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-rw-r--r--tests/auto/gui/math3d/qquaternion/tst_qquaternion.cpp132
1 files changed, 71 insertions, 61 deletions
diff --git a/tests/auto/gui/math3d/qquaternion/tst_qquaternion.cpp b/tests/auto/gui/math3d/qquaternion/tst_qquaternion.cpp
index b9ba7278da..8cdc06354e 100644
--- a/tests/auto/gui/math3d/qquaternion/tst_qquaternion.cpp
+++ b/tests/auto/gui/math3d/qquaternion/tst_qquaternion.cpp
@@ -1,30 +1,7 @@
-/****************************************************************************
-**
-** Copyright (C) 2016 The Qt Company Ltd.
-** Contact: https://www.qt.io/licensing/
-**
-** This file is part of the test suite of the Qt Toolkit.
-**
-** $QT_BEGIN_LICENSE:GPL-EXCEPT$
-** Commercial License Usage
-** 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 The Qt Company. For licensing terms
-** and conditions see https://www.qt.io/terms-conditions. For further
-** information use the contact form at https://www.qt.io/contact-us.
-**
-** GNU General Public License Usage
-** Alternatively, this file may be used under the terms of the GNU
-** General Public License version 3 as published by the Free Software
-** Foundation with exceptions as appearing in the file LICENSE.GPL3-EXCEPT
-** included in the packaging of this file. Please review the following
-** information to ensure the GNU General Public License requirements will
-** be met: https://www.gnu.org/licenses/gpl-3.0.html.
-**
-** $QT_END_LICENSE$
-**
-****************************************************************************/
+// Copyright (C) 2016 The Qt Company Ltd.
+// SPDX-License-Identifier: LicenseRef-Qt-Commercial OR GPL-3.0-only
+
+#undef QT_NO_FOREACH // this file contains unported legacy Q_FOREACH uses
#include <QTest>
#include <QtCore/qmath.h>
@@ -600,7 +577,7 @@ void tst_QQuaternion::multiply_data()
for (float x = -1.0f; x <= 1.0f; x += 0.5f)
for (float y = -1.0f; y <= 1.0f; y += 0.5f)
for (float z = -1.0f; z <= 1.0f; z += 0.5f) {
- QTest::newRow("exhaustive")
+ QTest::addRow("exhaustive: (%.1f, %.1f, %.1f), %.1f", x, y, z, w)
<< x << y << z << w
<< z << w << y << x;
}
@@ -905,7 +882,7 @@ void tst_QQuaternion::fromAxes_data()
QTest::newRow("complex")
<< 1.0f << 2.0f << -3.0f << 45.0f
- << QVector3D(0.728028, -0.525105, -0.440727) << QVector3D(0.608789, 0.790791, 0.0634566) << QVector3D(0.315202, -0.314508, 0.895395);
+ << QVector3D(0.728028f, -0.525105f, -0.440727f) << QVector3D(0.608789f, 0.790791f, 0.0634566f) << QVector3D(0.315202f, -0.314508f, 0.895395f);
}
void tst_QQuaternion::fromAxes()
{
@@ -987,28 +964,6 @@ void tst_QQuaternion::rotationTo()
QVERIFY(myFuzzyCompare(vec2, from));
}
-static QByteArray testnameForAxis(const QVector3D &axis)
-{
- QByteArray testname;
- if (axis == QVector3D()) {
- testname = "null";
- } else {
- if (axis.x()) {
- testname += axis.x() < 0 ? '-' : '+';
- testname += 'X';
- }
- if (axis.y()) {
- testname += axis.y() < 0 ? '-' : '+';
- testname += 'Y';
- }
- if (axis.z()) {
- testname += axis.z() < 0 ? '-' : '+';
- testname += 'Z';
- }
- }
- return testname;
-}
-
// Test quaternion convertion to and from orthonormal axes.
void tst_QQuaternion::fromDirection_data()
{
@@ -1031,7 +986,10 @@ void tst_QQuaternion::fromDirection_data()
QVector3D xAxis, yAxis, zAxis;
q.getAxes(&xAxis, &yAxis, &zAxis);
- QTest::newRow("dir: " + testnameForAxis(zAxis) + ", up: " + testnameForAxis(yAxis))
+ QTest::addRow("ortho dirs: (%.1f,%.1f,%.1f), (%.1f,%.1f,%.1f), (%.1f,%.1f,%.1f)",
+ xAxis.x(), xAxis.y(), xAxis.z(),
+ yAxis.x(), yAxis.y(), yAxis.z(),
+ zAxis.x(), zAxis.y(), zAxis.z())
<< zAxis * 10.0f << yAxis * 10.0f;
}
@@ -1050,7 +1008,10 @@ void tst_QQuaternion::fromDirection_data()
QVector3D xAxis, yAxis, zAxis;
q.getAxes(&xAxis, &yAxis, &zAxis);
- QTest::newRow("dir: " + testnameForAxis(zAxis) + ", up: null")
+ QTest::addRow("bad dirs: (%.1f,%.1f,%.1f), (%.1f,%.1f,%.1f), (%.1f,%.1f,%.1f)",
+ xAxis.x(), xAxis.y(), xAxis.z(),
+ yAxis.x(), yAxis.y(), yAxis.z(),
+ zAxis.x(), zAxis.y(), zAxis.z())
<< zAxis * 10.0f << QVector3D();
}
}
@@ -1085,35 +1046,67 @@ 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
@@ -1129,11 +1122,22 @@ 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);
@@ -1148,6 +1152,12 @@ 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));
}
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-04-23 07:46:10 +0000