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// Copyright 2011 The Closure Library Authors. All Rights Reserved.
// Use of this source code is governed by the Apache License, Version 2.0.
goog.provide('goog.vec.QuaternionTest');
goog.setTestOnly('goog.vec.QuaternionTest');
goog.require('goog.vec.Float32Array');
goog.require('goog.vec.Mat3');
goog.require('goog.vec.Mat4');
goog.require('goog.vec.Quaternion');
goog.require('goog.vec.Vec3');
goog.require('goog.vec.vec3f');
goog.require('goog.vec.Vec4');
goog.require('goog.testing.jsunit');
function testCreateIdentityFloat32() {
var q = goog.vec.Quaternion.createIdentityFloat32();
assertElementsEquals([0, 0, 0, 1], q);
}
function testInvert() {
var q0 = goog.vec.Quaternion.createFloat32FromValues(1, 2, 3, 4);
var q1 = goog.vec.Quaternion.createFloat32();
goog.vec.Quaternion.invert(q0, q1);
assertElementsRoughlyEqual([1, 2, 3, 4], q0, goog.vec.EPSILON);
assertElementsRoughlyEqual([-0.033333, -0.066666, -0.1, 0.133333], q1,
goog.vec.EPSILON);
}
function testConjugate() {
var q0 = goog.vec.Quaternion.createFloat32FromValues(1, 2, 3, 4);
var q1 = goog.vec.Quaternion.createFloat32();
goog.vec.Quaternion.conjugate(q0, q1);
assertElementsEquals([1, 2, 3, 4], q0);
assertElementsEquals([-1, -2, -3, 4], q1);
goog.vec.Quaternion.conjugate(q1, q1);
assertElementsEquals([1, 2, 3, 4], q1);
// Conjugate and inverse of a normalized quaternion should be equal.
var q2 = goog.vec.Quaternion.createFloat32();
var q3 = goog.vec.Quaternion.createFloat32();
goog.vec.Quaternion.normalize(q0, q2);
goog.vec.Quaternion.conjugate(q2, q2);
goog.vec.Quaternion.normalize(q0, q3);
goog.vec.Quaternion.invert(q3, q3);
assertElementsRoughlyEqual(q2, q3, goog.vec.EPSILON);
}
function testConcat() {
var q0 = goog.vec.Quaternion.createFloat32FromValues(1, 2, 3, 4);
var q1 = goog.vec.Quaternion.createFloat32FromValues(2, 3, 4, 5);
var q2 = goog.vec.Quaternion.createFloat32();
goog.vec.Quaternion.concat(q0, q1, q2);
assertElementsEquals([12, 24, 30, 0], q2);
goog.vec.Quaternion.concat(q0, q1, q0);
assertElementsEquals([12, 24, 30, 0], q0);
}
function testMakeIdentity() {
var q = goog.vec.Quaternion.createFloat32FromValues(1, 2, 3, 4);
goog.vec.Quaternion.makeIdentity(q);
assertElementsEquals([0, 0, 0, 1], q);
}
function testRotateX() {
var q = goog.vec.Quaternion.createIdentityFloat32();
goog.vec.Quaternion.rotateX(q, Math.PI / 2, q);
var axis = goog.vec.Vec3.createFloat32();
var angle = goog.vec.Quaternion.toAngleAxis(q, axis);
assertElementsRoughlyEqual([1, 0, 0], axis, goog.vec.EPSILON);
assertRoughlyEquals(Math.PI / 2, angle, goog.vec.EPSILON);
}
function testRotateY() {
var q = goog.vec.Quaternion.createIdentityFloat32();
goog.vec.Quaternion.rotateY(q, Math.PI / 2, q);
var axis = goog.vec.Vec3.createFloat32();
var angle = goog.vec.Quaternion.toAngleAxis(q, axis);
assertElementsRoughlyEqual([0, 1, 0], axis, goog.vec.EPSILON);
assertRoughlyEquals(Math.PI / 2, angle, goog.vec.EPSILON);
}
function testRotateZ() {
var q = goog.vec.Quaternion.createIdentityFloat32();
goog.vec.Quaternion.rotateZ(q, Math.PI / 2, q);
var axis = goog.vec.Vec3.createFloat32();
var angle = goog.vec.Quaternion.toAngleAxis(q, axis);
assertElementsRoughlyEqual([0, 0, 1], axis, goog.vec.EPSILON);
assertRoughlyEquals(Math.PI / 2, angle, goog.vec.EPSILON);
}
function testTransformVec() {
var q = goog.vec.Quaternion.createIdentityFloat32();
goog.vec.Quaternion.rotateX(q, Math.PI / 2, q);
var v0 = goog.vec.vec3f.setFromArray(goog.vec.vec3f.create(), [0, 0, 1]);
