| /* Copyright (c) 2015, Brandon Jones, Colin MacKenzie IV. |
| |
| Permission is hereby granted, free of charge, to any person obtaining a copy |
| of this software and associated documentation files (the "Software"), to deal |
| in the Software without restriction, including without limitation the rights |
| to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
| copies of the Software, and to permit persons to whom the Software is |
| furnished to do so, subject to the following conditions: |
| |
| The above copyright notice and this permission notice shall be included in |
| all copies or substantial portions of the Software. |
| |
| THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
| IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
| FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
| AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
| LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
| OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
| THE SOFTWARE. */ |
| |
| describe("quat", function() { |
| var mat3 = require("../../src/gl-matrix/mat3.js"); |
| var mat4 = require("../../src/gl-matrix/mat4.js"); |
| var quat = require("../../src/gl-matrix/quat.js"); |
| var vec3 = require("../../src/gl-matrix/vec3.js"); |
| |
| var out, quatA, quatB, result; |
| var vec, id, deg90; |
| |
| beforeEach(function() { |
| quatA = [1, 2, 3, 4]; |
| quatB = [5, 6, 7, 8]; |
| out = [0, 0, 0, 0]; |
| vec = [1, 1, -1]; |
| id = [0, 0, 0, 1]; |
| deg90 = Math.PI / 2; |
| }); |
| |
| describe("slerp", function() { |
| describe("the normal case", function() { |
| beforeEach(function() { |
| result = quat.slerp(out, [0, 0, 0, 1], [0, 1, 0, 0], 0.5); |
| }); |
| |
| it("should return out", function() { expect(result).toBe(out); }); |
| it("should calculate proper quat", function() { |
| expect(result).toBeEqualish([0, 0.707106, 0, 0.707106]); |
| }); |
| }); |
| |
| describe("where a == b", function() { |
| beforeEach(function() { |
| result = quat.slerp(out, [0, 0, 0, 1], [0, 0, 0, 1], 0.5); |
| }); |
| |
| it("should return out", function() { expect(result).toBe(out); }); |
| it("should calculate proper quat", function() { |
| expect(result).toBeEqualish([0, 0, 0, 1]); |
| }); |
| }); |
| |
| describe("where theta == 180deg", function() { |
| beforeEach(function() { |
| quat.rotateX(quatA, [1,0,0,0], Math.PI); // 180 deg |
| result = quat.slerp(out, [1,0,0,0], quatA, 1); |
| }); |
| |
| it("should calculate proper quat", function() { |
| expect(result).toBeEqualish([0,0,0,-1]); |
| }); |
| }); |
| |
| describe("where a == -b", function() { |
| beforeEach(function() { |
| result = quat.slerp(out, [1, 0, 0, 0], [-1, 0, 0, 0], 0.5); |
| }); |
| |
| it("should return out", function() { expect(result).toBe(out); }); |
| it("should calculate proper quat", function() { |
| expect(result).toBeEqualish([1, 0, 0, 0]); |
| }); |
| }); |
| }); |
| |
| describe("rotateX", function() { |
| beforeEach(function() { |
| result = quat.rotateX(out, id, deg90); |
| }); |
| |
| it("should return out", function() { expect(result).toBe(out); }); |
| it("should transform vec accordingly", function() { |
| vec3.transformQuat(vec, [0,0,-1], out); |
| expect(vec).toBeEqualish([0, 1, 0]); |
| }); |
| }); |
| |
| describe("rotateY", function() { |
| beforeEach(function() { |
| result = quat.rotateY(out, id, deg90); |
| }); |
| |
| it("should return out", function() { expect(result).toBe(out); }); |
| it("should transform vec accordingly", function() { |
| vec3.transformQuat(vec, [0,0,-1], out); |
| expect(vec).toBeEqualish([-1, 0, 0]); |
| }); |
| }); |
| |
| describe("rotateZ", function() { |
