1 | /**
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2 | * @author bhouston / http://exocortex.com
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3 | */
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4 |
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5 | module( "Quaternion" );
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6 |
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7 | var orders = [ 'XYZ', 'YXZ', 'ZXY', 'ZYX', 'YZX', 'XZY' ];
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8 | var eulerAngles = new THREE.Euler( 0.1, -0.3, 0.25 );
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9 |
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10 |
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11 |
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12 | var qSub = function ( a, b ) {
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13 | var result = new THREE.Quaternion();
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14 | result.copy( a );
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15 |
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16 | result.x -= b.x;
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17 | result.y -= b.y;
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18 | result.z -= b.z;
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19 | result.w -= b.w;
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20 |
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21 | return result;
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22 |
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23 | };
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24 |
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25 | test( "constructor", function() {
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26 | var a = new THREE.Quaternion();
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27 | ok( a.x == 0, "Passed!" );
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28 | ok( a.y == 0, "Passed!" );
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29 | ok( a.z == 0, "Passed!" );
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30 | ok( a.w == 1, "Passed!" );
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31 |
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32 | a = new THREE.Quaternion( x, y, z, w );
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33 | ok( a.x === x, "Passed!" );
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34 | ok( a.y === y, "Passed!" );
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35 | ok( a.z === z, "Passed!" );
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36 | ok( a.w === w, "Passed!" );
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37 | });
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38 |
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39 | test( "copy", function() {
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40 | var a = new THREE.Quaternion( x, y, z, w );
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41 | var b = new THREE.Quaternion().copy( a );
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42 | ok( b.x == x, "Passed!" );
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43 | ok( b.y == y, "Passed!" );
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44 | ok( b.z == z, "Passed!" );
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45 | ok( b.w == w, "Passed!" );
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46 |
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47 | // ensure that it is a true copy
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48 | a.x = 0;
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49 | a.y = -1;
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50 | a.z = 0;
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51 | a.w = -1;
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52 | ok( b.x == x, "Passed!" );
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53 | ok( b.y == y, "Passed!" );
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54 | });
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55 |
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56 | test( "set", function() {
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57 | var a = new THREE.Quaternion();
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58 | ok( a.x == 0, "Passed!" );
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59 | ok( a.y == 0, "Passed!" );
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60 | ok( a.z == 0, "Passed!" );
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61 | ok( a.w == 1, "Passed!" );
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62 |
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63 | a.set( x, y, z, w );
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64 | ok( a.x == x, "Passed!" );
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65 | ok( a.y == y, "Passed!" );
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66 | ok( a.z === z, "Passed!" );
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67 | ok( a.w === w, "Passed!" );
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68 | });
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69 |
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70 | test( "setFromAxisAngle", function() {
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71 |
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72 | // TODO: find cases to validate.
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73 | ok( true, "Passed!" );
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74 |
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75 | var zero = new THREE.Quaternion();
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76 |
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77 | var a = new THREE.Quaternion().setFromAxisAngle( new THREE.Vector3( 1, 0, 0 ), 0 );
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78 | ok( a.equals( zero ), "Passed!" );
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79 | a = new THREE.Quaternion().setFromAxisAngle( new THREE.Vector3( 0, 1, 0 ), 0 );
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80 | ok( a.equals( zero ), "Passed!" );
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81 | a = new THREE.Quaternion().setFromAxisAngle( new THREE.Vector3( 0, 0, 1 ), 0 );
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82 | ok( a.equals( zero ), "Passed!" );
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83 |
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84 | var b1 = new THREE.Quaternion().setFromAxisAngle( new THREE.Vector3( 1, 0, 0 ), Math.PI );
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85 | ok( ! a.equals( b1 ), "Passed!" );
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86 | var b2 = new THREE.Quaternion().setFromAxisAngle( new THREE.Vector3( 1, 0, 0 ), -Math.PI );
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87 | ok( ! a.equals( b2 ), "Passed!" );
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88 |
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89 | b1.multiply( b2 );
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90 | ok( a.equals( b1 ), "Passed!" );
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91 | });
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92 |
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93 |
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94 | test( "setFromEuler/setFromQuaternion", function() {
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95 |
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96 | var angles = [ new THREE.Vector3( 1, 0, 0 ), new THREE.Vector3( 0, 1, 0 ), new THREE.Vector3( 0, 0, 1 ) ];
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97 |
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98 | // ensure euler conversion to/from Quaternion matches.
