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Diffstat (limited to 'tests/auto/gui/math3d/qquaternion/tst_qquaternion.cpp')
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1 files changed, 888 insertions, 0 deletions
diff --git a/tests/auto/gui/math3d/qquaternion/tst_qquaternion.cpp b/tests/auto/gui/math3d/qquaternion/tst_qquaternion.cpp new file mode 100644 index 0000000000..7bc50efeeb --- /dev/null +++ b/tests/auto/gui/math3d/qquaternion/tst_qquaternion.cpp @@ -0,0 +1,888 @@ +/**************************************************************************** +** +** Copyright (C) 2011 Nokia Corporation and/or its subsidiary(-ies). +** All rights reserved. +** Contact: Nokia Corporation (qt-info@nokia.com) +** +** This file is part of the test suite of the Qt Toolkit. +** +** $QT_BEGIN_LICENSE:LGPL$ +** GNU Lesser General Public License Usage +** This file may be used under the terms of the GNU Lesser General Public +** License version 2.1 as published by the Free Software Foundation and +** appearing in the file LICENSE.LGPL included in the packaging of this +** file. Please review the following information to ensure the GNU Lesser +** General Public License version 2.1 requirements will be met: +** http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html. +** +** In addition, as a special exception, Nokia gives you certain additional +** rights. These rights are described in the Nokia Qt LGPL Exception +** version 1.1, included in the file LGPL_EXCEPTION.txt in this package. +** +** GNU General Public License Usage +** Alternatively, this file may be used under the terms of the GNU General +** Public License version 3.0 as published by the Free Software Foundation +** and appearing in the file LICENSE.GPL included in the packaging of this +** file. Please review the following information to ensure the GNU General +** Public License version 3.0 requirements will be met: +** http://www.gnu.org/copyleft/gpl.html. +** +** Other Usage +** Alternatively, this file may be used in accordance with the terms and +** conditions contained in a signed written agreement between you and Nokia. +** +** +** +** +** +** $QT_END_LICENSE$ +** +****************************************************************************/ + +#include <QtTest/QtTest> +#include <QtCore/qmath.h> +#include <QtGui/qquaternion.h> + +class tst_QQuaternion : public QObject +{ + Q_OBJECT +public: + tst_QQuaternion() {} + ~tst_QQuaternion() {} + +private slots: + void create(); + + void length_data(); + void length(); + + void normalized_data(); + void normalized(); + + void normalize_data(); + void normalize(); + + void compare(); + + void add_data(); + void add(); + + void subtract_data(); + void subtract(); + + void multiply_data(); + void multiply(); + + void multiplyFactor_data(); + void multiplyFactor(); + + void divide_data(); + void divide(); + + void negate_data(); + void negate(); + + void conjugate_data(); + void conjugate(); + + void fromAxisAndAngle_data(); + void fromAxisAndAngle(); + + void slerp_data(); + void slerp(); + + void nlerp_data(); + void nlerp(); + + void properties(); + void metaTypes(); +}; + +// QVector3D uses float internally, which can lead to some precision +// issues when using it with the qreal-based QQuaternion. +static