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// Copyright 2019 The Chromium Authors
// Use of this source code is governed by a BSD-style license that can be
// found in the LICENSE file.
#include "third_party/blink/renderer/modules/xr/xr_rigid_transform.h"
#include <algorithm>
#include "testing/gmock/include/gmock/gmock.h"
#include "testing/gtest/include/gtest/gtest.h"
#include "third_party/blink/renderer/bindings/core/v8/script_value.h"
#include "third_party/blink/renderer/bindings/core/v8/v8_binding_for_core.h"
#include "third_party/blink/renderer/bindings/core/v8/v8_binding_for_testing.h"
#include "third_party/blink/renderer/modules/xr/xr_test_utils.h"
#include "third_party/blink/renderer/modules/xr/xr_utils.h"
#include "third_party/blink/renderer/platform/bindings/script_state.h"
#include "third_party/blink/renderer/platform/heap/garbage_collected.h"
#include "third_party/blink/renderer/platform/testing/task_environment.h"
namespace blink {
namespace {
static void AssertDOMPointsEqualForTest(const DOMPointReadOnly* a,
const DOMPointReadOnly* b) {
ASSERT_NEAR(a->x(), b->x(), kEpsilon);
ASSERT_NEAR(a->y(), b->y(), kEpsilon);
ASSERT_NEAR(a->z(), b->z(), kEpsilon);
ASSERT_NEAR(a->w(), b->w(), kEpsilon);
}
static void AssertMatricesEqualForTest(const gfx::Transform& a,
const gfx::Transform& b) {
const Vector<double> a_data = GetMatrixDataForTest(a);
const Vector<double> b_data = GetMatrixDataForTest(b);
for (int i = 0; i < 16; ++i) {
ASSERT_NEAR(a_data[i], b_data[i], kEpsilon);
}
}
static void AssertTransformsEqualForTest(XRRigidTransform* a,
XRRigidTransform* b) {
AssertDOMPointsEqualForTest(a->position(), b->position());
AssertDOMPointsEqualForTest(a->orientation(), b->orientation());
AssertMatricesEqualForTest(a->TransformMatrix(), b->TransformMatrix());
}
static void TestComposeDecompose(DOMPointInit* position,
DOMPointInit* orientation) {
XRRigidTransform* transform_1 =
MakeGarbageCollected<XRRigidTransform>(position, orientation);
XRRigidTransform* transform_2 =
MakeGarbageCollected<XRRigidTransform>(transform_1->TransformMatrix());
AssertTransformsEqualForTest(transform_1, transform_2);
}
static void TestDoubleInverse(DOMPointInit* position,
DOMPointInit* orientation) {
XRRigidTransform* transform =
MakeGarbageCollected<XRRigidTransform>(position, orientation);
XRRigidTransform* inverse_transform = MakeGarbageCollected<XRRigidTransform>(
transform->InverseTransformMatrix());
XRRigidTransform* inverse_inverse_transform =
MakeGarbageCollected<XRRigidTransform>(
inverse_transform->InverseTransformMatrix());
AssertTransformsEqualForTest(transform, inverse_inverse_transform);
}
TEST(XRRigidTransformTest, Compose) {
test::TaskEnvironment task_environment;
DOMPointInit* position = MakePointForTest(1.0, 2.0, 3.0, 1.0);
DOMPointInit* orientation = MakePointForTest(0.7071068, 0.0, 0.0, 0.7071068);
XRRigidTransform* transform =
MakeGarbageCollected<XRRigidTransform>(position, orientation);
const Vector<double> actual_matrix =
GetMatrixDataForTest(transform->TransformMatrix());
const Vector<double> expected_matrix{1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0,
0.0, -1.0, 0.0, 0.0, 1.0, 2.0, 3.0, 1.0};
for (int i = 0; i < 16; ++i) {
ASSERT_NEAR(actual_matrix[i], expected_matrix[i], kEpsilon);
}
}
TEST(XRRigidTransformTest, Decompose) {
test::TaskEnvironment task_environment;
auto matrix =
gfx::Transform::ColMajor(1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0,
-1.0, 0.0, 0.0, 1.0, 2.0, 3.0, 1.0);
XRRigidTransform* transform = MakeGarbageCollected<XRRigidTransform>(matrix);
const DOMPointReadOnly* expected_position =
MakeGarbageCollected<DOMPointReadOnly>(1.0, 2.0, 3.0, 1.0);
const DOMPointReadOnly* expected_orientation =
MakeGarbageCollected<DOMPointReadOnly>(0.7071068, 0.0, 0.0, 0.7071068);
AssertDOMPointsEqualForTest(transform->position(), expected_position);
AssertDOMPointsEqualForTest(transform->orientation(), expected_orientation);
}
TEST(XRRigidTransformTest, ComposeDecompose) {
test::TaskEnvironment task_environment;
TestComposeDecompose(MakePointForTest(1.0, -1.0, 4.0, 1.0),
MakePointForTest(1.0, 0.0, 0.0, 1.0));
}
TEST(XRRigidTransformTest, ComposeDecompose2) {
test::TaskEnvironment task_environment;
TestComposeDecompose(
MakePointForTest(1.0, -1.0, 4.0, 1.0),
MakePointForTest(0.3701005885691383, -0.5678993882056005,
0.31680366148754113, 0.663438979322567));
}
TEST(XRRigidTransformTest, DoubleInverse) {
test::TaskEnvironment task_environment;
TestDoubleInverse(MakePointForTest(1.0, -1.0, 4.0, 1.0),
MakePointForTest(1.0, 0.0, 0.0, 1.0));
}
TEST(XRRigidTransformTest, DoubleInverse2) {
test::TaskEnvironment task_environment;
TestDoubleInverse(MakePointForTest(1.0, -1.0, 4.0, 1.0),
MakePointForTest(0.3701005885691383, -0.5678993882056005,
0.31680366148754113, 0.663438979322567));
}
TEST(XRRigidTransformTest, InverseObjectEquality) {
test::TaskEnvironment task_environment;
XRRigidTransform* transform = MakeGarbageCollected<XRRigidTransform>(
MakePointForTest(1.0, 2.0, 3.0, 4.0),
MakePointForTest(1.0, 0.0, 0.0, 1.0));
XRRigidTransform* transform_inverse = transform->inverse();
ASSERT_TRUE(transform_inverse != transform);
ASSERT_TRUE(transform_inverse == transform->inverse());
ASSERT_TRUE(transform_inverse->inverse() == transform);
ASSERT_TRUE(transform->inverse()->inverse() == transform);
}
} // namespace
} // namespace blink
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