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engine/packages/math/tests/Matrix.test.ts
singlecoder 48cd208ea9 Test: test for math (#437) 
* test: add test for math library
2021-08-18 11:14:21 +08:00

490 lines
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TypeScript
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import { Matrix } from "../src/Matrix";
import { Vector3 } from "../src/Vector3";
import { Quaternion } from "../src/Quaternion";
describe("Matrix test", () => {
it("static multiply", () => {
const a = new Matrix(1, 2, 3.3, 4, 5, 6, 7, 8, 9, 10.9, 11, 12, 13, 14, 15, 16);
const b = new Matrix(16, 15, 14, 13, 12, 11, 10, 9, 8.88, 7, 6, 5, 4, 3, 2, 1);
const out = new Matrix();
Matrix.multiply(a, b, out);
expect(
Matrix.equals(
out,
new Matrix(
386,
456.6,
506.8,
560,
274,
325,
361.6,
400,
162.88,
195.16000000000003,
219.304,
243.52,
50,
61.8,
71.2,
80
)
)
).toEqual(true);
});
it("static equals", () => {
const a = new Matrix(1, 2, 3.3, 4, 5, 6, 7, 8, 9, 10.9, 11, 12, 13, 14, 15, 16);
const b = new Matrix(1, 2, 3.3, 4, 5, 6, 7, 8, 9, 10.9, 11, 12, 13, 14, 15, 16);
const c = new Matrix(16, 15, 14, 13, 12, 11, 10, 9, 8.88, 7, 6, 5, 4, 3, 2, 1);
expect(Matrix.equals(a, b)).toEqual(true);
expect(Matrix.equals(a, c)).toEqual(false);
});
it("static lerp", () => {
const a = new Matrix(1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16);
const b = new Matrix(1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16);
const c = new Matrix();
Matrix.lerp(a, b, 0.7, c);
expect(Matrix.equals(a, c)).toEqual(true);
expect(Matrix.equals(b, c)).toEqual(true);
});
it("static rotationQuaternion", () => {
const q = new Quaternion(1, 2, 3, 4);
const out = new Matrix();
Matrix.rotationQuaternion(q, out);
expect(Matrix.equals(out, new Matrix(-25, 28, -10, 0, -20, -19, 20, 0, 22, 4, -9, 0, 0, 0, 0, 1))).toEqual(true);
});
it("static rotationAxisAngle", () => {
const out = new Matrix();
Matrix.rotationAxisAngle(new Vector3(0, 1, 0), Math.PI / 3, out);
expect(
Matrix.equals(
out,
new Matrix(
0.5000000000000001,
0,
-0.8660254037844386,
0,
0,
1,
0,
0,
0.8660254037844386,
0,
0.5000000000000001,
0,
0,
0,
0,
1
)
)
).toEqual(true);
});
it("static rotationTranslation", () => {
const q = new Quaternion(1, 0.5, 2, 1);
const v = new Vector3(1, 1, 1);
const out = new Matrix();
Matrix.rotationTranslation(q, v, out);
expect(Matrix.equals(out, new Matrix(-7.5, 5, 3, 0, -3, -9, 4, 0, 5, 0, -1.5, 0, 1, 1, 1, 1))).toEqual(true);
});
it("static affineTransformation", () => {
const q = new Quaternion(1, 0.5, 2, 1);
const v = new Vector3(1, 1, 1);
const s = new Vector3(1, 0.5, 2);
const out = new Matrix();
Matrix.affineTransformation(s, q, v, out);
expect(Matrix.equals(out, new Matrix(-7.5, 5, 3, 0, -1.5, -4.5, 2, 0, 10, 0, -3, 0, 1, 1, 1, 1))).toEqual(true);
});
it("static scaling", () => {
const a = new Matrix();
const out = new Matrix();
Matrix.scale(a, new Vector3(1, 2, 0.5), out);
expect(Matrix.equals(out, new Matrix(1, 0, 0, 0, 0, 2, 0, 0, 0, 0, 0.5, 0, 0, 0, 0, 1))).toEqual(true);
});
it("static translation", () => {
const out = new Matrix();
const v = new Vector3(1, 2, 0.5);
Matrix.translation(v, out);
expect(Matrix.equals(out, new Matrix(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 1, 2, 0.5, 1))).toEqual(true);
});
it("static invert", () => {
const a = new Matrix(1, 2, 3.3, 4, 5, 6, 7, 8, 9, 10.9, 11, 12, 13, 14, 15, 16);
const out = new Matrix();
Matrix.invert(a, out);
expect(
Matrix.equals(
out,
new Matrix(
-1.1111111111111172,
1.3703703703703825,
-0.7407407407407528,
0.1481481481481532,
0,
-0.5555555555555607,
1.1111111111111214,
-0.5555555555555607,