bool fuzzyCompare(qreal x, qreal y) +{ + return qFuzzyIsNull(float(x - y)); +} + +// Test the creation of QQuaternion objects in various ways: +// construct, copy, and modify. +void tst_QQuaternion::create() +{ + QQuaternion identity; + QCOMPARE(identity.x(), (qreal)0.0f); + QCOMPARE(identity.y(), (qreal)0.0f); + QCOMPARE(identity.z(), (qreal)0.0f); + QCOMPARE(identity.scalar(), (qreal)1.0f); + QVERIFY(identity.isIdentity()); + + QQuaternion v1(34.0f, 1.0f, 2.5f, -89.25f); + QCOMPARE(v1.x(), (qreal)1.0f); + QCOMPARE(v1.y(), (qreal)2.5f); + QCOMPARE(v1.z(), (qreal)-89.25f); + QCOMPARE(v1.scalar(), (qreal)34.0f); + QVERIFY(!v1.isNull()); + + QQuaternion v1i(34, 1, 2, -89); + QCOMPARE(v1i.x(), (qreal)1.0f); + QCOMPARE(v1i.y(), (qreal)2.0f); + QCOMPARE(v1i.z(), (qreal)-89.0f); + QCOMPARE(v1i.scalar(), (qreal)34.0f); + QVERIFY(!v1i.isNull()); + + QQuaternion v2(v1); + QCOMPARE(v2.x(), (qreal)1.0f); + QCOMPARE(v2.y(), (qreal)2.5f); + QCOMPARE(v2.z(), (qreal)-89.25f); + QCOMPARE(v2.scalar(), (qreal)34.0f); + QVERIFY(!v2.isNull()); + + QQuaternion v4; + QCOMPARE(v4.x(), (qreal)0.0f); + QCOMPARE(v4.y(), (qreal)0.0f); + QCOMPARE(v4.z(), (qreal)0.0f); + QCOMPARE(v4.scalar(), (qreal)1.0f); + QVERIFY(v4.isIdentity()); + v4 = v1; + QCOMPARE(v4.x(), (qreal)1.0f); + QCOMPARE(v4.y(), (qreal)2.5f); + QCOMPARE(v4.z(), (qreal)-89.25f); + QCOMPARE(v4.scalar(), (qreal)34.0f); + QVERIFY(!v4.isNull()); + + QQuaternion v9(34, QVector3D(1.0f, 2.5f, -89.25f)); + QCOMPARE(v9.x(), (qreal)1.0f); + QCOMPARE(v9.y(), (qreal)2.5f); + QCOMPARE(v9.z(), (qreal)-89.25f); + QCOMPARE(v9.scalar(), (qreal)34.0f); + QVERIFY(!v9.isNull()); + + v1.setX(3.0f); + QCOMPARE(v1.x(), (qreal)3.0f); + QCOMPARE(v1.y(), (qreal)2.5f); + QCOMPARE(v1.z(), (qreal)-89.25f); + QCOMPARE(v1.scalar(), (qreal)34.0f); + QVERIFY(!v1.isNull()); + + v1.setY(10.5f); + QCOMPARE(v1.x(), (qreal)3.0f); + QCOMPARE(v1.y(), (qreal)10.5f); + QCOMPARE(v1.z(), (qreal)-89.25f); + QCOMPARE(v1.scalar(), (qreal)34.0f); + QVERIFY(!v1.isNull()); + + v1.setZ(15.5f); + QCOMPARE(v1.x(), (qreal)3.0f); + QCOMPARE(v1.y(), (qreal)10.5f); + QCOMPARE(v1.z(), (qreal)15.5f); + QCOMPARE(v1.scalar(), (qreal)34.0f); + QVERIFY(!v1.isNull()); + + v1.setScalar(6.0f); + QCOMPARE(v1.x(), (qreal)3.0f); + QCOMPARE(v1.y(), (qreal)10.5f); + QCOMPARE(v1.z(), (qreal)15.5f); + QCOMPARE(v1.scalar(), (qreal)6.0f); + QVERIFY(!v1.isNull()); + + v1.setVector(2.0f, 6.5f, -1.25f); + QCOMPARE(v1.x(), (qreal)2.0f); + QCOMPARE(v1.y(), (qreal)6.5f); + QCOMPARE(v1.z(), (qreal)-1.25f); + QCOMPARE(v1.scalar(), (qreal)6.0f); + QVERIFY(!v1.isNull()); + QVERIFY(v1.vector() == QVector3D(2.0f, 6.5f, -1.25f)); + + v1.setVector(QVector3D(-2.0f, -6.5f, 1.25f)); + QCOMPARE(v1.x(), (qreal)-2.0f); + QCOMPARE(v1.y(), (qreal)-6.5f); + QCOMPARE(v1.z(), (qreal)1.25f); + QCOMPARE(v1.scalar(), (qreal)6.0f); + QVERIFY(!v1.isNull()); + QVERIFY(v1.vector() == QVector3D(-2.0f, -6.5f, 1.25f)); + + v1.setX(0.0f); + v1.setY(0.0f); + v1.setZ(0.0f); + v1.setScalar(0.0f); + QCOMPARE(v1.x(), (qreal)0.0f); + QCOMPARE(v1.y(), (qreal)0.0f); + QCOMPARE(v1.z(), (qreal)0.0f); + QCOMPARE(v1.scalar(), (qreal)0.0f); + QVERIFY(v1.isNull()); + + QVector4D v10 = v9.toVector4D(); + QCOMPARE(v10.x(), (qreal)1.0f); + QCOMPARE(v10.y(), (qreal)2.5f); + QCOMPARE(v10.z(), (qreal)-89.25f); + QCOMPARE(v10.w(), (qreal)34.0f); +} + +// Test