| <!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> |