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| |
| ////////////////////////// NOTE ABOUT EDITING THIS FILE /////////////////////// |
| // // |
| // Any edits to this file must be applied to mat3d_test.html by running: // |
| // swap_type.sh mat3f_test.html > mat3d_test.html // |
| // // |
| ////////////////////////// NOTE ABOUT EDITING THIS FILE /////////////////////// |
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| --> |
| <head> |
| <meta http-equiv="X-UA-Compatible" content="IE=edge"> |
| <title>Closure Unit Tests - goog.vec.mat3f</title> |
| <script src="../base.js"></script> |
| <script> |
| goog.require('goog.vec.mat3f'); |
| goog.require('goog.testing.jsunit'); |
| </script> |
| </head> |
| <body> |
| <script> |
| |
| var randommat3f = goog.vec.mat3f.setFromValues(goog.vec.mat3f.create(), |
| 0.8025078773498535, |
| 0.7559120655059814, |
| 0.15274643898010254, |
| 0.19196106493473053, |
| 0.0890120416879654, |
| 0.15422114729881287, |
| 0.09754583984613419, |
| 0.44862601161003113, |
| 0.9196512699127197); |
| |
| function testCreate() { |
| var m = goog.vec.mat3f.create(); |
| assertElementsEquals([0, 0, 0, 0, 0, 0, 0, 0, 0], m); |
| } |
| |
| function testSet() { |
| var m0 = goog.vec.mat3f.create(); |
| var m1 = goog.vec.mat3f.setFromArray( |
| goog.vec.mat3f.create(), [1, 2, 3, 4, 5, 6, 7, 8, 9]); |
| goog.vec.mat3f.setFromArray(m0, m1); |
| assertElementsEquals([1, 2, 3, 4, 5, 6, 7, 8, 9], m0); |
| |
| goog.vec.mat3f.setFromValues(m0, 2, 3, 4, 5, 6, 7, 8, 9, 10); |
| assertElementsEquals([2, 3, 4, 5, 6, 7, 8, 9, 10], m0); |
| } |
| |
| function testSetDiagonal() { |
| var m0 = goog.vec.mat3f.create(); |
| goog.vec.mat3f.setDiagonalValues(m0, 1, 2, 3); |
| assertElementsEquals([1, 0, 0, 0, 2, 0, 0, 0, 3], m0); |
| |
| goog.vec.mat3f.setDiagonal(m0, [4, 5, 6]); |
| assertElementsEquals([4, 0, 0, 0, 5, 0, 0, 0, 6], m0); |
| } |
| |
| function testSetGetColumn() { |
| var m0 = goog.vec.mat3f.create(); |
| goog.vec.mat3f.setColumn(m0, 0, [1, 2, 3]); |
| goog.vec.mat3f.setColumn(m0, 1, [4, 5, 6]); |
| goog.vec.mat3f.setColumn(m0, 2, [7, 8, 9]); |
| assertElementsEquals([1, 2, 3, 4, 5, 6, 7, 8, 9], m0); |
| |
| var v0 = [0, 0, 0]; |
| goog.vec.mat3f.getColumn(m0, 0, v0); |
| assertElementsEquals([1, 2, 3], v0); |
| goog.vec.mat3f.getColumn(m0, 1, v0); |
| assertElementsEquals([4, 5, 6], v0); |
| goog.vec.mat3f.getColumn(m0, 2, v0); |
| assertElementsEquals([7, 8, 9], v0); |
| } |
| |
| function testSetGetColumns() { |