length computation for quaternions. +void tst_QQuaternion::length_data() +{ + QTest::addColumn<qreal>("x"); + QTest::addColumn<qreal>("y"); + QTest::addColumn<qreal>("z"); + QTest::addColumn<qreal>("w"); + QTest::addColumn<qreal>("len"); + + QTest::newRow("null") << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f; + QTest::newRow("1x") << (qreal)1.0f << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f << (qreal)1.0f; + QTest::newRow("1y") << (qreal)0.0f << (qreal)1.0f << (qreal)0.0f << (qreal)0.0f << (qreal)1.0f; + QTest::newRow("1z") << (qreal)0.0f << (qreal)0.0f << (qreal)1.0f << (qreal)0.0f << (qreal)1.0f; + QTest::newRow("1w") << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f << (qreal)1.0f << (qreal)1.0f; + QTest::newRow("-1x") << (qreal)-1.0f << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f << (qreal)1.0f; + QTest::newRow("-1y") << (qreal)0.0f << (qreal)-1.0f << (qreal)0.0f << (qreal)0.0f << (qreal)1.0f; + QTest::newRow("-1z") << (qreal)0.0f << (qreal)0.0f << (qreal)-1.0f << (qreal)0.0f << (qreal)1.0f; + QTest::newRow("-1w") << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f << (qreal)-1.0f << (qreal)1.0f; + QTest::newRow("two") << (qreal)2.0f << (qreal)-2.0f << (qreal)2.0f << (qreal)2.0f << (qreal)qSqrt(16.0f); +} +void tst_QQuaternion::length() +{ + QFETCH(qreal, x); + QFETCH(qreal, y); + QFETCH(qreal, z); + QFETCH(qreal, w); + QFETCH(qreal, len); + + QQuaternion v(w, x, y, z); + QCOMPARE(v.length(), len); + QCOMPARE(v.lengthSquared(), x * x + y * y + z * z + w * w); +} + +// Test the unit vector conversion for quaternions. +void tst_QQuaternion::normalized_data() +{ + // Use the same test data as the length test. + length_data(); +} +void tst_QQuaternion::normalized() +{ + QFETCH(qreal, x); + QFETCH(qreal, y); + QFETCH(qreal, z); + QFETCH(qreal, w); + QFETCH(qreal, len); + + QQuaternion v(w, x, y, z); + QQuaternion u = v.normalized(); + if (v.isNull()) + QVERIFY(u.isNull()); + else + QCOMPARE(u.length(), qreal(1.0f)); + 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 unit vector conversion for quaternions. +void tst_QQuaternion::normalize_data() +{ + // Use the same test data as the length test. + length_data(); +} +void tst_QQuaternion::normalize() +{ + QFETCH(qreal, x); + QFETCH(qreal, y); + QFETCH(qreal, z); + QFETCH(qreal, w); + + QQuaternion v(w, x, y, z); + bool isNull = v.isNull(); + v.normalize(); + if (isNull) + QVERIFY(v.isNull()); + else + QCOMPARE(v.length(), qreal(1.0f)); +} + +// Test the comparison operators for quaternions. +void tst_QQuaternion::compare() +{ + QQuaternion v1(8, 1, 2, 4); + QQuaternion v2(8, 1, 2, 4); + QQuaternion v3(8, 3, 2, 4); + QQuaternion v4(8, 1, 3, 4); + QQuaternion v5(8, 1, 2, 3); + QQuaternion v6(3, 1, 2, 4); + + QVERIFY(v1 == v2); + QVERIFY(v1 != v3); + QVERIFY(v1 != v4); + QVERIFY(v1 != v5); + QVERIFY(v1 != v6); +} + +// Test addition for quaternions. +void tst_QQuaternion::add_data() +{ + QTest::addColumn<qreal>("x1"); + QTest::addColumn<qreal>("y1"); + QTest::addColumn<qreal>("z1"); + QTest::addColumn<qreal>("w1"); + QTest::addColumn<qreal>("x2"); + QTest::addColumn<qreal>("y2"); + QTest::addColumn<qreal>("z2"); + QTest::addColumn<qreal>("w2"); + QTest::addColumn<qreal>("x3"); + QTest::addColumn<qreal>("y3"); + QTest::addColumn<qreal>("z3"); + QTest::addColumn<qreal>("w3"); + + QTest::newRow("null") + << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f + << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f + << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f; + + QTest::newRow("xonly") + << (qreal)1.0f << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f + << (qreal)2.0f << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f + << (qreal)3.0f << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f; + + QTest::newRow("yonly") + << (qreal)0.0f << (qreal)1.0f << (qreal)0.0f << (qreal)0.0f + << (qreal)0.0f << (qreal)2.0f << (qreal)0.0f << (qreal)0.0f + << (qreal)0.0f << (qreal)3.0f << (qreal)0.0f << (qreal)0.0f; + + QTest::newRow("zonly") + << (qreal)0.0f << (qreal)0.0f << (qreal)1.0f << (qreal)0.0f + << (qreal)0.0f << (qreal)0.0f << (qreal)2.0f << (qreal)0.0f + << (qreal)0.0f << (qreal)0.0f << (qreal)3.0f << (qreal)0.0f; + + QTest::newRow("wonly") + << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f << (qreal)1.0f + << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f << (qreal)2.0f + << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f << (qreal)3.0f; + + QTest::newRow("all") + << (qreal)1.0f << (qreal)2.0f << (qreal)3.0f << (qreal)8.0f + << (qreal)4.0f << (qreal)5.0f << (qreal)-6.0f << (qreal)9.0f + << (qreal)5.0f << (qreal)7.0f << (qreal)-3.0f << (qreal)17.0f; +} +void tst_QQuaternion::add() +{ + QFETCH(qreal, x1); + QFETCH(qreal, y1); + QFETCH(qreal, z1); + QFETCH(qreal, w1); + QFETCH(qreal, x2); + QFETCH(qreal, y2); + QFETCH(qreal, z2); + QFETCH(qreal, w2); + QFETCH(qreal, x3); + QFETCH(qreal, y3); + QFETCH(qreal, z3); + QFETCH(qreal, w3); + + QQuaternion v1(w1, x1, y1, z1); + QQuaternion v2(w2, x2, y2, z2); + QQuaternion v3(w3, x3, y3, z3); + + QVERIFY((v1 + v2) == v3); + + QQuaternion v4(v1); + v4 += v2; + QVERIFY(v4 == v3); + + QCOMPARE(v4.x(), v1.x() + v2.x()); + QCOMPARE(v4.y(), v1.y() + v2.y()); + QCOMPARE(v4.z(), v1.z() + v2.z()); + QCOMPARE(v4.scalar(), v1.scalar() + v2.scalar()); +} + +// Test subtraction for quaternions. +void tst_QQuaternion::subtract_data() +{ + // Use the same test data as the add test. + add_data(); +} +void tst_QQuaternion::subtract() +{ + QFETCH(qreal, x1); + QFETCH(qreal, y1); + QFETCH(qreal, z1); + QFETCH(qreal, w1); + QFETCH(qreal, x2); + QFETCH(qreal, y2); + QFETCH(qreal, z2); + QFETCH(qreal, w2); + QFETCH(qreal, x3); + QFETCH(qreal, y3); + QFETCH(qreal, z3); + QFETCH(qreal, w3); + + QQuaternion v1(w1, x1, y1, z1); + QQuaternion v2(w2, x2, y2, z2); + QQuaternion v3(w3, x3, y3, z3); + + QVERIFY((v3 - v1) == v2); + QVERIFY((v3 - v2) == v1); + + QQuaternion v4(v3); + v4 -= v1; + QVERIFY(v4 == v2); + + QCOMPARE(v4.x(), v3.x() - v1.x()); + QCOMPARE(v4.y(), v3.y() - v1.y()); + QCOMPARE(v4.z(), v3.z() - v1.z()); + QCOMPARE(v4.scalar(), v3.scalar() - v1.scalar()); + + QQuaternion v5(v3); + v5 -= v2; + QVERIFY(v5 == v1); + + QCOMPARE(v5.x(), v3.x() - v2.x()); + QCOMPARE(v5.y(), v3.y() - v2.y()); + QCOMPARE(v5.z(), v3.z() - v2.z()); + QCOMPARE(v5.scalar(), v3.scalar() - v2.scalar()); +} + +// Test quaternion multiplication. +void tst_QQuaternion::multiply_data() +{ + QTest::addColumn<qreal>("x1"); + QTest::addColumn<qreal>("y1"); + QTest::addColumn<qreal>("z1"); + QTest::addColumn<qreal>("w1"); + QTest::addColumn<qreal>("x2"); + QTest::addColumn<qreal>("y2"); + QTest::addColumn<qreal>("z2"); + QTest::addColumn<qreal>("w2"); + + QTest::newRow("null") + << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f + << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f; + + QTest::newRow("unitvec") + << (qreal)1.0f << (qreal)0.0f << (qreal)0.0f << (qreal)1.0f + << (qreal)0.0f << (qreal)1.0f << (qreal)0.0f << (qreal)1.0f; + + QTest::newRow("complex") + << (qreal)1.0f << (qreal)2.0f << (qreal)3.0f << (qreal)7.0f + << (qreal)4.0f << (qreal)5.0f << (qreal)6.0f << (qreal)8.0f; + + for (qreal w = -1.0f; w <= 1.0f; w += 0.5f) + for (qreal x = -1.0f; x <= 1.0f; x += 0.5f) + for (qreal y = -1.0f; y <= 1.0f; y += 0.5f) + for (qreal z = -1.0f; z <= 1.0f; z += 0.5f) { + QTest::newRow("exhaustive") + << x << y << z << w + << z << w << y << x; + } +} +void tst_QQuaternion::multiply() +{ + QFETCH(qreal, x1); + QFETCH(qreal, y1); + QFETCH(qreal, z1); + QFETCH(qreal, w1); + QFETCH(qreal, x2); + QFETCH(qreal, y2); + QFETCH(qreal, z2); + QFETCH(qreal, w2); + + QQuaternion q1(w1, x1, y1, z1); + QQuaternion q2(w2, x2, y2, z2); + + // Use the simple algorithm at: + // http://www.j3d.org/matrix_faq/matrfaq_latest.html#Q53 + // to calculate the answer we expect to get. + QVector3D v1(x1, y1, z1); + QVector3D v2(x2, y2, z2); + qreal scalar = w1 * w2 - QVector3D::dotProduct(v1, v2); + QVector3D vector = w1 * v2 + w2 * v1 + QVector3D::crossProduct(v1, v2); + QQuaternion result(scalar, vector); + + QVERIFY((q1 * q2) == result); +} + +// Test multiplication by a factor for quaternions. +void tst_QQuaternion::multiplyFactor_data() +{ + QTest::addColumn<qreal>("x1"); + QTest::addColumn<qreal>("y1"); + QTest::addColumn<qreal>("z1"); + QTest::addColumn<qreal>("w1"); + QTest::addColumn<qreal>("factor"); + QTest::addColumn<qreal>("x2"); + QTest::addColumn<qreal>("y2"); + QTest::addColumn<qreal>("z2"); + QTest::addColumn<qreal>("w2"); + + QTest::newRow("null") + << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f + << (qreal)100.0f + << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f; + + QTest::newRow("xonly") + << (qreal)1.0f << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f + << (qreal)2.0f + << (qreal)2.0f << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f; + + QTest::newRow("yonly") + << (qreal)0.0f << (qreal)1.0f << (qreal)0.0f << (qreal)0.0f + << (qreal)2.0f + << (qreal)0.0f << (qreal)2.0f << (qreal)0.0f << (qreal)0.0f; + + QTest::newRow("zonly") + << (qreal)0.0f << (qreal)0.0f << (qreal)1.0f << (qreal)0.0f + << (qreal)2.0f + << (qreal)0.0f << (qreal)0.0f << (qreal)2.0f << (qreal)0.0f; + + QTest::newRow("wonly") + << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f << (qreal)1.0f + << (qreal)2.0f + << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f << (qreal)2.0f; + + QTest::newRow("all") + << (qreal)1.0f << (qreal)2.0f << (qreal)-3.0f << (qreal)4.0f + << (qreal)2.0f + << (qreal)2.0f << (qreal)4.0f << (qreal)-6.0f << (qreal)8.0f; + + QTest::newRow("allzero") + << (qreal)1.0f << (qreal)2.0f << (qreal)-3.0f << (qreal)4.0f + << (qreal)0.0f + << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f; +} +void