxisAndAngle_data()
{
QTest::addColumn<qreal>("x1");
QTest::addColumn<qreal>("y1");
QTest::addColumn<qreal>("z1");
QTest::addColumn<qreal>("angle");
QTest::newRow("null")
<< (qreal)0.0f << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f;
QTest::newRow("xonly")
<< (qreal)1.0f << (qreal)0.0f << (qreal)0.0f << (qreal)90.0f;
QTest::newRow("yonly")
<< (qreal)0.0f << (qreal)1.0f << (qreal)0.0f << (qreal)180.0f;
QTest::newRow("zonly")
<< (qreal)0.0f << (qreal)0.0f << (qreal)1.0f << (qreal)270.0f;
QTest::newRow("complex")
<< (qreal)1.0f << (qreal)2.0f << (qreal)-3.0f << (qreal)45.0f;
}
void tst_QQuaternion::fromAxisAndAngle()
{
QFETCH(qreal, x1);
QFETCH(qreal, y1);
QFETCH(qreal, z1);
QFETCH(qreal, angle);
// Use a straight-forward implementation of the algorithm at:
// http://www.j3d.org/matrix_faq/matrfaq_latest.html#Q56
// to calculate the answer we expect to get.
QVector3D vector = QVector3D(x1, y1, z1).normalized();
qreal sin_a = qSin((angle * M_PI / 180.0) / 2.0);
qreal cos_a = qCos((angle * M_PI / 180.0) / 2.0);
QQuaternion result((qreal)cos_a,
(qreal)(vector.x() * sin_a),
(qreal)(vector.y() * sin_a),
(qreal)(vector.z() * sin_a));
result = result.normalized();
QQuaternion answer = QQuaternion::fromAxisAndAngle(QVector3D(x1, y1, z1), angle);
QVERIFY(fuzzyCompare(answer.x(), result.x()));
QVERIFY(fuzzyCompare(answer.y(), result.y()));
QVERIFY(fuzzyCompare(answer.z(), result.z()));
QVERIFY(fuzzyCompare(answer.scalar(), result.scalar()));
answer = QQuaternion::fromAxisAndAngle(x1, y1, z1, angle);
QVERIFY(fuzzyCompare(answer.x(), result.x()));
QVERIFY(fuzzyCompare(answer.y(), result.y()));
QVERIFY(fuzzyCompare(answer.z(), result.z()));
QVERIFY(fuzzyCompare(answer.scalar(), result.scalar()));
}
// Test spherical interpolation of quaternions.
void tst_QQuaternion::slerp_data()
{
QTest::addColumn<qreal>("x1");
QTest::addColumn<qreal>("y1");
QTest::addColumn<qreal>("z1");
QTest::addColumn<qreal>("angle1");
QTest::addColumn<qreal>("x2");
QTest::addColumn<qreal>("y2");
QTest::addColumn<qreal>("z2");
QTest::addColumn<qreal>("angle2");
QTest::addColumn<qreal>("t");
QTest::addColumn<qreal>("x3");
QTest::addColumn<qreal>("y3");
QTest::addColumn<qreal>("z3");
QTest::addColumn<qreal>("angle3");
QTest::newRow("first")
<< (qreal)1.0f << (qreal)2.0f << (qreal)-3.0f << (qreal)90.0f
<< (qreal)1.0f << (qreal)2.0f << (qreal)-3.0f << (qreal)180.0f
<< (qreal)0.0f
<< (qreal)1.0f << (qreal)2.0f << (qreal)-3.0f << (qreal)90.0f;
QTest::newRow("first2")
<< (qreal)1.0f << (qreal)2.0f << (qreal)-3.0f << (qreal)90.0f
<< (qreal)1.0f << (qreal)2.0f << (qreal)-3.0f << (qreal)180.0f
<< (qreal)-0.5f
<< (qreal)1.0f << (qreal)2.0f << (qreal)-3.0f << (qreal)90.0f;
QTest::newRow("second")
<< (qreal)1.0f << (qreal)2.0f << (qreal)-3.0f << (qreal)90.0f
<< (qreal)1.0f << (qreal)2.0f << (qreal)-3.0f << (qreal)180.0f
<< (qreal)1.0f
<< (qreal)1.0f << (qreal)2.0f << (qreal)-3.0f << (qreal)180.0f;
QTest::newRow("second2")
<< (qreal)1.0f << (qreal)2.0f << (qreal)-3.0f << (qreal)90.0f
<< (qreal)1.0f << (qreal)2.0f << (qreal)-3.0f << (qreal)180.0f
<< (qreal)1.5f
<< (qreal)1.0f << (qreal)2.0f << (qreal)-3.0f << (qreal)180.0f;
QTest::newRow("middle")
<< (qreal)1.0f << (qreal)2.0f << (qreal)-3.0f << (qreal)90.0f
<< (qreal)1.0f << (qreal)2.0f << (qreal)-3.0f << (qreal)180.0f
<< (qreal)0.5f
<< (qreal)1.0f << (qreal)2.0f << (qreal)-3.0f << (qreal)135.0f;
QTest::newRow("wide angle")
<< (qreal)1.0f << (qreal)2.0f << (qreal)-3.0f << (qreal)0.0f
<< (qreal)1.0f << (qreal)2.0f << (qreal)-3.0f << (qreal)270.0f
<< (qreal)0.5f
<< (qreal)1.0f << (qreal)2.0f << (qreal)-3.0f << (qreal)-45.0f;
}
void tst_QQuaternion::slerp()
{
QFETCH(qreal, x1);
QFETCH(qreal, y1);
QFETCH(qreal, z1);
QFETCH(qreal, angle1);
QFETCH(qreal, x2);
QFETCH(qreal, y2);
QFETCH(qreal, z2);
QFETCH(qreal, angle2);
QFETCH(qreal, t);
QFETCH(qreal, x3);
QFETCH(qreal, y3);
QFETCH(qreal, z3);
QFETCH(qreal, angle3);
QQuaternion q1 = QQuaternion::fromAxisAndAngle(x1, y1, z1, angle1);
QQuaternion q2 = QQuaternion::fromAxisAndAngle(x2, y2, z2, angle2);
QQuaternion q3 = QQuaternion::fromAxisAndAngle(x3, y3, z3, angle3);
QQuaternion result = QQuaternion::slerp(q1, q2, t);
QVERIFY(fuzzyCompare(result.x(), q3.x()));
QVERIFY(fuzzyCompare(result.y(), q3.y()));
QVERIFY(fuzzyCompare(result.z(), q3.z()));
QVERIFY(fuzzyCompare(result.scalar(), q3.scalar()));
}
// Test normalized linear interpolation of quaternions.
