//// mat4test.js// examples/tests//// Created by Anthony Thibault on 2016/3/7// Copyright 2016 High Fidelity, Inc.//// Distributed under the Apache License, Version 2.0.// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html// var X = {x: 1, y: 0, z: 0};var Y = {x: 0, y: 1, z: 0};var Z = {x: 0, y: 0, z: 1}; var IDENTITY = { r0c0: 1, r0c1: 0, r0c2: 0, r0c3: 0, r1c0: 0, r1c1: 1, r1c2: 0, r1c3: 0, r2c0: 0, r2c1: 0, r2c2: 1, r2c3: 0, r3c0: 0, r3c1: 0, r3c2: 0, r3c3: 1}; var ROT_ZERO = {x: 0, y: 0, z: 0, w: 1};var ROT_Y_180 = {x: 0, y: 1, z: 0, w: 0}; var DEG_45 = Math.PI / 4;var ROT_X_45 = Quat.angleAxis(DEG_45, X);var ROT_Y_45 = Quat.angleAxis(DEG_45, Y);var ROT_Z_45 = Quat.angleAxis(DEG_45, Z); var ONE = {x: 1, y: 1, z: 1};var ZERO = {x: 0, y: 0, z: 0};var ONE_TWO_THREE = {x: 1, y: 2, z: 3};var ONE_HALF = {x: 0.5, y: 0.5, z: 0.5}; var EPSILON = 0.000001; function mat4FuzzyEqual(a, b) { var r, c; for (r = 0; r < 4; r++) { for (c = 0; c < 4; c++) { if (Math.abs(a["r" + r + "c" + c] - b["r" + r + "c" + c]) > EPSILON) { return false; } } } return true;} function vec3FuzzyEqual(a, b) { if (Math.abs(a.x - b.x) > EPSILON || Math.abs(a.y - b.y) > EPSILON || Math.abs(a.z - b.z) > EPSILON) { return false; } return true;} function quatFuzzyEqual(a, b) { if (Math.abs(a.x - b.x) > EPSILON || Math.abs(a.y - b.y) > EPSILON || Math.abs(a.z - b.z) > EPSILON || Math.abs(a.w - b.w) > EPSILON) { return false; } return true;} var failureCount = 0;var testCount = 0;function assert(test) { testCount++; if (!test) { print("MAT4 TEST " + testCount + " failed!"); failureCount++; }} function testCreate() { var test0 = Mat4.createFromScaleRotAndTrans(ONE, {x: 0, y: 0, z: 0, w: 1}, ZERO); assert(mat4FuzzyEqual(test0, IDENTITY)); var test1 = Mat4.createFromRotAndTrans({x: 0, y: 0, z: 0, w: 1}, ZERO); assert(mat4FuzzyEqual(test1, IDENTITY)); var test2 = Mat4.createFromRotAndTrans(ROT_Y_180, ONE_TWO_THREE); assert(mat4FuzzyEqual(test2, {r0c0: -1, r0c1: 0, r0c2: 0, r0c3: 1, r1c0: 0, r1c1: 1, r1c2: 0, r1c3: 2, r2c0: 0, r2c1: 0, r2c2: -1, r2c3: 3, r3c0: 0, r3c1: 0, r3c2: 0, r3c3: 1})); var test3 = Mat4.createFromScaleRotAndTrans(ONE_HALF, ROT_Y_180, ONE_TWO_THREE); assert(mat4FuzzyEqual(test3, {r0c0: -0.5, r0c1: 0, r0c2: 0, r0c3: 1, r1c0: 0, r1c1: 0.5, r1c2: 0, r1c3: 2, r2c0: 0, r2c1: 0, r2c2: -0.5, r2c3: 3, r3c0: 0, r3c1: 0, r3c2: 0, r3c3: 1}));} function testExtractTranslation() { var test0 = Mat4.extractTranslation(IDENTITY); assert(vec3FuzzyEqual(ZERO, test0)); var test1 = Mat4.extractTranslation(Mat4.createFromRotAndTrans(ROT_Y_180, ONE_TWO_THREE)); assert(vec3FuzzyEqual(ONE_TWO_THREE, test1));} function testExtractRotation() { var test0 = Mat4.extractRotation(IDENTITY); assert(quatFuzzyEqual(ROT_ZERO, test0)); var test1 = Mat4.extractRotation(Mat4.createFromRotAndTrans(ROT_Y_180, ONE_TWO_THREE)); assert(quatFuzzyEqual(ROT_Y_180, test1));} function testExtractScale() { var test0 = Mat4.extractScale(IDENTITY); assert(vec3FuzzyEqual(ONE, test0)); var test1 = Mat4.extractScale(Mat4.createFromScaleRotAndTrans(ONE_HALF, ROT_Y_180, ONE_TWO_THREE)); assert(vec3FuzzyEqual(ONE_HALF, test1)); var