tst_QQuaternion::multiplyFactor() +{ + QFETCH(qreal, x1); + QFETCH(qreal, y1); + QFETCH(qreal, z1); + QFETCH(qreal, w1); + QFETCH(qreal, factor); + QFETCH(qreal, x2); + QFETCH(qreal, y2); + QFETCH(qreal, z2); + QFETCH(qreal, w2); + + QQuaternion v1(w1, x1, y1, z1); + QQuaternion v2(w2, x2, y2, z2); + + QVERIFY((v1 * factor) == v2); + QVERIFY((factor * v1) == v2); + + QQuaternion v3(v1); + v3 *= factor; + QVERIFY(v3 == v2); + + QCOMPARE(v3.x(), v1.x() * factor); + QCOMPARE(v3.y(), v1.y() * factor); + QCOMPARE(v3.z(), v1.z() * factor); + QCOMPARE(v3.scalar(), v1.scalar() * factor); +} + +// Test division by a factor for quaternions. +void tst_QQuaternion::divide_data() +{ + // Use the same test data as the multiply test. + multiplyFactor_data(); +} +void tst_QQuaternion::divide() +{ + QFETCH(qreal, x1); + QFETCH(qreal, y1); + QFETCH(qreal, z1); + QFETCH(qreal, w1); + QFETCH(qreal, factor); + QFETCH(qreal, x2); + QFETCH(qreal, y2); + QFETCH(qreal, z2); + QFETCH(qreal, w2); + + QQuaternion v1(w1, x1, y1, z1); + QQuaternion v2(w2, x2, y2, z2); + + if (factor == (qreal)0.0f) + return; + + QVERIFY((v2 / factor) == v1); + + QQuaternion v3(v2); + v3 /= factor; + QVERIFY(v3 == v1); + + QCOMPARE(v3.x(), v2.x() / factor); + QCOMPARE(v3.y(), v2.y() / factor); + QCOMPARE(v3.z(), v2.z() / factor); + QCOMPARE(v3.scalar(), v2.scalar() / factor); +} + +// Test negation for quaternions. +void tst_QQuaternion::negate_data() +{ + // Use the same test data as the add test. + add_data(); +} +void tst_QQuaternion::negate() +{ + QFETCH(qreal, x1); + QFETCH(qreal, y1); + QFETCH(qreal, z1); + QFETCH(qreal, w1); + + QQuaternion v1(w1, x1, y1, z1); + QQuaternion v2(-w1, -x1, -y1, -z1); + + QVERIFY(-v1 == v2); +} + +// Test quaternion conjugate calculations. +void tst_QQuaternion::conjugate_data() +{ + // Use the same test data as the add test. + add_data(); +} +void tst_QQuaternion::conjugate() +{ + QFETCH(qreal, x1); + QFETCH(qreal, y1); + QFETCH(qreal, z1); + QFETCH(qreal, w1); + + QQuaternion v1(w1, x1, y1, z1); + QQuaternion v2(w1, -x1, -y1, -z1); + + QVERIFY(v1.conjugate() == v2); +} + +// Test quaternion creation from an axis and an angle. +void tst_QQuaternion::fromAxisAndAngle_data() +{ + QTest::addColumn<qreal>("x1"); + QTest::addColumn<qreal>("y1"); + QTest::addColumn<qreal>("z1"); + QTest::addColumn<qreal>("angle"); + + QTest::newRow("null") + << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f << (qreal)0.0f; + + QTest::newRow("xonly") + << (qreal)1.0f << (qreal)0.0f << (qreal)0.0f << (qreal)90.0f; + + QTest::newRow("yonly") + << (qreal)0.0f << (qreal)1.0f << (qreal)0.0f << (qreal)180.0f; + + QTest::newRow("zonly") + << (qreal)0.0f << (qreal)0.0f << (qreal)1.0f << (qreal)270.0f; + + QTest::newRow("complex") + << (qreal)1.0f << (qreal)2.0f << (qreal)-3.0f << (qreal)45.0f; +} +void tst_QQuaternion::fromAxisAndAngle() +{ + QFETCH(qreal, x1); + QFETCH(qreal, y1); + QFETCH(qreal, z1); + QFETCH(qreal, angle); + + // Use a straight-forward implementation of the algorithm at: + // http://www.j3d.org/matrix_faq/matrfaq_latest.html#Q56 + // to calculate the answer we expect to get. + QVector3D vector = QVector3D(x1, y1, z1).normalized(); + qreal sin_a = qSin((angle * M_PI / 180.0) / 2.0); + qreal cos_a = qCos((angle * M_PI / 180.0) / 2.0); + QQuaternion