diff options
Diffstat (limited to 'tests/auto/gui/math3d/qquaternion/tst_qquaternion.cpp')
| -rw-r--r-- | tests/auto/gui/math3d/qquaternion/tst_qquaternion.cpp | 65 |
1 files changed, 57 insertions, 8 deletions
diff --git a/tests/auto/gui/math3d/qquaternion/tst_qquaternion.cpp b/tests/auto/gui/math3d/qquaternion/tst_qquaternion.cpp index 8041fb5439..ed7a6a4d5d 100644 --- a/tests/auto/gui/math3d/qquaternion/tst_qquaternion.cpp +++ b/tests/auto/gui/math3d/qquaternion/tst_qquaternion.cpp @@ -1088,35 +1088,67 @@ void tst_QQuaternion::fromEulerAngles_data() QTest::addColumn<float>("yaw"); QTest::addColumn<float>("roll"); + QTest::addColumn<QQuaternion>("quaternion"); + QTest::newRow("null") - << 0.0f << 0.0f << 0.0f; + << 0.0f << 0.0f << 0.0f << QQuaternion(1.0f, 0.0f, 0.0f, 0.0f); QTest::newRow("xonly") - << 90.0f << 0.0f << 0.0f; + << 90.0f << 0.0f << 0.0f << QQuaternion(0.707107f, 0.707107f, 0.0f, 0.0f); QTest::newRow("yonly") - << 0.0f << 180.0f << 0.0f; + << 0.0f << 180.0f << 0.0f << QQuaternion(0.0f, 0.0f, 1.0f, 0.0f); QTest::newRow("zonly") - << 0.0f << 0.0f << 270.0f; + << 0.0f << 0.0f << 270.0f << QQuaternion(-0.707107f, 0.0f, 0.0f, 0.707107f); QTest::newRow("x+z") - << 30.0f << 0.0f << 45.0f; + << 30.0f << 0.0f << 45.0f << QQuaternion(0.892399f, 0.239118f, -0.099046f, 0.369644f); QTest::newRow("x+y") - << 30.0f << 90.0f << 0.0f; + << 30.0f << 90.0f << 0.0f << QQuaternion(0.683013f, 0.183013f, 0.683013f, -0.183013f); QTest::newRow("y+z") - << 0.0f << 45.0f << 30.0f; + << 0.0f << 45.0f << 30.0f << QQuaternion(0.892399f, 0.099046f, 0.369644f, 0.239118f); QTest::newRow("complex") - << 30.0f << 240.0f << -45.0f; + << 30.0f << 240.0f << -45.0f << QQuaternion(-0.531976f, -0.43968f, 0.723317f, -0.02226f); + + // Three gimbal_lock cases are not unique for the conversions from quaternion + // to euler, Qt will use only XY rotations for these cases. + // For example, QQuaternion(0.5f, 0.5f, -0.5f, 0.5f) can be EulerXYZ(90.0f, 0.0f, 90.0f), too. + // But Qt will always convert it to EulerXYZ(90.0f, -90.0f, 0.0f) without Z-rotation. + QTest::newRow("gimbal_lock_1") + << 90.0f << -90.0f << 0.0f << QQuaternion(0.5f, 0.5f, -0.5f, 0.5f); + + QTest::newRow("gimbal_lock_2") + << 90.0f << 40.0f << 0.0f << QQuaternion(0.664463f, 0.664463f, 0.241845f, -0.241845f); + + QTest::newRow("gimbal_lock_3") << 90.0f << 170.0f << 0.0f + << QQuaternion(0.0616285f, 0.0616285f, 0.704416f, -0.704416f); + + // These four examples have a fraction of errors that would bypass normalize() threshold + // and could make Gimbal lock detection fail. + QTest::newRow("gimbal_lock_fraction_1") + << -90.0f << 90.001152f << 0.0f << QQuaternion(0.499989986f, -0.5f, 0.5f, 0.5f); + + QTest::newRow("gimbal_lock_fraction_2") + << -90.0f << -179.999985f << 0.0f + << QQuaternion(1.00000001e-07f, 1.00000001e-10f, -0.707106769f, -0.707105756f); + + QTest::newRow("gimbal_lock_fraction_3") + << -90.0f << 90.0011597f << 0.0f << QQuaternion(0.499989986f, -0.49999994f, 0.5f, 0.5f); + + QTest::newRow("gimbal_lock_fraction_4") + << -90.0f << -180.0f << 0.0f + << QQuaternion(9.99999996e-12f, 9.99999996e-12f, -0.707106769f, -0.707096756f); } void tst_QQuaternion::fromEulerAngles() { QFETCH(float, pitch); QFETCH(float, yaw); QFETCH(float, roll); + QFETCH(QQuaternion, quaternion); // Use a straight-forward implementation of the algorithm at: // http://www.j3d.org/matrix_faq/matrfaq_latest.html#Q60 @@ -1132,11 +1164,22 @@ void tst_QQuaternion::fromEulerAngles() QVERIFY(myFuzzyCompare(answer.z(), result.z())); QVERIFY(myFuzzyCompare(answer.scalar(), result.scalar())); + // quaternion should be the same as the result + QVERIFY(myFuzzyCompare(answer.x(), quaternion.x())); + QVERIFY(myFuzzyCompare(answer.y(), quaternion.y())); + QVERIFY(myFuzzyCompare(answer.z(), quaternion.z())); + QVERIFY(myFuzzyCompare(answer.scalar(), quaternion.scalar())); + { QVector3D answerEulerAngles = answer.toEulerAngles(); QVERIFY(myFuzzyCompareDegrees(answerEulerAngles.x(), pitch)); QVERIFY(myFuzzyCompareDegrees(answerEulerAngles.y(), yaw)); QVERIFY(myFuzzyCompareDegrees(answerEulerAngles.z(), roll)); + + QVector3D quaternionEulerAngles = quaternion.toEulerAngles(); + QVERIFY(myFuzzyCompareDegrees(quaternionEulerAngles.x(), pitch)); + QVERIFY(myFuzzyCompareDegrees(quaternionEulerAngles.y(), yaw)); + QVERIFY(myFuzzyCompareDegrees(quaternionEulerAngles.z(), roll)); } answer = QQuaternion::fromEulerAngles(pitch, yaw, roll); @@ -1151,6 +1194,12 @@ void tst_QQuaternion::fromEulerAngles() QVERIFY(myFuzzyCompareDegrees(answerPitch, pitch)); QVERIFY(myFuzzyCompareDegrees(answerYaw, yaw)); QVERIFY(myFuzzyCompareDegrees(answerRoll, roll)); + + float quaternionPitch, quaternionYaw, quaternionRoll; + quaternion.getEulerAngles(&quaternionPitch, &quaternionYaw, &quaternionRoll); + QVERIFY(myFuzzyCompareDegrees(quaternionPitch, pitch)); + QVERIFY(myFuzzyCompareDegrees(quaternionYaw, yaw)); + QVERIFY(myFuzzyCompareDegrees(quaternionRoll, roll)); } } |