test2 = Mat4.extractScale(Mat4.createFromScaleRotAndTrans(ONE_TWO_THREE, ROT_ZERO, ONE_TWO_THREE)); assert(vec3FuzzyEqual(ONE_TWO_THREE, test2));} function testTransformPoint() { var test0 = Mat4.transformPoint(IDENTITY, ONE); assert(vec3FuzzyEqual(ONE, test0)); var m = Mat4.createFromScaleRotAndTrans(ONE_HALF, ROT_Y_180, ONE_TWO_THREE); var test1 = Mat4.transformPoint(m, ONE); assert(vec3FuzzyEqual({x: 0.5, y: 2.5, z: 2.5}, test1));} function testTransformVector() { var test0 = Mat4.transformVector(IDENTITY, ONE); assert(vec3FuzzyEqual(ONE, test0)); var m = Mat4.createFromScaleRotAndTrans(ONE_HALF, ROT_Y_180, ONE_TWO_THREE); var test1 = Mat4.transformVector(m, ONE); assert(vec3FuzzyEqual({x: -0.5, y: 0.5, z: -0.5}, test1));} function testInverse() { var test0 = IDENTITY; assert(mat4FuzzyEqual(IDENTITY, Mat4.multiply(test0, Mat4.inverse(test0)))); var test1 = Mat4.createFromScaleRotAndTrans(ONE_HALF, ROT_Y_180, ONE_TWO_THREE); assert(mat4FuzzyEqual(IDENTITY, Mat4.multiply(test1, Mat4.inverse(test1)))); var test2 = Mat4.extractScale(Mat4.createFromScaleRotAndTrans(ONE_TWO_THREE, ROT_ZERO, ONE_TWO_THREE)); assert(mat4FuzzyEqual(IDENTITY, Mat4.multiply(test2, Mat4.inverse(test2))));} function columnsFromQuat(q) { var axes = [Vec3.multiplyQbyV(q, X), Vec3.multiplyQbyV(q, Y), Vec3.multiplyQbyV(q, Z)]; axes[0].w = 0; axes[1].w = 0; axes[2].w = 0; axes[3] = {x: 0, y: 0, z: 0, w: 1}; return axes;} function matrixFromColumns(cols) { return Mat4.createFromColumns(cols[0], cols[1], cols[2], cols[3]);} function testMatForwardRightUpFromQuat(q) { var cols = columnsFromQuat(q); var mat = matrixFromColumns(cols); assert(vec3FuzzyEqual(Mat4.getForward(mat), Vec3.multiply(cols[2], -1))); assert(vec3FuzzyEqual(Mat4.getForward(mat), Quat.getForward(q))); assert(vec3FuzzyEqual(Mat4.getRight(mat), cols[0])); assert(vec3FuzzyEqual(Mat4.getRight(mat), Quat.getRight(q))); assert(vec3FuzzyEqual(Mat4.getUp(mat), cols[1])); assert(vec3FuzzyEqual(Mat4.getUp(mat), Quat.getUp(q)));} function testForwardRightUp() { // test several variations of rotations testMatForwardRightUpFromQuat(ROT_X_45); testMatForwardRightUpFromQuat(ROT_Y_45); testMatForwardRightUpFromQuat(ROT_Z_45); testMatForwardRightUpFromQuat(Quat.multiply(ROT_X_45, ROT_Y_45)); testMatForwardRightUpFromQuat(Quat.multiply(ROT_Y_45, ROT_X_45)); testMatForwardRightUpFromQuat(Quat.multiply(ROT_X_45, ROT_Z_45)); testMatForwardRightUpFromQuat(Quat.multiply(ROT_Z_45, ROT_X_45)); testMatForwardRightUpFromQuat(Quat.multiply(ROT_X_45, ROT_Z_45)); testMatForwardRightUpFromQuat(Quat.multiply(ROT_Z_45, ROT_X_45));} function testMat4() { testCreate(); testExtractTranslation(); testExtractRotation(); testExtractScale(); testTransformPoint(); testTransformVector(); testInverse(); testForwardRightUp(); print("MAT4 TEST complete! (" + (testCount - failureCount) + "/" + testCount + ") tests passed!");} testMat4();
//
// mat4test.js
// examples/tests
//
// Created by Anthony Thibault on 2016/3/7
// Copyright 2016 High Fidelity, Inc.