var v1 = goog.vec.vec3f.create();
goog.vec.Quaternion.transformVec(v0, q, v1);
assertElementsRoughlyEqual([0, -1, 0], v1, goog.vec.EPSILON);
}
function testSlerp() {
var q0 = goog.vec.Quaternion.createFloat32FromValues(1, 2, 3, 4);
var q1 = goog.vec.Quaternion.createFloat32FromValues(5, -6, 7, -8);
var q2 = goog.vec.Quaternion.createFloat32();
goog.vec.Quaternion.slerp(q0, q1, 0, q2);
assertElementsEquals([5, -6, 7, -8], q2);
goog.vec.Quaternion.normalize(q0, q0);
goog.vec.Quaternion.normalize(q1, q1);
goog.vec.Quaternion.slerp(q0, q0, .5, q2);
assertElementsEquals(q0, q2);
goog.vec.Quaternion.slerp(q0, q1, 0, q2);
assertElementsEquals(q0, q2);
goog.vec.Quaternion.slerp(q0, q1, 1, q2);
if (q1[3] * q2[3] < 0) {
goog.vec.Quaternion.negate(q2, q2);
}
assertElementsEquals(q1, q2);
goog.vec.Quaternion.slerp(q0, q1, .3, q2);
assertElementsRoughlyEqual(
[-0.000501537327541, 0.4817612034640, 0.2398775270769, 0.842831337398],
q2, goog.vec.EPSILON);
goog.vec.Quaternion.slerp(q0, q1, .5, q2);
assertElementsRoughlyEqual(
[-0.1243045421171, 0.51879732466, 0.0107895780990, 0.845743047108],
q2, goog.vec.EPSILON);
goog.vec.Quaternion.slerp(q0, q1, .8, q0);
assertElementsRoughlyEqual(
[-0.291353561485, 0.506925588797, -0.3292443285721, 0.741442999653],
q0, goog.vec.EPSILON);
}
function testFromRotMatrix() {
var m0 = goog.vec.Mat3.createFloat32FromValues(
-0.408248, 0.8796528, -0.244016935,
-0.4082482, 0.06315623, 0.9106836,
0.8164965, 0.47140452, 0.3333333);
var q0 = goog.vec.Quaternion.createFloat32();
goog.vec.Quaternion.fromRotationMatrix3(m0, q0);
assertElementsRoughlyEqual(
[0.22094256606638, 0.53340203646030, 0.64777022739548, 0.497051689967954],
q0, goog.vec.EPSILON);
var m1 = goog.vec.Mat3.createFloat32FromValues(
-0.544310, 0, 0.838884, 0, 1, 0, -0.838884, 0, -0.544310);
var q1 = goog.vec.Quaternion.createFloat32();
goog.vec.Quaternion.fromRotationMatrix3(m1, q1);
assertElementsRoughlyEqual(
[0, -0.87872350215912, 0, 0.477331042289734], q1, goog.vec.EPSILON);
var m2 = goog.vec.Mat4.createFloat32FromValues(
-0.408248, 0.8796528, -0.244016935, 0, -0.4082482, 0.06315623, 0.9106836,
0, 0.8164965, 0.47140452, 0.3333333, 0, 0, 0, 0, 1);
var q2 = goog.vec.Quaternion.createFloat32();
goog.vec.Quaternion.fromRotationMatrix4(m2, q2);
assertElementsRoughlyEqual(
[0.22094256606638, 0.53340203646030, 0.64777022739548, 0.497051689967954],
q2, goog.vec.EPSILON);
var m3 = goog.vec.Mat4.createFloat32FromValues(
-0.544310, 0, 0.838884, 0, 0, 1, 0, 0, -0.838884, 0, -0.544310, 0, 0, 0,
0, 1);
var q3 = goog.vec.Quaternion.createFloat32();
goog.vec.Quaternion.fromRotationMatrix4(m3, q3);
assertElementsRoughlyEqual(
[0, -0.87872350215912, 0, 0.477331042289734], q3, goog.vec.EPSILON);
assertElementsRoughlyEqual(q0, q2, goog.vec.EPSILON);
assertElementsRoughlyEqual(q1, q3, goog.vec.EPSILON);
}
function testToRotMatrix() {
var q0 = goog.vec.Quaternion.createFloat32FromValues(
0.22094256606638, 0.53340203646030,
0.64777022739548, 0.497051689967954);
var m0 = goog.vec.Mat3.createFloat32();
goog.vec.Quaternion.toRotationMatrix3(q0, m0);
assertElementsRoughlyEqual(
[-0.408248, 0.8796528, -0.244016935,
-0.4082482, 0.06315623, 0.9106836,
0.8164965, 0.47140452, 0.3333333],
m0, goog.vec.EPSILON);
var m1 = goog.vec.Mat4.createFloat32();
goog.vec.Quaternion.toRotationMatrix4(q0, m1);
assertElementsRoughlyEqual(
[-0.408248, 0.8796528, -0.244016935, 0,
-0.4082482, 0.06315623, 0.9106836, 0,
0.8164965, 0.47140452, 0.3333333, 0,
0, 0, 0, 1],
m1, goog.vec.EPSILON);
}
function testToAngleAxis() {
// Test the identity rotation.
