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#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;