void tst_QQuaternion::nlerp_data()
{
slerp_data();
}
void tst_QQuaternion::nlerp()
{
QFETCH(qreal, x1);
QFETCH(qreal, y1);
QFETCH(qreal, z1);
QFETCH(qreal, angle1);
QFETCH(qreal, x2);
QFETCH(qreal, y2);
QFETCH(qreal, z2);
QFETCH(qreal, angle2);
QFETCH(qreal, t);
QQuaternion q1 = QQuaternion::fromAxisAndAngle(x1, y1, z1, angle1);
QQuaternion q2 = QQuaternion::fromAxisAndAngle(x2, y2, z2, angle2);
QQuaternion result = QQuaternion::nlerp(q1, q2, t);
qreal resultx, resulty, resultz, resultscalar;
if (t <= 0.0f) {
resultx = q1.x();
resulty = q1.y();
resultz = q1.z();
resultscalar = q1.scalar();
} else if (t >= 1.0f) {
resultx = q2.x();
resulty = q2.y();
resultz = q2.z();
resultscalar = q2.scalar();
} else if (qAbs(angle1 - angle2) <= 180.f) {
resultx = q1.x() * (1 - t) + q2.x() * t;
resulty = q1.y() * (1 - t) + q2.y() * t;
resultz = q1.z() * (1 - t) + q2.z() * t;
resultscalar = q1.scalar() * (1 - t) + q2.scalar() * t;
} else {
// Angle greater than 180 degrees: negate q2.
resultx = q1.x() * (1 - t) - q2.x() * t;
resulty = q1.y() * (1 - t) - q2.y() * t;
resultz = q1.z() * (1 - t) - q2.z() * t;
resultscalar = q1.scalar() * (1 - t) - q2.scalar() * t;
}
QQuaternion q3 = QQuaternion(resultscalar, resultx, resulty, resultz).normalized();
QVERIFY(fuzzyCompare(result.x(), q3.x()));
QVERIFY(fuzzyCompare(result.y(), q3.y()));
QVERIFY(fuzzyCompare(result.z(), q3.z()));
QVERIFY(fuzzyCompare(result.scalar(), q3.scalar()));
}
class tst_QQuaternionProperties : public QObject
{
Q_OBJECT
Q_PROPERTY(QQuaternion quaternion READ quaternion WRITE setQuaternion)
public:
tst_QQuaternionProperties(QObject *parent = 0) : QObject(parent) {}
QQuaternion quaternion() const { return q; }
void setQuaternion(const QQuaternion& value) { q = value; }
private:
QQuaternion q;
};
// Test getting and setting quaternion properties via the metaobject system.
void tst_QQuaternion::properties()
{
tst_QQuaternionProperties obj;
obj.setQuaternion(QQuaternion(6.0f, 7.0f, 8.0f, 9.0f));
QQuaternion q = qVariantValue<QQuaternion>(obj.property("quaternion"));
QCOMPARE(q.scalar(), (qreal)6.0f);
QCOMPARE(q.x(), (qreal)7.0f);
QCOMPARE(q.y(), (qreal)8.0f);
QCOMPARE(q.z(), (qreal)9.0f);
obj.setProperty("quaternion",
qVariantFromValue(QQuaternion(-6.0f, -7.0f, -8.0f, -9.0f)));
q = qVariantValue<QQuaternion>(obj.property("quaternion"));
QCOMPARE(q.scalar(), (qreal)-6.0f);
QCOMPARE(q.x(), (qreal)-7.0f);
QCOMPARE(q.y(), (qreal)-8.0f);
QCOMPARE(q.z(), (qreal)-9.0f);
}
void tst_QQuaternion::metaTypes()
{
QVERIFY(QMetaType::type("QQuaternion") == QMetaType::QQuaternion);
QCOMPARE(QByteArray(QMetaType::typeName(QMetaType::QQuaternion)),
QByteArray("QQuaternion"));
QVERIFY(QMetaType::isRegistered(QMetaType::QQuaternion));
QVERIFY(qMetaTypeId<QQuaternion>() == QMetaType::QQuaternion);
}
QTEST_APPLESS_MAIN(tst_QQuaternion)
#include "tst_qquaternion.moc"
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