var q0 = goog.vec.Quaternion.createFloat32FromValues(0, 0, 0, 1);
var axis = goog.vec.Vec3.createFloat32();
var angle = goog.vec.Quaternion.toAngleAxis(q0, axis);
assertRoughlyEquals(0.0, angle, goog.vec.EPSILON);
assertElementsRoughlyEqual([1, 0, 0], axis, goog.vec.EPSILON);
// Check equivalent representations of the same rotation.
goog.vec.Quaternion.setFromValues(
q0, -0.288675032, 0.622008682, -0.17254543, 0.70710678);
angle = goog.vec.Quaternion.toAngleAxis(q0, axis);
assertRoughlyEquals(Math.PI / 2, angle, goog.vec.EPSILON);
assertElementsRoughlyEqual([-0.408248, 0.8796528, -0.244016],
axis, goog.vec.EPSILON);
// The polar opposite unit quaternion is the same rotation, so we
// check that the negated quaternion yields the negated angle and axis.
goog.vec.Quaternion.negate(q0, q0);
angle = goog.vec.Quaternion.toAngleAxis(q0, axis);
assertRoughlyEquals(-Math.PI / 2, angle, goog.vec.EPSILON);
assertElementsRoughlyEqual([0.408248, -0.8796528, 0.244016],
axis, goog.vec.EPSILON);
// Verify that the inverse rotation yields the inverse axis.
goog.vec.Quaternion.conjugate(q0, q0);
angle = goog.vec.Quaternion.toAngleAxis(q0, axis);
assertRoughlyEquals(-Math.PI / 2, angle, goog.vec.EPSILON);
assertElementsRoughlyEqual([-0.408248, 0.8796528, -0.244016],
axis, goog.vec.EPSILON);
}
function testFromAngleAxis() {
// Test identity rotation (zero angle or multiples of TWO_PI).
var angle = 0.0;
var axis = goog.vec.Vec3.createFloat32FromValues(-0.408248, 0.8796528,
-0.244016);
var q0 = goog.vec.Quaternion.createFloat32();
goog.vec.Quaternion.fromAngleAxis(angle, axis, q0);
assertElementsRoughlyEqual([0, 0, 0, 1], q0, goog.vec.EPSILON);
angle = 4 * Math.PI;
goog.vec.Quaternion.fromAngleAxis(angle, axis, q0);
assertElementsRoughlyEqual([0, 0, 0, 1], q0, goog.vec.EPSILON);
// General test of various rotations around axes of different lengths.
angle = Math.PI / 2;
goog.vec.Quaternion.fromAngleAxis(angle, axis, q0);
assertElementsRoughlyEqual(
[-0.288675032, 0.622008682, -0.17254543, 0.70710678],
q0, goog.vec.EPSILON);
// Angle multiples of TWO_PI with a scaled axis should be the same.
angle += 4 * Math.PI;
goog.vec.Vec3.scale(axis, 7.0, axis);
goog.vec.Quaternion.fromAngleAxis(angle, axis, q0);
assertElementsRoughlyEqual(
[-0.288675032, 0.622008682, -0.17254543, 0.70710678],
q0, goog.vec.EPSILON);
goog.vec.Vec3.setFromValues(axis, 1, 5, 8);
goog.vec.Quaternion.fromAngleAxis(angle, axis, q0);
assertElementsRoughlyEqual(
[0.074535599, 0.372677996, 0.596284794, 0.70710678],
q0, goog.vec.EPSILON);
// Check equivalent representations of the same rotation.
angle = Math.PI / 5;
goog.vec.Vec3.setFromValues(axis, 5, -2, -10);
goog.vec.Quaternion.fromAngleAxis(angle, axis, q0);
assertElementsRoughlyEqual(
[0.136037146, -0.0544148586, -0.27207429, 0.951056516],
q0, goog.vec.EPSILON);
// The negated angle and axis should yield the same rotation.
angle = -Math.PI / 5;
goog.vec.Vec3.negate(axis, axis);
goog.vec.Quaternion.fromAngleAxis(angle, axis, q0);
assertElementsRoughlyEqual(
[0.136037146, -0.0544148586, -0.27207429, 0.951056516],
q0, goog.vec.EPSILON);
}
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