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-rw-r--r--tests/auto/math3d/qquaternion/qquaternion.pro5
-rw-r--r--tests/auto/math3d/qquaternion/tst_qquaternion.cpp830
2 files changed, 835 insertions, 0 deletions
diff --git a/tests/auto/math3d/qquaternion/qquaternion.pro b/tests/auto/math3d/qquaternion/qquaternion.pro
new file mode 100644
index 0000000..eea84f0
--- /dev/null
+++ b/tests/auto/math3d/qquaternion/qquaternion.pro
@@ -0,0 +1,5 @@
+load(qttest_p4)
+VPATH += ../shared
+INCLUDEPATH += ../shared
+HEADERS += math3dincludes.h
+SOURCES += tst_qquaternion.cpp
diff --git a/tests/auto/math3d/qquaternion/tst_qquaternion.cpp b/tests/auto/math3d/qquaternion/tst_qquaternion.cpp
new file mode 100644
index 0000000..5d70e4d
--- /dev/null
+++ b/tests/auto/math3d/qquaternion/tst_qquaternion.cpp
@@ -0,0 +1,830 @@
+/****************************************************************************
+**
+** Copyright (C) 2009 Nokia Corporation and/or its subsidiary(-ies).
+** Contact: Qt Software Information (qt-info@nokia.com)
+**
+** This file is part of the test suite of the Qt Toolkit.
+**
+** $QT_BEGIN_LICENSE:LGPL$
+** No Commercial Usage
+** This file contains pre-release code and may not be distributed.
+** You may use this file in accordance with the terms and conditions
+** contained in the either Technology Preview License Agreement or the
+** Beta Release License Agreement.
+**
+** GNU Lesser General Public License Usage
+** Alternatively, 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 1.0, 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.
+**
+** If you are unsure which license is appropriate for your use, please
+** contact the sales department at qt-sales@nokia.com.
+** $QT_END_LICENSE$
+**
+****************************************************************************/
+
+#include <QtTest/QtTest>
+#include <QtCore/qmath.h>
+#include "math3dincludes.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();
+};
+
+// qFuzzyCompare isn't quite "fuzzy" enough to handle conversion
+// to fixed-point and back again. So create "fuzzier" compares.
+static bool fuzzyCompare(float x, float y)
+{
+ float diff = x - y;
+ if (diff < 0.0f)
+ diff = -diff;
+ return (diff < 0.001);
+}
+
+// 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((float)(v.length()), (float)len);
+ QCOMPARE((float)(v.lengthSquared()), (float)(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((float)(u.length()), (float)1.0f);
+ QCOMPARE((float)(u.x() * len), (float)(v.x()));
+ QCOMPARE((float)(u.y() * len), (float)(v.y()));
+ QCOMPARE((float)(u.z() * len), (float)(v.z()));
+ QCOMPARE((float)(u.scalar() * len), (float)(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((float)(v.length()), (float)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;
+}
+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()));
+}
+
+QTEST_APPLESS_MAIN(tst_QQuaternion)
+
+#include "tst_qquaternion.moc"
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