| beforeEach(function() { |
| result = quat.rotateZ(out, id, deg90); |
| }); |
| |
| it("should return out", function() { expect(result).toBe(out); }); |
| it("should transform vec accordingly", function() { |
| vec3.transformQuat(vec, [0,1,0], out); |
| expect(vec).toBeEqualish([-1, 0, 0]); |
| }); |
| }); |
| |
| describe("fromMat3", function() { |
| var matr; |
| |
| describe("legacy", function() { |
| beforeEach(function() { |
| matr = [ 1, 0, 0, |
| 0, 0, -1, |
| 0, 1, 0 ]; |
| result = quat.fromMat3(out, matr); |
| }); |
| |
| it("should set dest to the correct value", function() { |
| expect(result).toBeEqualish([-0.707106, 0, 0, 0.707106]); |
| }); |
| }); |
| |
| describe("where trace > 0", function() { |
| beforeEach(function() { |
| matr = [ 1, 0, 0, |
| 0, 0, -1, |
| 0, 1, 0 ]; |
| result = quat.fromMat3(out, matr); |
| }); |
| |
| it("should return out", function() { expect(result).toBe(out); }); |
| |
| it("should produce the correct transformation", function() { |
| expect(vec3.transformQuat([], [0,1,0], out)).toBeEqualish([0,0,-1]); |
| }); |
| }); |
| |
| describe("from a normal matrix looking 'backward'", function() { |
| beforeEach(function() { |
| matr = mat3.create(); |
| mat3.transpose(matr, mat3.invert(matr, mat3.fromMat4(matr, mat4.lookAt(mat4.create(), [0, 0, 0], [0, 0, 1], [0, 1, 0])))); |
| result = quat.fromMat3(out, matr); |
| }); |
| |
| it("should return out", function() { expect(result).toBe(out); }); |
| |
| it("should produce the same transformation as the given matrix", function() { |
| expect(vec3.transformQuat([], [3,2,-1], quat.normalize(out, out))).toBeEqualish(vec3.transformMat3([], [3,2,-1], matr)); |
| }); |
| }); |
| |
| describe("from a normal matrix looking 'left' and 'upside down'", function() { |
| beforeEach(function() { |
| matr = mat3.create(); |
| mat3.transpose(matr, mat3.invert(matr, mat3.fromMat4(matr, mat4.lookAt(mat4.create(), [0, 0, 0], [-1, 0, 0], [0, -1, 0])))); |
| result = quat.fromMat3(out, matr); |
| }); |
| |
| it("should return out", function() { expect(result).toBe(out); }); |
| |
| it("should produce the same transformation as the given matrix", function() { |
| expect(vec3.transformQuat([], [3,2,-1], quat.normalize(out, out))).toBeEqualish(vec3.transformMat3([], [3,2,-1], matr)); |
| }); |
| }); |
| |
| describe("from a normal matrix looking 'upside down'", function() { |
| beforeEach(function() { |
| matr = mat3.create(); |
| mat3.transpose(matr, mat3.invert(matr, mat3.fromMat4(matr, mat4.lookAt(mat4.create(), [0, 0, 0], [0, 0, -1], [0, -1, 0])))); |
| result = quat.fromMat3(out, matr); |
| }); |
| |
| it("should return out", function() { expect(result).toBe(out); }); |
| |
| it("should produce the same transformation as the given matrix", function() { |
| expect(vec3.transformQuat([], [3,2,-1], quat.normalize(out, out))).toBeEqualish(vec3.transformMat3([], [3,2,-1], matr)); |
| }); |
| }); |
| }); |
| |
| describe("setAxes", function() { |
| var r; |
| beforeEach(function() { r = vec3.create(); }); |
| |
| describe("looking left", function() { |
| var view, up, right; |
| beforeEach(function() { |
| view = [-1, 0, 0]; |
| up = [ 0, 1, 0]; |
| right= [ 0, 0,-1]; |
| result = quat.setAxes([], view, right, up); |
| }); |
| |
| it("should transform local view into world left", function() { |
| r = vec3.transformQuat([], [0,0,-1], result); |
| expect(r).toBeEqualish([1, 0, 0]); |
| }); |
| |
| it("should transform local right into world front", function() { |
| r = vec3.transformQuat([], [1,0,0], result); |
| expect(r).toBeEqualish([0, 0, 1]); |
| }); |
| }); |
| |
| describe("given opengl defaults", function() { |