//
// Distributed under the Apache License, Version 2.0.
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
//
var X = {x: 1, y: 0, z: 0};
var Y = {x: 0, y: 1, z: 0};
var Z = {x: 0, y: 0, z: 1};
var IDENTITY = {
r0c0: 1, r0c1: 0, r0c2: 0, r0c3: 0,
r1c0: 0, r1c1: 1, r1c2: 0, r1c3: 0,
r2c0: 0, r2c1: 0, r2c2: 1, r2c3: 0,
r3c0: 0, r3c1: 0, r3c2: 0, r3c3: 1
};
var ROT_ZERO = {x: 0, y: 0, z: 0, w: 1};
var ROT_Y_180 = {x: 0, y: 1, z: 0, w: 0};
var DEG_45 = Math.PI / 4;
var ROT_X_45 = Quat.angleAxis(DEG_45, X);
var ROT_Y_45 = Quat.angleAxis(DEG_45, Y);
var ROT_Z_45 = Quat.angleAxis(DEG_45, Z);
var ONE = {x: 1, y: 1, z: 1};
var ZERO = {x: 0, y: 0, z: 0};
var ONE_TWO_THREE = {x: 1, y: 2, z: 3};
var ONE_HALF = {x: 0.5, y: 0.5, z: 0.5};
var EPSILON = 0.000001;
function mat4FuzzyEqual(a, b) {
var r, c;
for (r = 0; r < 4; r++) {
for (c = 0; c < 4; c++) {
if (Math.abs(a["r" + r + "c" + c] - b["r" + r + "c" + c]) > EPSILON) {
return false;
}
}
}
return true;
}
function vec3FuzzyEqual(a, b) {
if (Math.abs(a.x - b.x) > EPSILON ||
Math.abs(a.y - b.y) > EPSILON ||
Math.abs(a.z - b.z) > EPSILON) {
return false;
}
return true;
}
function quatFuzzyEqual(a, b) {
if (Math.abs(a.x - b.x) > EPSILON ||
Math.abs(a.y - b.y) > EPSILON ||
Math.abs(a.z - b.z) > EPSILON ||
Math.abs(a.w - b.w) > EPSILON) {
return false;
}
return true;
}
var failureCount = 0;
var testCount = 0;
function assert(test) {
testCount++;
if (!test) {
print("MAT4 TEST " + testCount + " failed!");
failureCount++;
}
}
function testCreate() {
var test0 = Mat4.createFromScaleRotAndTrans(ONE, {x: 0, y: 0, z: 0, w: 1}, ZERO);
assert(mat4FuzzyEqual(test0, IDENTITY));
var test1 = Mat4.createFromRotAndTrans({x: 0, y: 0, z: 0, w: 1}, ZERO);
assert(mat4FuzzyEqual(test1, IDENTITY));
var test2 = Mat4.createFromRotAndTrans(ROT_Y_180, ONE_TWO_THREE);
assert(mat4FuzzyEqual(test2, {r0c0: -1, r0c1: 0, r0c2: 0, r0c3: 1,
r1c0: 0, r1c1: 1, r1c2: 0, r1c3: 2,
r2c0: 0, r2c1: 0, r2c2: -1, r2c3: 3,
r3c0: 0, r3c1: 0, r3c2: 0, r3c3: 1}));
var test3 = Mat4.createFromScaleRotAndTrans(ONE_HALF, ROT_Y_180, ONE_TWO_THREE);
assert(mat4FuzzyEqual(test3, {r0c0: -0.5, r0c1: 0, r0c2: 0, r0c3: 1,
r1c0: 0, r1c1: 0.5, r1c2: 0, r1c3: 2,
r2c0: 0, r2c1: 0, r2c2: -0.5, r2c3: 3,
r3c0: 0, r3c1: 0, r3c2: 0, r3c3: 1}));
}
function testExtractTranslation() {
var test0 = Mat4.extractTranslation(IDENTITY);
assert(vec3FuzzyEqual(ZERO, test0));
var test1 = Mat4.extractTranslation(Mat4.createFromRotAndTrans(ROT_Y_180, ONE_TWO_THREE));
assert(vec3FuzzyEqual(ONE_TWO_THREE, test1));
}
function testExtractRotation() {
var test0 = Mat4.extractRotation(IDENTITY);
assert(quatFuzzyEqual(ROT_ZERO, test0));
var test1 = Mat4.extractRotation(Mat4.createFromRotAndTrans(ROT_Y_180, ONE_TWO_THREE));
assert(quatFuzzyEqual(ROT_Y_180, test1));
}
function testExtractScale() {
var test0 = Mat4.extractScale(IDENTITY);
assert(vec3FuzzyEqual(ONE, test0));
var test1 = Mat4.extractScale(Mat4.createFromScaleRotAndTrans(ONE_HALF, ROT_Y_180, ONE_TWO_THREE));