| var m0 = goog.vec.mat3f.create(); |
| goog.vec.mat3f.setColumns(m0, [1, 2, 3], [4, 5, 6], [7, 8, 9]); |
| assertElementsEquals([1, 2, 3, 4, 5, 6, 7, 8, 9], m0); |
| |
| var v0 = [0, 0, 0], v1 = [0, 0, 0], v2 = [0, 0, 0]; |
| goog.vec.mat3f.getColumns(m0, v0, v1, v2); |
| assertElementsEquals([1, 2, 3], v0); |
| assertElementsEquals([4, 5, 6], v1); |
| assertElementsEquals([7, 8, 9], v2); |
| } |
| |
| function testSetGetRow() { |
| var m0 = goog.vec.mat3f.create(); |
| goog.vec.mat3f.setRow(m0, 0, [1, 2, 3]); |
| goog.vec.mat3f.setRow(m0, 1, [4, 5, 6]); |
| goog.vec.mat3f.setRow(m0, 2, [7, 8, 9]); |
| assertElementsEquals([1, 4, 7, 2, 5, 8, 3, 6, 9], m0); |
| |
| var v0 = [0, 0, 0]; |
| goog.vec.mat3f.getRow(m0, 0, v0); |
| assertElementsEquals([1, 2, 3], v0); |
| goog.vec.mat3f.getRow(m0, 1, v0); |
| assertElementsEquals([4, 5, 6], v0); |
| goog.vec.mat3f.getRow(m0, 2, v0); |
| assertElementsEquals([7, 8, 9], v0); |
| } |
| |
| function testSetGetRows() { |
| var m0 = goog.vec.mat3f.create(); |
| goog.vec.mat3f.setRows(m0, [1, 2, 3], [4, 5, 6], [7, 8, 9]); |
| assertElementsEquals([1, 4, 7, 2, 5, 8, 3, 6, 9], m0); |
| |
| var v0 = [0, 0, 0], v1 = [0, 0, 0], v2 = [0, 0, 0]; |
| goog.vec.mat3f.getRows(m0, v0, v1, v2); |
| assertElementsEquals([1, 2, 3], v0); |
| assertElementsEquals([4, 5, 6], v1); |
| assertElementsEquals([7, 8, 9], v2); |
| } |
| |
| function testMakeZero() { |
| var m0 = goog.vec.mat3f.setFromArray( |
| goog.vec.mat3f.create(), [1, 2, 3, 4, 5, 6, 7, 8, 9]); |
| assertElementsEquals([1, 2, 3, 4, 5, 6, 7, 8, 9], m0); |
| goog.vec.mat3f.makeZero(m0); |
| assertElementsEquals([0, 0, 0, 0, 0, 0, 0, 0, 0], m0); |
| } |
| |
| function testMakeIdentity() { |
| var m0 = goog.vec.mat3f.create(); |
| goog.vec.mat3f.makeIdentity(m0); |
| assertElementsEquals([1, 0, 0, 0, 1, 0, 0, 0, 1], m0); |
| } |
| |
| function testSetGetElement() { |
| var m0 = goog.vec.mat3f.create(); |
| for (var r = 0; r < 3; r++) { |
| for (var c = 0; c < 3; c++) { |
| var value = c * 3 + r + 1; |
| goog.vec.mat3f.setElement(m0, r, c, value); |
| assertEquals(value, goog.vec.mat3f.getElement(m0, r, c)); |
| } |
| } |
| assertElementsEquals([1, 2, 3, 4, 5, 6, 7, 8, 9], m0); |
| } |
| |
| function testAddMat() { |
| var m0 = goog.vec.mat3f.setFromValues( |
| goog.vec.mat3f.create(), 1, 2, 3, 4, 5, 6, 7, 8, 9); |
| var m1 = goog.vec.mat3f.setFromValues( |
| goog.vec.mat3f.create(), 3, 4, 5, 6, 7, 8, 9, 1, 2); |
| var m2 = goog.vec.mat3f.create(); |
