/**
* @license
* Copyright The Closure Library Authors.
* SPDX-License-Identifier: Apache-2.0
*/
////////////////////////// NOTE ABOUT EDITING THIS FILE ///////////////////////
// //
// Any edits to this file must be applied to mat3f_test.js by running: //
// swap_type.sh mat3d_test.js > mat3f_test.js //
// //
////////////////////////// NOTE ABOUT EDITING THIS FILE ///////////////////////
goog.module('goog.vec.mat3dTest');
goog.setTestOnly();
const mat3d = goog.require('goog.vec.mat3d');
const testSuite = goog.require('goog.testing.testSuite');
const vec = goog.require('goog.vec');
const randommat3d = mat3d.setFromValues(
mat3d.create(), 0.8025078773498535, 0.7559120655059814, 0.15274643898010254,
0.19196106493473053, 0.0890120416879654, 0.15422114729881287,
0.09754583984613419, 0.44862601161003113, 0.9196512699127197);
testSuite({
testCreate() {
const m = mat3d.create();
assertElementsEquals([0, 0, 0, 0, 0, 0, 0, 0, 0], m);
},
testCreateIdentity() {
const m = mat3d.createIdentity();
assertElementsEquals([1, 0, 0, 0, 1, 0, 0, 0, 1], m);
},
/** @suppress {checkTypes} suppression added to enable type checking */
testSet() {
const m0 = mat3d.create();
const m1 = mat3d.setFromArray(mat3d.create(), [1, 2, 3, 4, 5, 6, 7, 8, 9]);
mat3d.setFromArray(m0, m1);
assertElementsEquals([1, 2, 3, 4, 5, 6, 7, 8, 9], m0);
mat3d.setFromValues(m0, 2, 3, 4, 5, 6, 7, 8, 9, 10);
assertElementsEquals([2, 3, 4, 5, 6, 7, 8, 9, 10], m0);
},
/** @suppress {checkTypes} suppression added to enable type checking */
testSetDiagonal() {
const m0 = mat3d.create();
mat3d.setDiagonalValues(m0, 1, 2, 3);
assertElementsEquals([1, 0, 0, 0, 2, 0, 0, 0, 3], m0);
mat3d.setDiagonal(m0, [4, 5, 6]);
assertElementsEquals([4, 0, 0, 0, 5, 0, 0, 0, 6], m0);
},
/** @suppress {checkTypes} suppression added to enable type checking */
testSetGetColumn() {
const m0 = mat3d.create();
mat3d.setColumn(m0, 0, [1, 2, 3]);
mat3d.setColumn(m0, 1, [4, 5, 6]);
mat3d.setColumn(m0, 2, [7, 8, 9]);
assertElementsEquals([1, 2, 3, 4, 5, 6, 7, 8, 9], m0);
const v0 = [0, 0, 0];
mat3d.getColumn(m0, 0, v0);
assertElementsEquals([1, 2, 3], v0);
mat3d.getColumn(m0, 1, v0);
assertElementsEquals([4, 5, 6], v0);
mat3d.getColumn(m0, 2, v0);
assertElementsEquals([7, 8, 9], v0);
},
/** @suppress {checkTypes} suppression added to enable type checking */
testSetGetColumns() {
const m0 = mat3d.create();
mat3d.setColumns(m0, [1, 2, 3], [4, 5, 6], [7, 8, 9]);
assertElementsEquals([1, 2, 3, 4, 5, 6, 7, 8, 9], m0);
const v0 = [0, 0, 0];
const v1 = [0, 0, 0];
const v2 = [0, 0, 0];
mat3d.getColumns(m0, v0, v1, v2);
assertElementsEquals([1, 2, 3], v0);
assertElementsEquals([4, 5, 6], v1);
assertElementsEquals([7, 8, 9], v2);
},
/** @suppress {checkTypes} suppression added to enable type checking */
testSetGetRow() {
const m0 = mat3d.create();
mat3d.setRow(m0, 0, [1, 2, 3]);
mat3d.setRow(m0, 1, [4, 5, 6]);
mat3d.setRow(m0, 2, [7, 8, 9]);
assertElementsEquals([1, 4, 7, 2, 5, 8, 3, 6, 9], m0);
const v0 = [0, 0, 0];
mat3d.getRow(m0, 0, v0);
assertElementsEquals([1, 2, 3], v0);
mat3d.getRow(m0, 1, v0);
assertElementsEquals([4, 5, 6], v0);
mat3d.getRow(m0, 2, v0);