result((qreal)cos_a, + (qreal)(vector.x() * sin_a), + (qreal)(vector.y() * sin_a), + (qreal)(vector.z() * sin_a)); + result = result.normalized(); + + QQuaternion answer = QQuaternion::fromAxisAndAngle(QVector3D(x1, y1, z1), angle); + QVERIFY(fuzzyCompare(answer.x(), result.x())); + QVERIFY(fuzzyCompare(answer.y(), result.y())); + QVERIFY(fuzzyCompare(answer.z(), result.z())); + QVERIFY(fuzzyCompare(answer.scalar(), result.scalar())); + + answer = QQuaternion::fromAxisAndAngle(x1, y1, z1, angle); + QVERIFY(fuzzyCompare(answer.x(), result.x())); + QVERIFY(fuzzyCompare(answer.y(), result.y())); + QVERIFY(fuzzyCompare(answer.z(), result.z())); + QVERIFY(fuzzyCompare(answer.scalar(), result.scalar())); +} + +// Test spherical interpolation of quaternions. +void tst_QQuaternion::slerp_data() +{ + QTest::addColumn<qreal>("x1"); + QTest::addColumn<qreal>("y1"); + QTest::addColumn<qreal>("z1"); + QTest::addColumn<qreal>("angle1"); + QTest::addColumn<qreal>("x2"); + QTest::addColumn<qreal>("y2"); + QTest::addColumn<qreal>("z2"); + QTest::addColumn<qreal>("angle2"); + QTest::addColumn<qreal>("t"); + QTest::addColumn<qreal>("x3"); + QTest::addColumn<qreal>("y3"); + QTest::addColumn<qreal>("z3"); + QTest::addColumn<qreal>("angle3"); + + QTest::newRow("first") + << (qreal)1.0f << (qreal)2.0f << (qreal)-3.0f << (qreal)90.0f + << (qreal)1.0f << (qreal)2.0f << (qreal)-3.0f << (qreal)180.0f + << (qreal)0.0f + << (qreal)1.0f << (qreal)2.0f << (qreal)-3.0f << (qreal)90.0f; + QTest::newRow("first2") + << (qreal)1.0f << (qreal)2.0f << (qreal)-3.0f << (qreal)90.0f + << (qreal)1.0f << (qreal)2.0f << (qreal)-3.0f << (qreal)180.0f + << (qreal)-0.5f + << (qreal)1.0f << (qreal)2.0f << (qreal)-3.0f << (qreal)90.0f; + QTest::newRow("second") + << (qreal)1.0f << (qreal)2.0f << (qreal)-3.0f << (qreal)90.0f + << (qreal)1.0f << (qreal)2.0f << (qreal)-3.0f << (qreal)180.0f + << (qreal)1.0f + << (qreal)1.0f << (qreal)2.0f << (qreal)-3.0f << (qreal)180.0f; + QTest::newRow("second2") + << (qreal)1.0f << (qreal)2.0f << (qreal)-3.0f << (qreal)90.0f + << (qreal)1.0f << (qreal)2.0f << (qreal)-3.0f << (qreal)180.0f + << (qreal)1.5f + << (qreal)1.0f << (qreal)2.0f << (qreal)-3.0f << (qreal)180.0f; + QTest::newRow("middle") + << (qreal)1.0f << (qreal)2.0f << (qreal)-3.0f << (qreal)90.0f + << (qreal)1.0f << (qreal)2.0f << (qreal)-3.0f << (qreal)180.0f + << (qreal)0.5f + << (qreal)1.0f << (qreal)2.0f << (qreal)-3.0f << (qreal)135.0f; + QTest::newRow("wide angle") + << (qreal)1.0f << (qreal)2.0f << (qreal)-3.0f << (qreal)0.0f + << (qreal)1.0f << (qreal)2.0f << (qreal)-3.0f << (qreal)270.0f + << (qreal)0.5f + << (qreal)1.0f << (qreal)2.0f << (qreal)-3.0f << (qreal)-45.0f; +} +void tst_QQuaternion::slerp() +{ + QFETCH(qreal, x1); + QFETCH(qreal, y1); + QFETCH(qreal, z1); + QFETCH(qreal, angle1); + QFETCH(qreal, x2); + QFETCH(qreal, y2); + QFETCH(qreal, z2); + QFETCH(qreal, angle2); + QFETCH(qreal, t); + QFETCH(qreal, x3); + QFETCH(qreal, y3); + QFETCH(qreal, z3); + QFETCH(qreal, angle3); + + QQuaternion q1 = QQuaternion::fromAxisAndAngle(x1, y1, z1, angle1); + QQuaternion q2 = QQuaternion::fromAxisAndAngle(x2, y2, z2, angle2); + QQuaternion q3 = QQuaternion::fromAxisAndAngle(x3, y3, z3, angle3); + + QQuaternion result = QQuaternion::slerp(q1, q2, t); + + QVERIFY(fuzzyCompare(result.x(), q3.x())); + QVERIFY(fuzzyCompare(result.y(), q3.y())); + QVERIFY(fuzzyCompare(result.z(), q3.z())); + QVERIFY(fuzzyCompare(result.scalar(), q3.scalar())); +} + +// Test normalized linear interpolation of quaternions. +void tst_QQuaternion::nlerp_data() +{ + slerp_data(); +} +void tst_QQuaternion::nlerp() +{ + QFETCH(qreal, x1); + QFETCH(qreal, y1); + QFETCH(qreal, z1); + QFETCH(qreal, angle1); + QFETCH(qreal, x2); + QFETCH(qreal, y2); + QFETCH(qreal, z2); + QFETCH(qreal, angle2); + QFETCH(qreal, t); + + QQuaternion q1 = QQuaternion::fromAxisAndAngle(x1, y1, z1, angle1); + QQuaternion q2 = QQuaternion::fromAxisAndAngle(x2, y2, z2, angle2); + + QQuaternion result = QQuaternion::nlerp(q1, q2, t); + + qreal resultx, resulty, resultz, resultscalar; + if (t <= 0.0f) { + resultx = q1.x(); + resulty = q1.y(); + resultz = q1.z(); + resultscalar = q1.scalar(); + } else if (t >= 1.0f) { + resultx = q2.x(); + resulty = q2.y(); + resultz = q2.z(); + resultscalar = q2.scalar(); + } else if (qAbs(angle1 - angle2) <= 180.f) { + resultx = q1.x() * (1 - t) + q2.x() * t; + resulty = q1.y() * (1 - t) + q2.y() * t; + resultz = q1.z() * (1 - t) + q2.z() * t; + resultscalar = q1.scalar() * (1 - t) + q2.scalar() * t; + } else { + // Angle greater than 180 degrees: negate q2. + resultx = q1.x() * (1 - t) - q2.x() * t; + resulty = q1.y() * (1 - t) - q2.y() * t; + resultz = q1.z() * (1 - t) - q2.z() * t; + resultscalar = q1.scalar() * (1 - t) - q2.scalar() * t; + } + + QQuaternion q3 = QQuaternion(resultscalar, resultx, resulty, resultz).normalized(); + + QVERIFY(fuzzyCompare(result.x(), q3.x())); + QVERIFY(fuzzyCompare(result.y(), q3.y())); + QVERIFY(fuzzyCompare(result.z(), q3.z())); + QVERIFY(fuzzyCompare(result.scalar(), q3.scalar())); +} + +class tst_QQuaternionProperties : public QObject +{ + Q_OBJECT + Q_PROPERTY(QQuaternion quaternion READ quaternion WRITE setQuaternion) +public: + tst_QQuaternionProperties(QObject *parent = 0) : QObject(parent) {} + + QQuaternion quaternion() const { return q; } + void setQuaternion(const QQuaternion& value) { q = value; } + +private: + QQuaternion q; +}; + +// Test getting and setting quaternion properties via the metaobject system. +void tst_QQuaternion::properties() +{ + tst_QQuaternionProperties obj; + + obj.setQuaternion(QQuaternion(6.0f, 7.0f, 8.0f, 9.0f)); + + QQuaternion q = qVariantValue<QQuaternion>(obj.property("quaternion")); + QCOMPARE(q.scalar(), (qreal)6.0f); + QCOMPARE(q.x(), (qreal)7.0f); + QCOMPARE(q.y(), (qreal)8.0f); + QCOMPARE(q.z(), (qreal)9.0f); + + obj.setProperty("quaternion", + qVariantFromValue(QQuaternion(-6.0f, -7.0f, -8.0f, -9.0f))); + + q = qVariantValue<QQuaternion>(obj.property("quaternion")); + QCOMPARE(q.scalar(), (qreal)-6.0f); + QCOMPARE(q.x(), (qreal)-7.0f); + QCOMPARE(q.y(), (qreal)-8.0f); + QCOMPARE(q.z(), (qreal)-9.0f); +} + +void tst_QQuaternion::metaTypes() +{ + QVERIFY(QMetaType::type("QQuaternion") == QMetaType::QQuaternion); + + QCOMPARE(QByteArray(QMetaType::typeName(QMetaType::QQuaternion)), + QByteArray("QQuaternion")); + + QVERIFY(QMetaType::isRegistered(QMetaType::QQuaternion)); + + QVERIFY(qMetaTypeId<QQuaternion>() == QMetaType::QQuaternion); +} + +QTEST_APPLESS_MAIN(tst_QQuaternion) + +#include "tst_qquaternion.moc" |