| var view, up, right; |
| beforeEach(function() { |
| view = [0, 0, -1]; |
| up = [0, 1, 0]; |
| right= [1, 0, 0]; |
| result = quat.setAxes(out, view, right, up); |
| }); |
| |
| it("should return out", function() { |
| expect(result).toBe(out); |
| }); |
| |
| it("should produce identity", function() { |
| expect(out).toBeEqualish([0, 0, 0, 1]); |
| }); |
| }); |
| |
| describe("legacy example", function() { |
| var view, up, right; |
| beforeEach(function() { |
| right= [1, 0, 0]; |
| up = [0, 0, 1]; |
| view = [0, -1, 0]; |
| result = quat.setAxes(out, view, right, up); |
| }); |
| |
| xit("should set correct quat4 values", function() { |
| expect(result).toBeEqualish([0.707106, 0, 0, 0.707106]); |
| }); |
| }); |
| }); |
| |
| describe("rotationTo", function() { |
| var r; |
| beforeEach(function() { r = vec3.create(); }); |
| |
| describe("at right angle", function() { |
| beforeEach(function() { |
| result = quat.rotationTo(out, [0, 1, 0], [1, 0, 0]); |
| }); |
| |
| it("should return out", function() { expect(result).toBe(out); }); |
| |
| it("should calculate proper quaternion", function() { |
| expect(out).toBeEqualish([0, 0, -0.707106, 0.707106]); |
| }); |
| }); |
| |
| describe("when vectors are parallel", function() { |
| beforeEach(function() { |
| result = quat.rotationTo(out, [0, 1, 0], [0, 1, 0]); |
| }); |
| |
| it("should return out", function() { expect(result).toBe(out); }); |
| |
| it("multiplying A should produce B", function() { |
| expect(vec3.transformQuat(r, [0, 1, 0], out)).toBeEqualish([0, 1, 0]); |
| }); |
| }); |
| |
| describe("when vectors are opposed X", function() { |
| beforeEach(function() { |
| result = quat.rotationTo(out, [1, 0, 0], [-1, 0, 0]); |
| }); |
| |
| it("should return out", function() { expect(result).toBe(out); }); |
| |
| it("multiplying A should produce B", function() { |
| expect(vec3.transformQuat(r, [1, 0, 0], out)).toBeEqualish([-1, 0, 0]); |
| }); |
| }); |
| |
| describe("when vectors are opposed Y", function() { |
| beforeEach(function() { |
| result = quat.rotationTo(out, [0, 1, 0], [0, -1, 0]); |
| }); |
| |
| it("should return out", function() { expect(result).toBe(out); }); |
| |
| it("multiplying A should produce B", function() { |
| expect(vec3.transformQuat(r, [0, 1, 0], out)).toBeEqualish([0, -1, 0]); |
| }); |
| }); |
| |
| describe("when vectors are opposed Z", function() { |
| beforeEach(function() { |
| result = quat.rotationTo(out, [0, 0, 1], [0, 0, -1]); |
| }); |
| |
| it("should return out", function() { expect(result).toBe(out); }); |
| |
| it("multiplying A should produce B", function() { |
| expect(vec3.transformQuat(r, [0, 0, 1], out)).toBeEqualish([0, 0, -1]); |
| }); |
| }); |
| }); |
| |
| describe("create", function() { |
| beforeEach(function() { result = quat.create(); }); |
| it("should return a 4 element array initialized to an identity quaternion", function() { expect(result).toBeEqualish([0, 0, 0, 1]); }); |
| }); |
| |
| describe("clone", function() { |
| beforeEach(function() { result = quat.clone(quatA); }); |
| it("should return a 4 element array initialized to the values in quatA", function() { expect(result).toBeEqualish(quatA); }); |
| }); |
| |
| describe("fromValues", function() { |
| beforeEach(function() { result = quat.fromValues(1, 2, 3, 4); }); |
| it("should return a 4 element array initialized to the values passed", function() { expect(result).toBeEqualish([1, 2, 3, 4]); }); |
| }); |
| |
| describe("copy", function() { |
| beforeEach(function() { result = quat.copy(out, quatA); }); |
| it("should place values into out", function() { expect(out).toBeEqualish([1, 2, 3, 4]); }); |
