1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
|
<!DOCTYPE html>
<script src="/resources/testharness.js"></script>
<script src="/resources/testharnessreport.js"></script>
<script src="resources/webxr_util.js"></script>
<script src="resources/webxr_test_constants.js"></script>
<canvas id="webgl-canvas"></canvas>
<script>
let testName = "XRRigidTransform inverse works";
let fakeDeviceInitParams = { supportsImmersive: true };
let requestSessionOptions = { mode: 'immersive-vr' };
let testFunction =
(session, fakeDeviceController, t) => new Promise((resolve, reject) => {
function assert_point_approx_equals(a, b) {
assert_approx_equals(a.x, b.x, FLOAT_EPSILON);
assert_approx_equals(a.y, b.y, FLOAT_EPSILON);
assert_approx_equals(a.z, b.z, FLOAT_EPSILON);
assert_approx_equals(a.w, b.w, FLOAT_EPSILON);
};
function assert_transform_approx_equals(a, b) {
assert_point_approx_equals(a.position, b.position);
assert_point_approx_equals(a.orientation, b.orientation);
};
// An identity transform should be equal to it's inverse.
let identity_transform = new XRRigidTransform();
t.step(() => {
assert_transform_approx_equals(identity_transform, identity_transform.inverse());
});
// Inversed transforms should yield the expected results
let transform = new XRRigidTransform(
{ x: 1.0, y: 2.0, z: 3.0 },
{ x: 0.0, y: 0.0, z: 0.0, w: 1.0 });
let inverse_transform = transform.inverse();
let expected_inverse = new XRRigidTransform(
{ x: -1.0, y: -2.0, z: -3.0 },
{ x: 0.0, y: 0.0, z: 0.0, w: 1.0 });
t.step(() => {
assert_transform_approx_equals(inverse_transform, expected_inverse);
});
transform = new XRRigidTransform(
{ x: 0.0, y: 0.0, z: 0.0 },
{ x: 1.0, y: 0.0, z: 0.0, w: 1.0 });
inverse_transform = transform.inverse();
expected_inverse = new XRRigidTransform(
{ x: 0.0, y: 0.0, z: 0.0 },
{ x: -1.0, y: 0.0, z: 0.0, w: 1.0 });
t.step(() => {
assert_transform_approx_equals(inverse_transform, expected_inverse);
});
transform = new XRRigidTransform(
{ x: 1.0, y: 2.0, z: 3.0 },
{ x: 0.0, y: 1.0, z: 0.0, w: 1.0 });
inverse_transform = transform.inverse();
expected_inverse = new XRRigidTransform(
{ x: 3.0, y: -2.0, z: -1.0 },
{ x: 0.0, y: -1.0, z: 0.0, w: 1.0 });
t.step(() => {
assert_transform_approx_equals(inverse_transform, expected_inverse);
});
// Transforms should be equal to the inverse of their inverse.
transform = new XRRigidTransform(
{ x: 1.0, y: 2.0, z: 3.0 },
{ x: 1.0, y: 2.0, z: 3.0, w: 4.0 });
inverse_transform = transform.inverse();
t.step(() => {
assert_transform_approx_equals(transform, inverse_transform.inverse());
});
transform = new XRRigidTransform(
{ x: -9.0, y: 8.0, z: -7.0 },
{ x: 6.0, y: -5.0, z: 4.0, w: 3.0 });
inverse_transform = transform.inverse();
t.step(() => {
assert_transform_approx_equals(transform, inverse_transform.inverse());
});
transform = new XRRigidTransform(
{ x: -2.0, y: 1.0, z: -4.0 },
{ x: 0.0, y: 1.0, z: 0.0, w: 1.0 });
inverse_transform = transform.inverse();
t.step(() => {
assert_transform_approx_equals(transform, inverse_transform.inverse());
});
transform = new XRRigidTransform(
{ x: 2.0, y: -1.0, z: 4.0 },
{ x: 1.0, y: 0.0, z: 0.0, w: 1.0 });
inverse_transform = transform.inverse();
t.step(() => {
assert_transform_approx_equals(transform, inverse_transform.inverse());
});
resolve();
});
xr_session_promise_test(testName, testFunction, fakeDeviceInitParams,
requestSessionOptions);
</script>
|
