[QQuaternion] Introduce to/from rotation matrix conversion routines

Change-Id: Ic19824e7e135f53a9ce3f2ea7ecd078a589e7425
Reviewed-by: Friedemann Kleint <Friedemann.Kleint@theqtcompany.com>
Reviewed-by: Sean Harmer <sean.harmer@kdab.com>

1 files changed, 22 insertions, 0 deletions

diff --git a/tests/auto/gui/math3d/qquaternion/tst_qquaternion.cpp b/tests/auto/gui/math3d/qquaternion/tst_qquaternion.cpp
index ecf8fbfefe..c4cad91006 100644
--- a/tests/auto/gui/math3d/qquaternion/tst_qquaternion.cpp
+++ b/tests/auto/gui/math3d/qquaternion/tst_qquaternion.cpp
@@ -83,6 +83,9 @@ private slots:
     void fromAxisAndAngle_data();
     void fromAxisAndAngle();
 
+    void fromRotationMatrix_data();
+    void fromRotationMatrix();
+
     void slerp_data();
     void slerp();
 
@@ -725,6 +728,25 @@ void tst_QQuaternion::fromAxisAndAngle()
     QVERIFY(qFuzzyCompare(answer.scalar(), result.scalar()));
 }
 
+// Test quaternion convertion to and from rotation matrix.
+void tst_QQuaternion::fromRotationMatrix_data()
+{
+    fromAxisAndAngle_data();
+}
+void tst_QQuaternion::fromRotationMatrix()
+{
+    QFETCH(float, x1);
+    QFETCH(float, y1);
+    QFETCH(float, z1);
+    QFETCH(float, angle);
+
+    QQuaternion result = QQuaternion::fromAxisAndAngle(QVector3D(x1, y1, z1), angle);
+    QMatrix3x3 rot3x3 = result.toRotationMatrix();
+    QQuaternion answer = QQuaternion::fromRotationMatrix(rot3x3);
+
+    QVERIFY(qFuzzyCompare(answer, result) || qFuzzyCompare(-answer, result));
+}
+
 // Test spherical interpolation of quaternions.
 void tst_QQuaternion::slerp_data()
 {