| it("should return out", function() { expect(result).toBe(out); }); |
| }); |
| |
| describe("set", function() { |
| beforeEach(function() { result = quat.set(out, 1, 2, 3, 4); }); |
| it("should place values into out", function() { expect(out).toBeEqualish([1, 2, 3, 4]); }); |
| it("should return out", function() { expect(result).toBe(out); }); |
| }); |
| |
| describe("identity", function() { |
| beforeEach(function() { result = quat.identity(out); }); |
| it("should place values into out", function() { expect(result).toBeEqualish([0, 0, 0, 1]); }); |
| it("should return out", function() { expect(result).toBe(out); }); |
| }); |
| |
| describe("setAxisAngle", function() { |
| beforeEach(function() { result = quat.setAxisAngle(out, [1, 0, 0], Math.PI * 0.5); }); |
| it("should place values into out", function() { expect(result).toBeEqualish([0.707106, 0, 0, 0.707106]); }); |
| it("should return out", function() { expect(result).toBe(out); }); |
| }); |
| |
| describe("add", function() { |
| describe("with a separate output quaternion", function() { |
| beforeEach(function() { result = quat.add(out, quatA, quatB); }); |
| |
| it("should place values into out", function() { expect(out).toBeEqualish([6, 8, 10, 12]); }); |
| it("should return out", function() { expect(result).toBe(out); }); |
| it("should not modify quatA", function() { expect(quatA).toBeEqualish([1, 2, 3, 4]); }); |
| it("should not modify quatB", function() { expect(quatB).toBeEqualish([5, 6, 7, 8]); }); |
| }); |
| |
| describe("when quatA is the output quaternion", function() { |
| beforeEach(function() { result = quat.add(quatA, quatA, quatB); }); |
| |
| it("should place values into quatA", function() { expect(quatA).toBeEqualish([6, 8, 10, 12]); }); |
| it("should return quatA", function() { expect(result).toBe(quatA); }); |
| it("should not modify quatB", function() { expect(quatB).toBeEqualish([5, 6, 7, 8]); }); |
| }); |
| |
| describe("when quatB is the output quaternion", function() { |
| beforeEach(function() { result = quat.add(quatB, quatA, quatB); }); |
| |
| it("should place values into quatB", function() { expect(quatB).toBeEqualish([6, 8, 10, 12]); }); |
| it("should return quatB", function() { expect(result).toBe(quatB); }); |
| it("should not modify quatA", function() { expect(quatA).toBeEqualish([1, 2, 3, 4]); }); |
| }); |
| }); |
| |
| describe("multiply", function() { |
| it("should have an alias called 'mul'", function() { expect(quat.mul).toEqual(quat.multiply); }); |
| |
| describe("with a separate output quaternion", function() { |
| beforeEach(function() { result = quat.multiply(out, quatA, quatB); }); |
| |
| it("should place values into out", function() { expect(out).toBeEqualish([24, 48, 48, -6]); }); |
| it("should return out", function() { expect(result).toBe(out); }); |
| it("should not modify quatA", function() { expect(quatA).toBeEqualish([1, 2, 3, 4]); }); |
| it("should not modify quatB", function() { expect(quatB).toBeEqualish([5, 6, 7, 8]); }); |
| }); |
| |
| describe("when quatA is the output quaternion", function() { |
| beforeEach(function() { result = quat.multiply(quatA, quatA, quatB); }); |
| |
| it("should place values into quatA", function() { expect(quatA).toBeEqualish([24, 48, 48, -6]); }); |
| it("should return quatA", function() { expect(result).toBe(quatA); }); |
| it("should not modify quatB", function() { expect(quatB).toBeEqualish([5, 6, 7, 8]); }); |
| }); |
| |
| describe("when quatB is the output quaternion", function() { |
| beforeEach(function() { result = quat.multiply(quatB, quatA, quatB); }); |
| |
