diff options
Diffstat (limited to 'tests/auto/gui/math3d/qquaternion/tst_qquaternion.cpp')
| -rw-r--r-- | tests/auto/gui/math3d/qquaternion/tst_qquaternion.cpp | 197 |
1 files changed, 190 insertions, 7 deletions
diff --git a/tests/auto/gui/math3d/qquaternion/tst_qquaternion.cpp b/tests/auto/gui/math3d/qquaternion/tst_qquaternion.cpp index cdbc242640..444ccdeb88 100644 --- a/tests/auto/gui/math3d/qquaternion/tst_qquaternion.cpp +++ b/tests/auto/gui/math3d/qquaternion/tst_qquaternion.cpp @@ -1,7 +1,7 @@ /**************************************************************************** ** -** Copyright (C) 2014 Digia Plc and/or its subsidiary(-ies). -** Contact: http://www.qt-project.org/legal +** Copyright (C) 2015 The Qt Company Ltd. +** Contact: http://www.qt.io/licensing/ ** ** This file is part of the test suite of the Qt Toolkit. ** @@ -10,9 +10,9 @@ ** Licensees holding valid commercial Qt licenses may use this file in ** accordance with the commercial license agreement provided with the ** Software or, alternatively, in accordance with the terms contained in -** a written agreement between you and Digia. For licensing terms and -** conditions see http://qt.digia.com/licensing. For further information -** use the contact form at http://qt.digia.com/contact-us. +** a written agreement between you and The Qt Company. For licensing terms +** and conditions see http://www.qt.io/terms-conditions. For further +** information use the contact form at http://www.qt.io/contact-us. ** ** GNU Lesser General Public License Usage ** Alternatively, this file may be used under the terms of the GNU Lesser @@ -23,8 +23,8 @@ ** requirements will be met: https://www.gnu.org/licenses/lgpl.html and ** http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html. ** -** In addition, as a special exception, Digia gives you certain additional -** rights. These rights are described in the Digia Qt LGPL Exception +** As a special exception, The Qt Company gives you certain additional +** rights. These rights are described in The Qt Company LGPL Exception ** version 1.1, included in the file LGPL_EXCEPTION.txt in this package. ** ** $QT_END_LICENSE$ @@ -54,6 +54,9 @@ private slots: void normalize_data(); void normalize(); + void inverted_data(); + void inverted(); + void compare(); void add_data(); @@ -80,6 +83,12 @@ private slots: void fromAxisAndAngle_data(); void fromAxisAndAngle(); + void fromRotationMatrix_data(); + void fromRotationMatrix(); + + void fromEulerAngles_data(); + void fromEulerAngles(); + void slerp_data(); void slerp(); @@ -291,6 +300,32 @@ void tst_QQuaternion::normalize() QCOMPARE(v.length(), 1.0f); } +void tst_QQuaternion::inverted_data() +{ + // Use the same test data as the length test. + length_data(); +} +void tst_QQuaternion::inverted() +{ + QFETCH(float, x); + QFETCH(float, y); + QFETCH(float, z); + QFETCH(float, w); + QFETCH(float, len); + + QQuaternion v(w, x, y, z); + QQuaternion u = v.inverted(); + if (v.isNull()) { + QVERIFY(u.isNull()); + } else { + len *= len; + 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 comparison operators for quaternions. void tst_QQuaternion::compare() { @@ -689,11 +724,159 @@ void tst_QQuaternion::fromAxisAndAngle() QVERIFY(qFuzzyCompare(answer.z(), result.z())); QVERIFY(qFuzzyCompare(answer.scalar(), result.scalar())); + { + QVector3D answerAxis; + float answerAngle; + answer.toAxisAndAngle(&answerAxis, &answerAngle); + QVERIFY(qFuzzyCompare(answerAxis.x(), vector.x())); + QVERIFY(qFuzzyCompare(answerAxis.y(), vector.y())); + QVERIFY(qFuzzyCompare(answerAxis.z(), vector.z())); + QVERIFY(qFuzzyCompare(answerAngle, angle)); + } + answer = QQuaternion::fromAxisAndAngle(x1, y1, z1, angle); QVERIFY(qFuzzyCompare(answer.x(), result.x())); QVERIFY(qFuzzyCompare(answer.y(), result.y())); QVERIFY(qFuzzyCompare(answer.z(), result.z())); QVERIFY(qFuzzyCompare(answer.scalar(), result.scalar())); + + { + float