assert(vec3FuzzyEqual(ONE_HALF, test1));
var test2 = Mat4.extractScale(Mat4.createFromScaleRotAndTrans(ONE_TWO_THREE, ROT_ZERO, ONE_TWO_THREE));
assert(vec3FuzzyEqual(ONE_TWO_THREE, test2));
}
function testTransformPoint() {
var test0 = Mat4.transformPoint(IDENTITY, ONE);
assert(vec3FuzzyEqual(ONE, test0));
var m = Mat4.createFromScaleRotAndTrans(ONE_HALF, ROT_Y_180, ONE_TWO_THREE);
var test1 = Mat4.transformPoint(m, ONE);
assert(vec3FuzzyEqual({x: 0.5, y: 2.5, z: 2.5}, test1));
}
function testTransformVector() {
var test0 = Mat4.transformVector(IDENTITY, ONE);
assert(vec3FuzzyEqual(ONE, test0));
var m = Mat4.createFromScaleRotAndTrans(ONE_HALF, ROT_Y_180, ONE_TWO_THREE);
var test1 = Mat4.transformVector(m, ONE);
assert(vec3FuzzyEqual({x: -0.5, y: 0.5, z: -0.5}, test1));
}
function testInverse() {
var test0 = IDENTITY;
assert(mat4FuzzyEqual(IDENTITY, Mat4.multiply(test0, Mat4.inverse(test0))));
var test1 = Mat4.createFromScaleRotAndTrans(ONE_HALF, ROT_Y_180, ONE_TWO_THREE);
assert(mat4FuzzyEqual(IDENTITY, Mat4.multiply(test1, Mat4.inverse(test1))));
var test2 = Mat4.extractScale(Mat4.createFromScaleRotAndTrans(ONE_TWO_THREE, ROT_ZERO, ONE_TWO_THREE));
assert(mat4FuzzyEqual(IDENTITY, Mat4.multiply(test2, Mat4.inverse(test2))));
}
function columnsFromQuat(q) {
var axes = [Vec3.multiplyQbyV(q, X), Vec3.multiplyQbyV(q, Y), Vec3.multiplyQbyV(q, Z)];
axes[0].w = 0;
axes[1].w = 0;
axes[2].w = 0;
axes[3] = {x: 0, y: 0, z: 0, w: 1};
return axes;
}
function matrixFromColumns(cols) {
return Mat4.createFromColumns(cols[0], cols[1], cols[2], cols[3]);
}
function testMatForwardRightUpFromQuat(q) {
var cols = columnsFromQuat(q);
var mat = matrixFromColumns(cols);
assert(vec3FuzzyEqual(Mat4.getForward(mat), Vec3.multiply(cols[2], -1)));
assert(vec3FuzzyEqual(Mat4.getForward(mat), Quat.getForward(q)));
assert(vec3FuzzyEqual(Mat4.getRight(mat), cols[0]));
assert(vec3FuzzyEqual(Mat4.getRight(mat), Quat.getRight(q)));
assert(vec3FuzzyEqual(Mat4.getUp(mat), cols[1]));
assert(vec3FuzzyEqual(Mat4.getUp(mat), Quat.getUp(q)));
}
function testForwardRightUp() {
// test several variations of rotations
testMatForwardRightUpFromQuat(ROT_X_45);
testMatForwardRightUpFromQuat(ROT_Y_45);
testMatForwardRightUpFromQuat(ROT_Z_45);
testMatForwardRightUpFromQuat(Quat.multiply(ROT_X_45, ROT_Y_45));
testMatForwardRightUpFromQuat(Quat.multiply(ROT_Y_45, ROT_X_45));
testMatForwardRightUpFromQuat(Quat.multiply(ROT_X_45, ROT_Z_45));
testMatForwardRightUpFromQuat(Quat.multiply(ROT_Z_45, ROT_X_45));
testMatForwardRightUpFromQuat(Quat.multiply(ROT_X_45, ROT_Z_45));
testMatForwardRightUpFromQuat(Quat.multiply(ROT_Z_45, ROT_X_45));
}
function testMat4() {
testCreate();
testExtractTranslation();
testExtractRotation();
testExtractScale();
testTransformPoint();
testTransformVector();
testInverse();
testForwardRightUp();
print("MAT4 TEST complete! (" + (testCount - failureCount) + "/" + testCount + ") tests passed!");
}
testMat4();