| it("should place values into quatB", function() { expect(quatB).toBeEqualish([24, 48, 48, -6]); }); |
| it("should return quatB", function() { expect(result).toBe(quatB); }); |
| it("should not modify quatA", function() { expect(quatA).toBeEqualish([1, 2, 3, 4]); }); |
| }); |
| }); |
| |
| describe("scale", function() { |
| describe("with a separate output quaternion", function() { |
| beforeEach(function() { result = quat.scale(out, quatA, 2); }); |
| |
| it("should place values into out", function() { expect(out).toBeEqualish([2, 4, 6, 8]); }); |
| it("should return out", function() { expect(result).toBe(out); }); |
| it("should not modify quatA", function() { expect(quatA).toBeEqualish([1, 2, 3, 4]); }); |
| }); |
| |
| describe("when quatA is the output quaternion", function() { |
| beforeEach(function() { result = quat.scale(quatA, quatA, 2); }); |
| |
| it("should place values into quatA", function() { expect(quatA).toBeEqualish([2, 4, 6, 8]); }); |
| it("should return quatA", function() { expect(result).toBe(quatA); }); |
| }); |
| }); |
| |
| describe("length", function() { |
| it("should have an alias called 'len'", function() { expect(quat.len).toEqual(quat.length); }); |
| |
| beforeEach(function() { result = quat.length(quatA); }); |
| |
| it("should return the length", function() { expect(result).toBeCloseTo(5.477225); }); |
| }); |
| |
| describe("squaredLength", function() { |
| it("should have an alias called 'sqrLen'", function() { expect(quat.sqrLen).toEqual(quat.squaredLength); }); |
| |
| beforeEach(function() { result = quat.squaredLength(quatA); }); |
| |
| it("should return the squared length", function() { expect(result).toEqual(30); }); |
| }); |
| |
| describe("normalize", function() { |
| beforeEach(function() { quatA = [5, 0, 0, 0]; }); |
| |
| describe("with a separate output quaternion", function() { |
| beforeEach(function() { result = quat.normalize(out, quatA); }); |
| |
| it("should place values into out", function() { expect(out).toBeEqualish([1, 0, 0, 0]); }); |
| it("should return out", function() { expect(result).toBe(out); }); |
| it("should not modify quatA", function() { expect(quatA).toBeEqualish([5, 0, 0, 0]); }); |
| }); |
| |
| describe("when quatA is the output quaternion", function() { |
| beforeEach(function() { result = quat.normalize(quatA, quatA); }); |
| |
| it("should place values into quatA", function() { expect(quatA).toBeEqualish([1, 0, 0, 0]); }); |
| it("should return quatA", function() { expect(result).toBe(quatA); }); |
| }); |
| }); |
| |
| describe("lerp", function() { |
| describe("with a separate output quaternion", function() { |
| beforeEach(function() { result = quat.lerp(out, quatA, quatB, 0.5); }); |
| |
| it("should place values into out", function() { expect(out).toBeEqualish([3, 4, 5, 6]); }); |
| it("should return out", function() { expect(result).toBe(out); }); |
| it("should not modify quatA", function() { expect(quatA).toBeEqualish([1, 2, 3, 4]); }); |
| it("should not modify quatB", function() { expect(quatB).toBeEqualish([5, 6, 7, 8]); }); |
| }); |
| |
| describe("when quatA is the output quaternion", function() { |
| beforeEach(function() { result = quat.lerp(quatA, quatA, quatB, 0.5); }); |
| |
| it("should place values into quatA", function() { expect(quatA).toBeEqualish([3, 4, 5, 6]); }); |
| it("should return quatA", function() { expect(result).toBe(quatA); }); |
| it("should not modify quatB", function() { expect(quatB).toBeEqualish([5, 6, 7, 8]); }); |
| }); |
| |
| describe("when quatB is the output quaternion", function() { |
| beforeEach(function() { result = quat.lerp(quatB, quatA, quatB, 0.5); }); |