assertElementsEquals([7, 8, 9], v0);
},
/** @suppress {checkTypes} suppression added to enable type checking */
testSetGetRows() {
const m0 = mat3d.create();
mat3d.setRows(m0, [1, 2, 3], [4, 5, 6], [7, 8, 9]);
assertElementsEquals([1, 4, 7, 2, 5, 8, 3, 6, 9], m0);
const v0 = [0, 0, 0];
const v1 = [0, 0, 0];
const v2 = [0, 0, 0];
mat3d.getRows(m0, v0, v1, v2);
assertElementsEquals([1, 2, 3], v0);
assertElementsEquals([4, 5, 6], v1);
assertElementsEquals([7, 8, 9], v2);
},
testMakeZero() {
const m0 = mat3d.setFromArray(mat3d.create(), [1, 2, 3, 4, 5, 6, 7, 8, 9]);
assertElementsEquals([1, 2, 3, 4, 5, 6, 7, 8, 9], m0);
mat3d.makeZero(m0);
assertElementsEquals([0, 0, 0, 0, 0, 0, 0, 0, 0], m0);
},
testMakeIdentity() {
const m0 = mat3d.create();
mat3d.makeIdentity(m0);
assertElementsEquals([1, 0, 0, 0, 1, 0, 0, 0, 1], m0);
},
testSetGetElement() {
const m0 = mat3d.create();
for (let r = 0; r < 3; r++) {
for (let c = 0; c < 3; c++) {
const value = c * 3 + r + 1;
mat3d.setElement(m0, r, c, value);
assertEquals(value, mat3d.getElement(m0, r, c));
}
}
assertElementsEquals([1, 2, 3, 4, 5, 6, 7, 8, 9], m0);
},
testAddMat() {
const m0 = mat3d.setFromValues(mat3d.create(), 1, 2, 3, 4, 5, 6, 7, 8, 9);
const m1 = mat3d.setFromValues(mat3d.create(), 3, 4, 5, 6, 7, 8, 9, 1, 2);
const m2 = mat3d.create();
mat3d.addMat(m0, m1, m2);
assertElementsEquals([1, 2, 3, 4, 5, 6, 7, 8, 9], m0);
assertElementsEquals([3, 4, 5, 6, 7, 8, 9, 1, 2], m1);
assertElementsEquals([4, 6, 8, 10, 12, 14, 16, 9, 11], m2);
mat3d.addMat(m0, m1, m0);
assertElementsEquals([3, 4, 5, 6, 7, 8, 9, 1, 2], m1);
assertElementsEquals([4, 6, 8, 10, 12, 14, 16, 9, 11], m0);
},
testSubMat() {
const m0 = mat3d.setFromValues(mat3d.create(), 1, 2, 3, 4, 5, 6, 7, 8, 9);
const m1 = mat3d.setFromValues(mat3d.create(), 3, 4, 5, 6, 7, 8, 9, 1, 2);
const m2 = mat3d.create();
mat3d.subMat(m0, m1, m2);
assertElementsEquals([1, 2, 3, 4, 5, 6, 7, 8, 9], m0);
assertElementsEquals([3, 4, 5, 6, 7, 8, 9, 1, 2], m1);
assertElementsEquals([-2, -2, -2, -2, -2, -2, -2, 7, 7], m2);
mat3d.subMat(m1, m0, m1);
assertElementsEquals([1, 2, 3, 4, 5, 6, 7, 8, 9], m0);
assertElementsEquals([2, 2, 2, 2, 2, 2, 2, -7, -7], m1);
},
testMultScalar() {
const m0 = mat3d.setFromValues(mat3d.create(), 1, 2, 3, 4, 5, 6, 7, 8, 9);
const m1 = mat3d.create();
mat3d.multScalar(m0, 5, m1);
assertElementsEquals([1, 2, 3, 4, 5, 6, 7, 8, 9], m0);
assertElementsEquals([5, 10, 15, 20, 25, 30, 35, 40, 45], m1);
mat3d.multScalar(m0, 5, m0);
assertElementsEquals([5, 10, 15, 20, 25, 30, 35, 40, 45], m0);
},
testMultMat() {
const m0 = mat3d.setFromValues(mat3d.create(), 1, 2, 3, 4, 5, 6, 7, 8, 9);
const m1 = mat3d.setFromValues(mat3d.create(), 1, 2, 3, 4, 5, 6, 7, 8, 9);
const m2 = mat3d.create();
mat3d.multMat(m0, m1, m2);
assertElementsEquals([30, 36, 42, 66, 81, 96, 102, 126, 150], m2);
mat3d.addMat(m0, m1, m1);
mat3d.multMat(m0, m1, m1);
assertElementsEquals([60, 72, 84, 132, 162, 192, 204, 252, 300], m1);
},
testTranspose() {
const m0 = mat3d.setFromValues(mat3d.create(), 1, 2, 3, 4, 5, 6, 7, 8, 9);
const m1 = mat3d.create();
mat3d.transpose(m0, m1);
assertElementsEquals([1, 4, 7, 2, 5, 8, 3, 6, 9], m1);