| goog.vec.mat3f.addMat(m0, m1, m2); |
| assertElementsEquals([1, 2, 3, 4, 5, 6, 7, 8, 9], m0); |
| assertElementsEquals([3, 4, 5, 6, 7, 8, 9, 1, 2], m1); |
| assertElementsEquals([4, 6, 8, 10, 12, 14, 16, 9, 11], m2); |
| |
| goog.vec.mat3f.addMat(m0, m1, m0); |
| assertElementsEquals([3, 4, 5, 6, 7, 8, 9, 1, 2], m1); |
| assertElementsEquals([4, 6, 8, 10, 12, 14, 16, 9, 11], m0); |
| } |
| |
| function testSubMat() { |
| var m0 = goog.vec.mat3f.setFromValues( |
| goog.vec.mat3f.create(), 1, 2, 3, 4, 5, 6, 7, 8, 9); |
| var m1 = goog.vec.mat3f.setFromValues( |
| goog.vec.mat3f.create(), 3, 4, 5, 6, 7, 8, 9, 1, 2); |
| var m2 = goog.vec.mat3f.create(); |
| |
| goog.vec.mat3f.subMat(m0, m1, m2); |
| assertElementsEquals([1, 2, 3, 4, 5, 6, 7, 8, 9], m0); |
| assertElementsEquals([3, 4, 5, 6, 7, 8, 9, 1, 2], m1); |
| assertElementsEquals([-2, -2, -2, -2, -2, -2, -2, 7, 7], m2); |
| |
| goog.vec.mat3f.subMat(m1, m0, m1); |
| assertElementsEquals([1, 2, 3, 4, 5, 6, 7, 8, 9], m0); |
| assertElementsEquals([2, 2, 2, 2, 2, 2, 2, -7, -7], m1); |
| } |
| |
| function testMultScalar() { |
| var m0 = goog.vec.mat3f.setFromValues( |
| goog.vec.mat3f.create(), 1, 2, 3, 4, 5, 6, 7, 8, 9); |
| var m1 = goog.vec.mat3f.create(); |
| |
| goog.vec.mat3f.multScalar(m0, 5, m1); |
| assertElementsEquals([1, 2, 3, 4, 5, 6, 7, 8, 9], m0); |
| assertElementsEquals([5, 10, 15, 20, 25, 30, 35, 40, 45], m1); |
| |
| goog.vec.mat3f.multScalar(m0, 5, m0); |
| assertElementsEquals([5, 10, 15, 20, 25, 30, 35, 40, 45], m0); |
| } |
| |
| function testMultMat() { |
| var m0 = goog.vec.mat3f.setFromValues( |
| goog.vec.mat3f.create(), 1, 2, 3, 4, 5, 6, 7, 8, 9); |
| var m1 = goog.vec.mat3f.setFromValues( |
| goog.vec.mat3f.create(), 1, 2, 3, 4, 5, 6, 7, 8, 9); |
| var m2 = goog.vec.mat3f.create(); |
| |
| goog.vec.mat3f.multMat(m0, m1, m2); |
| assertElementsEquals([30, 36, 42, 66, 81, 96, 102, 126, 150], m2); |
| |
| goog.vec.mat3f.addMat(m0, m1, m1); |
| goog.vec.mat3f.multMat(m0, m1, m1); |
| assertElementsEquals([60, 72, 84, 132, 162, 192, 204, 252, 300], m1); |
| } |
| |
| function testTranspose() { |
| var m0 = goog.vec.mat3f.setFromValues( |
| goog.vec.mat3f.create(), 1, 2, 3, 4, 5, 6, 7, 8, 9); |
| var m1 = goog.vec.mat3f.create(); |
| goog.vec.mat3f.transpose(m0, m1); |
| assertElementsEquals([1, 4, 7, 2, 5, 8, 3, 6, 9], m1); |
| goog.vec.mat3f.transpose(m1, m1); |
| assertElementsEquals([1, 2, 3, 4, 5, 6, 7, 8, 9], m1); |
| } |
| |
| function testInvert() { |