| |
| it("should place values into quatB", function() { expect(quatB).toBeEqualish([3, 4, 5, 6]); }); |
| it("should return quatB", function() { expect(result).toBe(quatB); }); |
| it("should not modify quatA", function() { expect(quatA).toBeEqualish([1, 2, 3, 4]); }); |
| }); |
| }); |
| |
| /*describe("slerp", function() { |
| describe("with a separate output quaternion", function() { |
| beforeEach(function() { result = quat.slerp(out, quatA, quatB, 0.5); }); |
| |
| it("should place values into out", function() { expect(out).toBeEqualish([3, 4, 5, 6]); }); |
| it("should return out", function() { expect(result).toBe(out); }); |
| it("should not modify quatA", function() { expect(quatA).toBeEqualish([1, 2, 3, 4]); }); |
| it("should not modify quatB", function() { expect(quatB).toBeEqualish([5, 6, 7, 8]); }); |
| }); |
| |
| describe("when quatA is the output quaternion", function() { |
| beforeEach(function() { result = quat.slerp(quatA, quatA, quatB, 0.5); }); |
| |
| it("should place values into quatA", function() { expect(quatA).toBeEqualish([3, 4, 5, 6]); }); |
| it("should return quatA", function() { expect(result).toBe(quatA); }); |
| it("should not modify quatB", function() { expect(quatB).toBeEqualish([5, 6, 7, 8]); }); |
| }); |
| |
| describe("when quatB is the output quaternion", function() { |
| beforeEach(function() { result = quat.slerp(quatB, quatA, quatB, 0.5); }); |
| |
| it("should place values into quatB", function() { expect(quatB).toBeEqualish([3, 4, 5, 6]); }); |
| it("should return quatB", function() { expect(result).toBe(quatB); }); |
| it("should not modify quatA", function() { expect(quatA).toBeEqualish([1, 2, 3, 4]); }); |
| }); |
| });*/ |
| |
| // TODO: slerp, calcuateW, rotateX, rotateY, rotateZ |
| |
| describe("invert", function() { |
| describe("with a separate output quaternion", function() { |
| beforeEach(function() { result = quat.invert(out, quatA); }); |
| |
| it("should place values into out", function() { expect(out).toBeEqualish([-0.033333, -0.066666, -0.1, 0.133333]); }); |
| it("should return out", function() { expect(result).toBe(out); }); |
| it("should not modify quatA", function() { expect(quatA).toBeEqualish([1, 2, 3, 4]); }); |
| }); |
| |
| describe("when quatA is the output quaternion", function() { |
| beforeEach(function() { result = quat.invert(quatA, quatA); }); |
| |
| it("should place values into quatA", function() { expect(quatA).toBeEqualish([-0.033333, -0.066666, -0.1, 0.133333]); }); |
| it("should return quatA", function() { expect(result).toBe(quatA); }); |
| }); |
| }); |
| |
| describe("conjugate", function() { |
| describe("with a separate output quaternion", function() { |
| beforeEach(function() { result = quat.conjugate(out, quatA); }); |
| |
| it("should place values into out", function() { expect(out).toBeEqualish([-1, -2, -3, 4]); }); |
| it("should return out", function() { expect(result).toBe(out); }); |
| it("should not modify quatA", function() { expect(quatA).toBeEqualish([1, 2, 3, 4]); }); |
| }); |
| |
| describe("when quatA is the output quaternion", function() { |
| beforeEach(function() { result = quat.conjugate(quatA, quatA); }); |
| |
| it("should place values into quatA", function() { expect(quatA).toBeEqualish([-1, -2, -3, 4]); }); |
| it("should return quatA", function() { expect(result).toBe(quatA); }); |
| }); |
| }); |
| |
| describe("str", function() { |
| beforeEach(function() { result = quat.str(quatA); }); |
| |
| it("should return a string representation of the quaternion", function() { expect(result).toEqual("quat(1, 2, 3, 4)"); }); |
| }); |
| }); |