answerAxisX, answerAxisY, answerAxisZ; + float answerAngle; + answer.toAxisAndAngle(&answerAxisX, &answerAxisY, &answerAxisZ, &answerAngle); + QVERIFY(qFuzzyCompare(answerAxisX, vector.x())); + QVERIFY(qFuzzyCompare(answerAxisY, vector.y())); + QVERIFY(qFuzzyCompare(answerAxisZ, vector.z())); + QVERIFY(qFuzzyCompare(answerAngle, angle)); + } +} + +// 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)); +} + +// This is a more tolerant version of qFuzzyCompare that also handles the case +// where one or more of the values being compare are close to zero +static inline bool myFuzzyCompare(float p1, float p2) +{ + if (qFuzzyIsNull(p1)) + return qFuzzyIsNull(p2); + if (qFuzzyIsNull(p2)) + return false; + // a very slightly looser version of qFuzzyCompare + // for use with values that are not very close to zero + return qAbs(p1 - p2) <= 0.00003f * qMin(qAbs(p1), qAbs(p2)); +} + +static inline bool myFuzzyCompareRadians(float p1, float p2) +{ + static const float fPI = float(M_PI); + if (p1 < -fPI) + p1 += 2.0f * fPI; + else if (p1 > fPI) + p1 -= 2.0f * fPI; + + if (p2 < -fPI) + p2 += 2.0f * fPI; + else if (p2 > fPI) + p2 -= 2.0f * fPI; + + return qAbs(qAbs(p1) - qAbs(p2)) <= qDegreesToRadians(0.05f); +} + +static inline bool myFuzzyCompareDegrees(float p1, float p2) +{ + p1 = qDegreesToRadians(p1); + p2 = qDegreesToRadians(p2); + return myFuzzyCompareRadians(p1, p2); +} + +// Test quaternion creation from an axis and an angle. +void tst_QQuaternion::fromEulerAngles_data() +{ + QTest::addColumn<float>("pitch"); + QTest::addColumn<float>("yaw"); + QTest::addColumn<float>("roll"); + + QTest::newRow("null") + << 0.0f << 0.0f << 0.0f; + + QTest::newRow("xonly") + << 90.0f << 0.0f << 0.0f; + + QTest::newRow("yonly") + << 0.0f << 180.0f << 0.0f; + + QTest::newRow("zonly") + << 0.0f << 0.0f << 270.0f; + + QTest::newRow("x+z") + << 30.0f << 0.0f << 45.0f; + + QTest::newRow("x+y") + << 30.0f << 90.0f << 0.0f; + + QTest::newRow("y+z") + << 0.0f << 45.0f << 30.0f; + + QTest::newRow("complex") + << 30.0f << 240.0f << -45.0f; +} +void tst_QQuaternion::fromEulerAngles() +{ + QFETCH(float, pitch); + QFETCH(float, yaw); + QFETCH(float, roll); + + // Use a straight-forward implementation of the algorithm at: + // http://www.j3d.org/matrix_faq/matrfaq_latest.html#Q60 + // to calculate the answer we expect to get. + QQuaternion qx = QQuaternion::fromAxisAndAngle(QVector3D(1, 0, 0), pitch); + QQuaternion qy = QQuaternion::fromAxisAndAngle(QVector3D(0, 1, 0), yaw); + QQuaternion qz = QQuaternion::fromAxisAndAngle(QVector3D(0, 0, 1), roll); + QQuaternion result = qy * (qx * qz); + QQuaternion answer = QQuaternion::fromEulerAngles(QVector3D(pitch, yaw, roll)); + + QVERIFY(myFuzzyCompare(answer.x(), result.x())); + QVERIFY(myFuzzyCompare(answer.y(), result.y())); + QVERIFY(myFuzzyCompare(answer.z(), result.z())); + QVERIFY(myFuzzyCompare(answer.scalar(), result.scalar())); + + { + QVector3D answerEulerAngles = answer.toEulerAngles(); + QVERIFY(myFuzzyCompareDegrees(answerEulerAngles.x(), pitch)); + QVERIFY(myFuzzyCompareDegrees(answerEulerAngles.y(), yaw)); + QVERIFY(myFuzzyCompareDegrees(answerEulerAngles.z(), roll)); + } + + answer = QQuaternion::fromEulerAngles(pitch, yaw, roll); + QVERIFY(myFuzzyCompare(answer.x(), result.x())); + QVERIFY(myFuzzyCompare(answer.y(), result.y())); + QVERIFY(myFuzzyCompare(answer.z(), result.z())); + QVERIFY(myFuzzyCompare(answer.scalar(), result.scalar())); + + { + float answerPitch, answerYaw, answerRoll; + answer.toEulerAngles(&answerPitch, &answerYaw, &answerRoll); + QVERIFY(myFuzzyCompareDegrees(answerPitch, pitch)); + QVERIFY(myFuzzyCompareDegrees(answerYaw, yaw)); + QVERIFY(myFuzzyCompareDegrees(answerRoll, roll)); + } } // Test spherical interpolation of quaternions. |