| var m0 = goog.vec.mat3f.setFromValues( |
| goog.vec.mat3f.create(), 1, 1, 1, 1, 1, 1, 1, 1, 1); |
| assertFalse(goog.vec.mat3f.invert(m0, m0)); |
| assertElementsEquals([1, 1, 1, 1, 1, 1, 1, 1, 1], m0); |
| |
| goog.vec.mat3f.setFromValues(m0, 1, 2, 3, 1, 3, 4, 3, 4, 5); |
| assertTrue(goog.vec.mat3f.invert(m0, m0)); |
| assertElementsEquals([0.5, -1.0, 0.5, -3.5, 2.0, 0.5, 2.5, -1.0, -0.5], m0); |
| |
| goog.vec.mat3f.makeScale(m0, .01, .01, .01); |
| assertTrue(goog.vec.mat3f.invert(m0, m0)); |
| var m1 = goog.vec.mat3f.create(); |
| goog.vec.mat3f.makeScale(m1, 100, 100, 100); |
| assertElementsEquals(m1, m0); |
| } |
| |
| function testEquals() { |
| var m0 = goog.vec.mat3f.setFromValues( |
| goog.vec.mat3f.create(), 1, 2, 3, 4, 5, 6, 7, 8, 9); |
| var m1 = goog.vec.mat3f.setFromArray(goog.vec.mat3f.create(), m0); |
| assertTrue(goog.vec.mat3f.equals(m0, m1)); |
| assertTrue(goog.vec.mat3f.equals(m1, m0)); |
| for (var i = 0; i < 9; i++) { |
| m1[i] = 15; |
| assertFalse(goog.vec.mat3f.equals(m0, m1)); |
| assertFalse(goog.vec.mat3f.equals(m1, m0)); |
| m1[i] = i + 1; |
| } |
| } |
| |
| function testMultVec3() { |
| var m0 = goog.vec.mat3f.setFromValues( |
| goog.vec.mat3f.create(), 1, 2, 3, 4, 5, 6, 7, 8, 9); |
| var v0 = [1, 2, 3]; |
| var v1 = [0, 0, 0]; |
| |
| goog.vec.mat3f.multVec3(m0, v0, v1); |
| assertElementsEquals([30, 36, 42], v1); |
| goog.vec.mat3f.multVec3(m0, v0, v0); |
| assertElementsEquals([30, 36, 42], v0); |
| } |
| |
| function testSetValues() { |
| var a0 = goog.vec.mat3f.create(); |
| assertElementsEquals([0, 0, 0, 0, 0, 0, 0, 0, 0], a0); |
| goog.vec.mat3f.setFromValues(a0, 1, 2, 3, 4, 5, 6, 7, 8, 9); |
| assertElementsEquals([1, 2, 3, 4, 5, 6, 7, 8, 9], a0); |
| |
| var a1 = goog.vec.mat3f.create(); |
| goog.vec.mat3f.setDiagonalValues(a1, 1, 2, 3); |
| assertElementsEquals([1, 0, 0, 0, 2, 0, 0, 0, 3], a1); |
| |
| goog.vec.mat3f.setColumnValues(a1, 0, 2, 3, 4); |
| goog.vec.mat3f.setColumnValues(a1, 1, 5, 6, 7); |
| goog.vec.mat3f.setColumnValues(a1, 2, 8, 9, 1); |
| assertElementsEquals([2, 3, 4, 5, 6, 7, 8, 9, 1], a1); |
| |
| goog.vec.mat3f.setRowValues(a1, 0, 1, 4, 7); |
| goog.vec.mat3f.setRowValues(a1, 1, 2, 5, 8); |
| goog.vec.mat3f.setRowValues(a1, 2, 3, 6, 9); |
| assertElementsEquals([1, 2, 3, 4, 5, 6, 7, 8, 9], a1); |
| } |
| |
| function testMakeTranslate() { |
| var m0 = goog.vec.mat3f.create(); |
| goog.vec.mat3f.makeTranslate(m0, 3, 4); |
| assertElementsEquals([1, 0, 0, 0, 1, 0, 3, 4, 1], m0); |
