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<!DOCTYPE html>
<script src="/resources/testharness.js"></script>
<script src="/resources/testharnessreport.js"></script>
<script src="resources/webxr_test_constants.js"></script>
<script src="resources/webxr_test_asserts.js"></script>
<script src="resources/webxr_math_utils.js"></script>
<script>
let matrix_tests_name = "XRRigidTransform matrix works";
let matrix_tests = function() {
// Matrix tests for XRRigidTransform.
// Test 1. Check if matrix rotates the vector the same way as quaternion
// used to construct it. This does not perform a translation.
{
// point
const originDict = {x : 0, y : 0, z : 0, w : 1};
// quaternion - should be normalized
const orientationDict = {x : 0, y : 0.3805356, z : 0.7610712, w : 0.525322 }
let rigidTransform = new XRRigidTransform(
DOMPoint.fromPoint(originDict),
DOMPoint.fromPoint(orientationDict));
const point_0 = {x : 10, y : 11, z : 12, w : 1};
// transform the point by matrix from rigid transform
const point_transformed_0 = normalize_perspective(transform_point_by_matrix(rigidTransform.matrix, point_0));
const point_transformed_1 = transform_point_by_quaternion(orientationDict, point_0);
const point_transformed_2 = transform_point_by_quaternion(rigidTransform.orientation, point_0);
assert_point_approx_equals(
point_transformed_1, point_transformed_0,
FLOAT_EPSILON, "by-initial-quaternion-and-matrix:");
assert_point_approx_equals(
point_transformed_2, point_transformed_0,
FLOAT_EPSILON, "by-transform's-quaternion-and-matrix:");
}
};
test(matrix_tests, matrix_tests_name);
</script>
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