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//IEEE 754: single precision retricts to 7 decimal digits
const float_precision = 1e-7;
function create_matrix(quat) {
const X = quat[0];
const Y = quat[1];
const Z = quat[2];
const W = quat[3];
const mat = new Array(
1-2*Y*Y-2*Z*Z, 2*X*Y-2*Z*W, 2*X*Z+2*Y*W, 0,
2*X*Y+2*Z*W, 1-2*X*X-2*Z*Z, 2*Y*Z-2*X*W, 0,
2*X*Z-2*Y*W, 2*Y*Z+2*W*X, 1-2*X*X-2*Y*Y, 0,
0, 0, 0, 1
);
return mat;
}
async function checkQuaternion(t, sensorType) {
const sensor = new sensorType();
const eventWatcher = new EventWatcher(t, sensor, ["reading", "error"]);
sensor.start();
await eventWatcher.wait_for("reading");
assert_equals(sensor.quaternion.length, 4);
assert_true(sensor.quaternion instanceof Array);
sensor.stop();
};
async function checkPopulateMatrix(t, sensorType) {
const sensor = new sensorType();
const eventWatcher = new EventWatcher(t, sensor, ["reading", "error"]);
//Throws with insufficient buffer space.
assert_throws({ name: 'TypeError' }, () => sensor.populateMatrix(new Float32Array(15)));
//Throws if no orientation data available.
assert_throws({ name: 'NotReadableError' }, () => sensor.populateMatrix(new Float32Array(16)));
if (window.SharedArrayBuffer) {
// Throws if passed SharedArrayBuffer view.
assert_throws({ name: 'TypeError' }, () => sensor.populateMatrix(new Float32Array(new SharedArrayBuffer(16))));
}
sensor.start();
await eventWatcher.wait_for("reading");
const quat = sensor.quaternion;
const mat_expect = create_matrix(quat);
// Works for all supported types.
const mat_32 = new Float32Array(16);
sensor.populateMatrix(mat_32);
assert_array_approx_equals(mat_32, mat_expect, float_precision);
const mat_64 = new Float64Array(16);
sensor.populateMatrix(mat_64);
assert_array_equals(mat_64, mat_expect);
const mat_dom = new DOMMatrix();
sensor.populateMatrix(mat_dom);
assert_array_equals(mat_dom.toFloat64Array(), mat_expect);
// Sets every matrix element.
mat_64.fill(123);
sensor.populateMatrix(mat_64);
assert_array_equals(mat_64, mat_expect);
sensor.stop();
}
function runOrienationSensorTests(sensorName) {
const sensorType = self[sensorName];
sensor_test(async t => {
assert_true(sensorName in self);
return checkQuaternion(t, sensorType);
}, `${sensorName}.quaternion return a four-element FrozenArray.`);
sensor_test(async t => {
assert_true(sensorName in self);
return checkPopulateMatrix(t, sensorType);
}, `${sensorName}.populateMatrix() method works correctly.`);
}
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