3.3333333333333863,
-5.000000000000064,
0,
1.6666666666666867,
-2.222222222222265,
4.0601851851852375,
-0.3703703703703687,
-1.134259259259275
)
)
).toEqual(true);
});
it("static lookAt", () => {
const out = new Matrix();
const eye = new Vector3(0, 0, -8);
const target = new Vector3(0, 0, 0);
const up = new Vector3(0, 1, 0);
Matrix.lookAt(eye, target, up, out);
expect(Matrix.equals(out, new Matrix(-1, 0, 0, 0, 0, 1, 0, 0, 0, 0, -1, 0, 0, 0, -8, 1))).toEqual(true);
eye.setValue(0, 0, 0);
target.setValue(0, 1, -1);
up.setValue(0, 1, 0);
Matrix.lookAt(eye, target, up, out);
expect(
Matrix.equals(
out,
new Matrix(
1,
0,
0,
0,
0,
0.7071067690849304,
-0.7071067690849304,
0,
0,
0.7071067690849304,
0.7071067690849304,
0,
0,
0,
0,
1
)
)
).toEqual(true);
});
it("static ortho", () => {
const out = new Matrix();
Matrix.ortho(0, 2, -1, 1, 0.1, 100, out);
expect(
Matrix.equals(
out,
new Matrix(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, -0.02002002002002002, 0, -1, 0, -1.002002002002002, 1)
)
).toEqual(true);
});
it("static perspective", () => {
const out = new Matrix();
Matrix.perspective(1, 1.5, 0.1, 100, out);
expect(
Matrix.equals(
out,
new Matrix(
1.2203251478083013,
0,
0,
0,
0,
1.830487721712452,
0,
0,
0,
0,
-1.002002002002002,
-1,
0,
0,
-0.20020020020020018,
0
)
)
).toEqual(true);
});
it("static rotateAxisAngle", () => {
const a = new Matrix(1, 2, 3.3, 4, 5, 6, 7, 8, 9, 10.9, 11, 12, 13, 14, 15, 16);
const out = new Matrix();
Matrix.rotateAxisAngle(a, new Vector3(0, 1, 0), Math.PI / 3, out);
expect(
Matrix.equals(
out,
new Matrix(
-7.294228634059947,
-8.439676901250381,
-7.876279441628824,
-8.392304845413264,
5,
6,
7,
8,
5.366025403784439,
7.182050807568878,
8.357883832488648,
9.464101615137757,
13,
14,
15,
16
)
)
).toEqual(true);
});
it("static scale", () => {
const a = new Matrix(1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16);
const out = new Matrix();
Matrix.scale(a, new Vector3(1, 2, 0.5), out);
expect(Matrix.equals(out, new Matrix(1, 2, 3, 4, 10, 12, 14, 16, 4.5, 5, 5.5, 6, 13, 14, 15, 16))).toEqual(true);
});
it("static translate", () => {
const a = new Matrix(1, 2, 3.3, 4, 5, 6, 7, 8, 9, 10.9, 11, 12, 13, 14, 15, 16);
const out = new Matrix();
Matrix.translate(a, new Vector3(1, 2, 0.5), out);
expect(Matrix.equals(out, new Matrix(1, 2, 3.3, 4, 5, 6, 7, 8, 9, 10.9, 11, 12, 28.5, 33.45, 37.8, 42))).toEqual(
true
);
});
it("static transpose", () => {
const a = new Matrix(1, 2, 3.3, 4, 5, 6, 7, 8, 9, 10.9, 11, 12, 13, 14, 15, 16);
const out = new Matrix();
Matrix.transpose(a, out);
expect(Matrix.equals(out, new Matrix(1, 5, 9, 13, 2, 6, 10.9, 14, 3.3, 7, 11, 15, 4, 8, 12, 16))).toEqual(true);
});
it("setValue", () => {
const a = new Matrix();
a.setValue(1, 2, 3.3, 4, 5, 6, 7, 8, 9, 10.9, 11, 12, 13, 14, 15, 16);
expect(Matrix.equals(a, new Matrix(1, 2, 3.3, 4, 5, 6, 7, 8, 9, 10.9, 11, 12, 13, 14, 15, 16))).toEqual(true);
});
it("setValueByArray", () => {
const a = new Matrix();
a.setValueByArray([1, 2, 3.3, 4, 5, 6, 7, 8, 9, 10.9, 11, 12, 13, 14, 15, 16]);
expect(Matrix.equals(a, new Matrix(1, 2, 3.3, 4, 5, 6, 7, 8, 9, 10.9, 11, 12, 13, 14, 15, 16))).toEqual(true);
});
it("toArray", () => {
const a = new Matrix(1, 2, 3.3, 4, 5, 6, 7, 8, 9, 10.9, 11, 12, 13, 14, 15, 16);
const b = [];
a.toArray(b);
const c = new Matrix();
c.setValueByArray(b);
expect(Matrix.equals(a, c)).toEqual(true);
});
it("clone", () => {
const a = new Matrix(1, 2, 3.3, 4, 5, 6, 7, 8, 9, 10.9, 11, 12, 13, 14, 15, 16);
const b = a.clone();
expect(Matrix.equals(a, b)).toEqual(true);
});
it("cloneTo", () => {
const a = new Matrix(1, 2, 3.3, 4, 5, 6, 7, 8, 9, 10.9, 11, 12, 13, 14, 15, 16);