mat3d.transpose(m1, m1);
assertElementsEquals([1, 2, 3, 4, 5, 6, 7, 8, 9], m1);
},
testInvert() {
const m0 = mat3d.setFromValues(mat3d.create(), 1, 1, 1, 1, 1, 1, 1, 1, 1);
assertFalse(mat3d.invert(m0, m0));
assertElementsEquals([1, 1, 1, 1, 1, 1, 1, 1, 1], m0);
mat3d.setFromValues(m0, 1, 2, 3, 1, 3, 4, 3, 4, 5);
assertTrue(mat3d.invert(m0, m0));
assertElementsEquals([0.5, -1.0, 0.5, -3.5, 2.0, 0.5, 2.5, -1.0, -0.5], m0);
mat3d.makeScale(m0, .01, .01, .01);
assertTrue(mat3d.invert(m0, m0));
const m1 = mat3d.create();
mat3d.makeScale(m1, 100, 100, 100);
assertElementsEquals(m1, m0);
},
testEquals() {
const m0 = mat3d.setFromValues(mat3d.create(), 1, 2, 3, 4, 5, 6, 7, 8, 9);
/** @suppress {checkTypes} suppression added to enable type checking */
const m1 = mat3d.setFromArray(mat3d.create(), m0);
assertTrue(mat3d.equals(m0, m1));
assertTrue(mat3d.equals(m1, m0));
for (let i = 0; i < 9; i++) {
m1[i] = 15;
assertFalse(mat3d.equals(m0, m1));
assertFalse(mat3d.equals(m1, m0));
m1[i] = i + 1;
}
},
/** @suppress {checkTypes} suppression added to enable type checking */
testMultVec3() {
const m0 = mat3d.setFromValues(mat3d.create(), 1, 2, 3, 4, 5, 6, 7, 8, 9);
const v0 = [1, 2, 3];
const v1 = [0, 0, 0];
mat3d.multVec3(m0, v0, v1);
assertElementsEquals([30, 36, 42], v1);
mat3d.multVec3(m0, v0, v0);
assertElementsEquals([30, 36, 42], v0);
},
testSetValues() {
const a0 = mat3d.create();
assertElementsEquals([0, 0, 0, 0, 0, 0, 0, 0, 0], a0);
mat3d.setFromValues(a0, 1, 2, 3, 4, 5, 6, 7, 8, 9);
assertElementsEquals([1, 2, 3, 4, 5, 6, 7, 8, 9], a0);
const a1 = mat3d.create();
mat3d.setDiagonalValues(a1, 1, 2, 3);
assertElementsEquals([1, 0, 0, 0, 2, 0, 0, 0, 3], a1);
mat3d.setColumnValues(a1, 0, 2, 3, 4);
mat3d.setColumnValues(a1, 1, 5, 6, 7);
mat3d.setColumnValues(a1, 2, 8, 9, 1);
assertElementsEquals([2, 3, 4, 5, 6, 7, 8, 9, 1], a1);
mat3d.setRowValues(a1, 0, 1, 4, 7);
mat3d.setRowValues(a1, 1, 2, 5, 8);
mat3d.setRowValues(a1, 2, 3, 6, 9);
assertElementsEquals([1, 2, 3, 4, 5, 6, 7, 8, 9], a1);
},
testMakeTranslate() {
const m0 = mat3d.create();
mat3d.makeTranslate(m0, 3, 4);
assertElementsEquals([1, 0, 0, 0, 1, 0, 3, 4, 1], m0);
},
testMakeScale() {
const m0 = mat3d.create();
mat3d.makeScale(m0, 3, 4, 5);
assertElementsEquals([3, 0, 0, 0, 4, 0, 0, 0, 5], m0);
},
testMakeRotate() {
const m0 = mat3d.create();
mat3d.makeRotate(m0, Math.PI / 2, 0, 0, 1);
const v0 = [0, 1, 0, -1, 0, 0, 0, 0, 1];
assertElementsRoughlyEqual(m0, v0, vec.EPSILON);
const m1 = mat3d.create();
mat3d.makeRotate(m1, -Math.PI / 4, 0, 0, 1);
mat3d.multMat(m0, m1, m1);
const v1 = [0.7071068, 0.7071068, 0, -0.7071068, 0.7071068, 0, 0, 0, 1];
assertElementsRoughlyEqual(m1, v1, vec.EPSILON);
},
testMakeRotateX() {
const m0 = mat3d.create();
const m1 = mat3d.create();
mat3d.makeRotateX(m0, Math.PI / 7);
mat3d.makeRotate(m1, Math.PI / 7, 1, 0, 0);
assertElementsRoughlyEqual(m0, m1, vec.EPSILON);
},
testMakeRotateY() {
const m0 = mat3d.create();
const m1 = mat3d.create();
mat3d.makeRotateY(m0, Math.PI / 7);
mat3d.makeRotate(m1, Math.PI / 7, 0, 1, 0);
assertElementsRoughlyEqual(m0, m1, vec.EPSILON);