| } |
| |
| function testMakeScale() { |
| var m0 = goog.vec.mat3f.create(); |
| goog.vec.mat3f.makeScale(m0, 3, 4, 5); |
| assertElementsEquals([3, 0, 0, 0, 4, 0, 0, 0, 5], m0); |
| } |
| |
| function testMakeRotate() { |
| var m0 = goog.vec.mat3f.create(); |
| goog.vec.mat3f.makeRotate(m0, Math.PI / 2, 0, 0, 1); |
| var v0 = [0, 1, 0, -1, 0, 0, 0, 0, 1]; |
| assertElementsRoughlyEqual(m0, v0, goog.vec.EPSILON); |
| |
| var m1 = goog.vec.mat3f.create(); |
| goog.vec.mat3f.makeRotate(m1, -Math.PI / 4, 0, 0, 1); |
| goog.vec.mat3f.multMat(m0, m1, m1); |
| var v1 = [0.7071068, 0.7071068, 0, -0.7071068, 0.7071068, 0, 0, 0, 1]; |
| assertElementsRoughlyEqual(m1, v1, goog.vec.EPSILON); |
| } |
| |
| function testMakeRotateX() { |
| var m0 = goog.vec.mat3f.create(); |
| var m1 = goog.vec.mat3f.create() |
| |
| goog.vec.mat3f.makeRotateX(m0, Math.PI / 7); |
| goog.vec.mat3f.makeRotate(m1, Math.PI / 7, 1, 0, 0); |
| assertElementsRoughlyEqual(m0, m1, goog.vec.EPSILON); |
| } |
| |
| function testMakeRotateY() { |
| var m0 = goog.vec.mat3f.create(); |
| var m1 = goog.vec.mat3f.create() |
| |
| goog.vec.mat3f.makeRotateY(m0, Math.PI / 7); |
| goog.vec.mat3f.makeRotate(m1, Math.PI / 7, 0, 1, 0); |
| assertElementsRoughlyEqual(m0, m1, goog.vec.EPSILON); |
| } |
| |
| function testMakeRotateZ() { |
| var m0 = goog.vec.mat3f.create(); |
| var m1 = goog.vec.mat3f.create() |
| |
| goog.vec.mat3f.makeRotateZ(m0, Math.PI / 7); |
| goog.vec.mat3f.makeRotate(m1, Math.PI / 7, 0, 0, 1); |
| assertElementsRoughlyEqual(m0, m1, goog.vec.EPSILON); |
| } |
| |
| function testRotate() { |
| var m0 = goog.vec.mat3f.makeIdentity(goog.vec.mat3f.create()); |
| goog.vec.mat3f.rotate(m0, Math.PI / 2, 0, 0, 1); |
| assertElementsRoughlyEqual( |
| [0, 1, 0, -1, 0, 0, 0, 0, 1], |
| m0, goog.vec.EPSILON); |
| |
| goog.vec.mat3f.rotate(m0, -Math.PI / 4, 0, 0, 1); |
| assertElementsRoughlyEqual( |
| [0.7071068, 0.7071068, 0, |
| -0.7071068, 0.7071068, 0, |
| 0, 0, 1], |
| m0, goog.vec.EPSILON); |
| } |
| |
| function testRotateX() { |
| var m0 = goog.vec.mat3f.create(); |
| var m1 = goog.vec.mat3f.setFromArray(goog.vec.mat3f.create(), randommat3f); |
| |
| goog.vec.mat3f.makeRotateX(m0, Math.PI / 7); |
| goog.vec.mat3f.multMat(m1, m0, m0); |
| goog.vec.mat3f.rotateX(m1, Math.PI / 7); |
| assertElementsRoughlyEqual(m0, m1, goog.vec.EPSILON); |
| } |
| |
| function testRotateY() { |
| var m0 = goog.vec.mat3f.create(); |