const out = new Matrix();
a.cloneTo(out);
expect(Matrix.equals(a, out)).toEqual(true);
});
it("multiply", () => {
const a = new Matrix(1, 2, 3.3, 4, 5, 6, 7, 8, 9, 10.9, 11, 12, 13, 14, 15, 16);
const b = new Matrix(16, 15, 14, 13, 12, 11, 10, 9, 8.88, 7, 6, 5, 4, 3, 2, 1);
a.multiply(b);
expect(
Matrix.equals(
a,
new Matrix(
386,
456.6,
506.8,
560,
274,
325,
361.6,
400,
162.88,
195.16000000000003,
219.304,
243.52,
50,
61.8,
71.2,
80
)
)
).toEqual(true);
});
it("determinant", () => {
const a = new Matrix(1, 2, 3, 4, 5, 6, 7, 8, 9, 10.9, 11, 12, 13, 14, 15, 16);
expect(a.determinant()).toEqual(0);
});
it("decompose", () => {
const a = new Matrix(1, 2, 3, 4, 5, 6, 7, 8, 9, 10.9, 11, 12, 13, 14, 15, 16);
// const a = new Matrix(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0);
const pos = new Vector3();
const quat = new Quaternion();
const scale = new Vector3();
a.decompose(pos, quat, scale);
expect(Vector3.equals(pos, new Vector3(13, 14, 15))).toEqual(true);
expect(
Quaternion.equals(
quat,
new Quaternion(0.01879039477474769, -0.09554131404261303, 0.01844761344901482, 0.783179537258594)
)
).toEqual(true);
expect(Vector3.equals(scale, new Vector3(3.7416573867739413, 10.488088481701515, 17.91116946723357))).toEqual(true);
});
it("getXXX", () => {
const a = new Matrix(1, 2, 3, 4, 5, 6, 7, 8, 9, 10.9, 11, 12, 13, 14, 15, 16);
// getRotation
const quat = new Quaternion();
a.getRotation(quat);
expect(
Quaternion.equals(
quat,
new Quaternion(-0.44736068104759547, 0.6882472016116852, -0.3441236008058426, 2.179449471770337)
)
).toEqual(true);
// getScaling
const scale = new Vector3();
a.getScaling(scale);
expect(Vector3.equals(scale, new Vector3(3.7416573867739413, 10.488088481701515, 17.911169699380327))).toEqual(
true
);
// getTranslation
const translation = new Vector3();
a.getTranslation(translation);
expect(Vector3.equals(translation, new Vector3(13, 14, 15))).toEqual(true);
});
it("invert", () => {
const a = new Matrix(1, 2, 3.3, 4, 5, 6, 7, 8, 9, 10.9, 11, 12, 13, 14, 15, 16);
a.invert();
expect(
Matrix.equals(
a,
new Matrix(
-1.1111111111111172,
1.3703703703703825,
-0.7407407407407528,
0.1481481481481532,
0,
-0.5555555555555607,
1.1111111111111214,
-0.5555555555555607,
3.3333333333333863,
-5.000000000000064,
0,
1.6666666666666867,
-2.222222222222265,
4.0601851851852375,
-0.3703703703703687,
-1.134259259259275
)
)
).toEqual(true);
});
it("rotateAxisAngle", () => {
const a = new Matrix(1, 2, 3.3, 4, 5, 6, 7, 8, 9, 10.9, 11, 12, 13, 14, 15, 16);
a.rotateAxisAngle(new Vector3(0, 1, 0), Math.PI / 3);
expect(
Matrix.equals(
a,
new Matrix(
-7.294228634059947,
-8.439676901250381,
-7.876279441628824,
-8.392304845413264,
5,
6,
7,
8,
5.366025403784439,
7.182050807568878,
8.357883832488648,
9.464101615137757,
13,
14,
15,
16
)
)
).toEqual(true);
});
it("scale", () => {
const a = new Matrix(1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16);
a.scale(new Vector3(1, 2, 0.5));
expect(Matrix.equals(a, new Matrix(1, 2, 3, 4, 10, 12, 14, 16, 4.5, 5, 5.5, 6, 13, 14, 15, 16))).toEqual(true);
});
it("translate", () => {
const a = new Matrix(1, 2, 3.3, 4, 5, 6, 7, 8, 9, 10.9, 11, 12, 13, 14, 15, 16);
a.translate(new Vector3(1, 2, 0.5));
expect(Matrix.equals(a, new Matrix(1, 2, 3.3, 4, 5, 6, 7, 8, 9, 10.9, 11, 12, 28.5, 33.45, 37.8, 42))).toEqual(
true
);
});
it("transpose", () => {
const a = new Matrix(1, 2, 3.3, 4, 5, 6, 7, 8, 9, 10.9, 11, 12, 13, 14, 15, 16);
a.transpose();
expect(Matrix.equals(a, new Matrix(1, 5, 9, 13, 2, 6, 10.9, 14, 3.3, 7, 11, 15, 4, 8, 12, 16))).toEqual(true);
});
});
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