},
testMakeRotateZ() {
const m0 = mat3d.create();
const m1 = mat3d.create();
mat3d.makeRotateZ(m0, Math.PI / 7);
mat3d.makeRotate(m1, Math.PI / 7, 0, 0, 1);
assertElementsRoughlyEqual(m0, m1, vec.EPSILON);
},
testRotate() {
const m0 = mat3d.makeIdentity(mat3d.create());
mat3d.rotate(m0, Math.PI / 2, 0, 0, 1);
assertElementsRoughlyEqual([0, 1, 0, -1, 0, 0, 0, 0, 1], m0, vec.EPSILON);
mat3d.rotate(m0, -Math.PI / 4, 0, 0, 1);
assertElementsRoughlyEqual(
[0.7071068, 0.7071068, 0, -0.7071068, 0.7071068, 0, 0, 0, 1], m0,
vec.EPSILON);
},
testRotateX() {
const m0 = mat3d.create();
/** @suppress {checkTypes} suppression added to enable type checking */
const m1 = mat3d.setFromArray(mat3d.create(), randommat3d);
mat3d.makeRotateX(m0, Math.PI / 7);
mat3d.multMat(m1, m0, m0);
mat3d.rotateX(m1, Math.PI / 7);
assertElementsRoughlyEqual(m0, m1, vec.EPSILON);
},
testRotateY() {
const m0 = mat3d.create();
/** @suppress {checkTypes} suppression added to enable type checking */
const m1 = mat3d.setFromArray(mat3d.create(), randommat3d);
mat3d.makeRotateY(m0, Math.PI / 7);
mat3d.multMat(m1, m0, m0);
mat3d.rotateY(m1, Math.PI / 7);
assertElementsRoughlyEqual(m0, m1, vec.EPSILON);
},
testRotateZ() {
const m0 = mat3d.create();
/** @suppress {checkTypes} suppression added to enable type checking */
const m1 = mat3d.setFromArray(mat3d.create(), randommat3d);
mat3d.makeRotateZ(m0, Math.PI / 7);
mat3d.multMat(m1, m0, m0);
mat3d.rotateZ(m1, Math.PI / 7);
assertElementsRoughlyEqual(m0, m1, vec.EPSILON);
},
/** @suppress {checkTypes} suppression added to enable type checking */
testMakeEulerZXZ() {
const m0 = mat3d.create();
const roll = 0.200982 * 2 * Math.PI;
const tilt = 0.915833 * Math.PI;
const yaw = 0.839392 * 2 * Math.PI;
mat3d.makeRotate(m0, roll, 0, 0, 1);
mat3d.rotate(m0, tilt, 1, 0, 0);
mat3d.rotate(m0, yaw, 0, 0, 1);
const m1 = mat3d.create();
mat3d.makeEulerZXZ(m1, roll, tilt, yaw);
assertElementsRoughlyEqual(m0, m1, vec.EPSILON);
let euler = [0, 0, 0];
mat3d.toEulerZXZ(m0, euler);
assertRoughlyEquals(roll, euler[0], vec.EPSILON);
assertRoughlyEquals(tilt, euler[1], vec.EPSILON);
assertRoughlyEquals(yaw, euler[2], vec.EPSILON);
// Test negative tilt now.
mat3d.makeRotate(m0, roll, 0, 0, 1);
mat3d.rotate(m0, -tilt, 1, 0, 0);
mat3d.rotate(m0, yaw, 0, 0, 1);
mat3d.makeEulerZXZ(m1, roll, -tilt, yaw);
assertElementsRoughlyEqual(m0, m1, vec.EPSILON);
euler = [0, 0, 0];
mat3d.toEulerZXZ(m0, euler, true);
assertRoughlyEquals(roll, euler[0], vec.EPSILON);
assertRoughlyEquals(-tilt, euler[1], vec.EPSILON);
assertRoughlyEquals(yaw, euler[2], vec.EPSILON);
},
/** @suppress {checkTypes} suppression added to enable type checking */
testEulerZXZExtrema() {
const m0 = mat3d.setFromArray(mat3d.create(), [1, 0, 0, 0, 0, -1, 0, 1, 0]);
const m1 = mat3d.setFromArray(mat3d.create(), [0, 0, 0, 0, 0, 0, 0, 0, 0]);
const euler = [0, 0, 0];
mat3d.toEulerZXZ(m0, euler);
assertElementsRoughlyEqual(
[Math.PI, Math.PI / 2, Math.PI], euler, vec.EPSILON);
mat3d.makeEulerZXZ(m1, euler[0], euler[1], euler[2]);
assertElementsRoughlyEqual(m0, m1, vec.EPSILON);
},
});
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