| var m1 = goog.vec.mat3f.setFromArray(goog.vec.mat3f.create(), randommat3f); |
| |
| goog.vec.mat3f.makeRotateY(m0, Math.PI / 7); |
| goog.vec.mat3f.multMat(m1, m0, m0); |
| goog.vec.mat3f.rotateY(m1, Math.PI / 7); |
| assertElementsRoughlyEqual(m0, m1, goog.vec.EPSILON); |
| } |
| |
| function testRotateZ() { |
| var m0 = goog.vec.mat3f.create(); |
| var m1 = goog.vec.mat3f.setFromArray(goog.vec.mat3f.create(), randommat3f); |
| |
| goog.vec.mat3f.makeRotateZ(m0, Math.PI / 7); |
| goog.vec.mat3f.multMat(m1, m0, m0); |
| goog.vec.mat3f.rotateZ(m1, Math.PI / 7); |
| assertElementsRoughlyEqual(m0, m1, goog.vec.EPSILON); |
| } |
| |
| function testMakeEulerZXZ() { |
| var m0 = goog.vec.mat3f.create(); |
| var roll = 0.200982 * 2 * Math.PI; |
| var tilt = 0.915833 * Math.PI; |
| var yaw = 0.839392 * 2 * Math.PI; |
| |
| goog.vec.mat3f.makeRotate(m0, roll, 0, 0, 1); |
| goog.vec.mat3f.rotate(m0, tilt, 1, 0, 0); |
| goog.vec.mat3f.rotate(m0, yaw, 0, 0, 1); |
| |
| var m1 = goog.vec.mat3f.create(); |
| goog.vec.mat3f.makeEulerZXZ(m1, roll, tilt, yaw); |
| assertElementsRoughlyEqual(m0, m1, goog.vec.EPSILON); |
| |
| |
| var euler = [0, 0, 0]; |
| goog.vec.mat3f.toEulerZXZ(m0, euler); |
| |
| assertRoughlyEquals(roll, euler[0], goog.vec.EPSILON); |
| assertRoughlyEquals(tilt, euler[1], goog.vec.EPSILON); |
| assertRoughlyEquals(yaw, euler[2], goog.vec.EPSILON); |
| |
| // Test negative tilt now. |
| goog.vec.mat3f.makeRotate(m0, roll, 0, 0, 1); |
| goog.vec.mat3f.rotate(m0, -tilt, 1, 0, 0); |
| goog.vec.mat3f.rotate(m0, yaw, 0, 0, 1); |
| |
| goog.vec.mat3f.makeEulerZXZ(m1, roll, -tilt, yaw); |
| assertElementsRoughlyEqual(m0, m1, goog.vec.EPSILON); |
| |
| var euler = [0, 0, 0]; |
| goog.vec.mat3f.toEulerZXZ(m0, euler, true); |
| |
| assertRoughlyEquals(roll, euler[0], goog.vec.EPSILON); |
| assertRoughlyEquals(-tilt, euler[1], goog.vec.EPSILON); |
| assertRoughlyEquals(yaw, euler[2], goog.vec.EPSILON); |
| } |
| |
| function testEulerZXZExtrema() { |
| var m0 = goog.vec.mat3f.setFromArray(goog.vec.mat3f.create(), |
| [1, 0, 0, 0, 0, -1, 0, 1, 0]); |
| var m1 = goog.vec.mat3f.setFromArray(goog.vec.mat3f.create(), |
| [0, 0, 0, 0, 0, 0, 0, 0, 0]); |
| |
| var euler = [0, 0, 0]; |
| goog.vec.mat3f.toEulerZXZ(m0, euler); |
| assertElementsRoughlyEqual( |
| [Math.PI, Math.PI / 2, Math.PI], euler, goog.vec.EPSILON); |
| goog.vec.mat3f.makeEulerZXZ(m1, euler[0], euler[1], euler[2]); |
| assertElementsRoughlyEqual(m0, m1, goog.vec.EPSILON); |
| } |
| |
| </script> |
| </body> |
