diff options
Diffstat (limited to 'tests/auto/gui/math3d/qquaternion/tst_qquaternion.cpp')
-rw-r--r-- | tests/auto/gui/math3d/qquaternion/tst_qquaternion.cpp | 29 |
1 files changed, 29 insertions, 0 deletions
diff --git a/tests/auto/gui/math3d/qquaternion/tst_qquaternion.cpp b/tests/auto/gui/math3d/qquaternion/tst_qquaternion.cpp index 7dbd587451..ed7a6a4d5d 100644 --- a/tests/auto/gui/math3d/qquaternion/tst_qquaternion.cpp +++ b/tests/auto/gui/math3d/qquaternion/tst_qquaternion.cpp @@ -1113,6 +1113,35 @@ void tst_QQuaternion::fromEulerAngles_data() QTest::newRow("complex") << 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() { |