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99 | for( var i = 0; i < orders.length; i ++ ) {
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100 | for( var j = 0; j < angles.length; j ++ ) {
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101 | var eulers2 = new THREE.Euler().setFromQuaternion( new THREE.Quaternion().setFromEuler( new THREE.Euler( angles[j].x, angles[j].y, angles[j].z, orders[i] ) ), orders[i] );
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102 | var newAngle = new THREE.Vector3( eulers2.x, eulers2.y, eulers2.z );
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103 | ok( newAngle.distanceTo( angles[j] ) < 0.001, "Passed!" );
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104 | }
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105 | }
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106 |
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107 | });
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108 |
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109 | test( "setFromEuler/setFromRotationMatrix", function() {
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110 |
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111 | // ensure euler conversion for Quaternion matches that of Matrix4
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112 | for( var i = 0; i < orders.length; i ++ ) {
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113 | var q = new THREE.Quaternion().setFromEuler( eulerAngles, orders[i] );
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114 | var m = new THREE.Matrix4().makeRotationFromEuler( eulerAngles, orders[i] );
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115 | var q2 = new THREE.Quaternion().setFromRotationMatrix( m );
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116 |
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117 | ok( qSub( q, q2 ).length() < 0.001, "Passed!" );
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118 | }
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119 |
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120 | });
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121 |
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122 | test( "normalize/length/lengthSq", function() {
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123 | var a = new THREE.Quaternion( x, y, z, w );
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124 | var b = new THREE.Quaternion( -x, -y, -z, -w );
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125 |
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126 | ok( a.length() != 1, "Passed!");
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127 | ok( a.lengthSq() != 1, "Passed!");
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128 | a.normalize();
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129 | ok( a.length() == 1, "Passed!");
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130 | ok( a.lengthSq() == 1, "Passed!");
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131 |
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132 | a.set( 0, 0, 0, 0 );
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133 | ok( a.lengthSq() == 0, "Passed!");
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134 | ok( a.length() == 0, "Passed!");
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135 | a.normalize();
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136 | ok( a.lengthSq() == 1, "Passed!");
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137 | ok( a.length() == 1, "Passed!");
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138 | });
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139 |
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140 | test( "inverse/conjugate", function() {
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141 | var a = new THREE.Quaternion( x, y, z, w );
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142 |
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143 | // TODO: add better validation here.
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144 |
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145 | var b = a.clone().conjugate();
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146 |
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147 | ok( a.x == -b.x, "Passed!" );
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148 | ok( a.y == -b.y, "Passed!" );
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149 | ok( a.z == -b.z, "Passed!" );
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150 | ok( a.w == b.w, "Passed!" );
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151 | });
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152 |
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153 |
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154 | test( "multiplyQuaternions/multiply", function() {
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155 |
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156 | var angles = [ new THREE.Euler( 1, 0, 0 ), new THREE.Euler( 0, 1, 0 ), new THREE.Euler( 0, 0, 1 ) ];
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157 |
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158 | var q1 = new THREE.Quaternion().setFromEuler( angles[0], "XYZ" );
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159 | var q2 = new THREE.Quaternion().setFromEuler( angles[1], "XYZ" );
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160 | var q3 = new THREE.Quaternion().setFromEuler( angles[2], "XYZ" );
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161 |
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162 | var q = new THREE.Quaternion().multiplyQuaternions( q1, q2 ).multiply( q3 );
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163 |
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164 | var m1 = new THREE.Matrix4().makeRotationFromEuler( angles[0], "XYZ" );
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165 | var m2 = new THREE.Matrix4().makeRotationFromEuler( angles[1], "XYZ" );
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166 | var m3 = new THREE.Matrix4().makeRotationFromEuler( angles[2], "XYZ" );
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167 |
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168 | var m = new THREE.Matrix4().multiplyMatrices( m1, m2 ).multiply( m3 );
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169 |
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170 | var qFromM = new THREE.Quaternion().setFromRotationMatrix( m );
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171 |
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172 | ok( qSub( q, qFromM ).length() < 0.001, "Passed!" );
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173 | });
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174 |
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175 | test( "multiplyVector3", function() {
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176 |
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177 | var angles = [ new THREE.Euler( 1, 0, 0 ), new THREE.Euler( 0, 1, 0 ), new THREE.Euler( 0, 0, 1 ) ];
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178 |
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179 | // ensure euler conversion for Quaternion matches that of Matrix4
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180 | for( var i = 0; i < orders.length; i ++ ) {
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181 | for( var j = 0; j < angles.length; j ++ ) {
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182 | var q = new THREE.Quaternion().setFromEuler( angles[j], orders[i] );
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183 | var m = new THREE.Matrix4().makeRotationFromEuler( angles[j], orders[i] );
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184 |
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185 | var v0 = new THREE.Vector3(1, 0, 0);
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186 | var qv = v0.clone().applyQuaternion( q );
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187 | var mv = v0.clone().applyMatrix4( m );
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188 |
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189 | ok( qv.distanceTo( mv ) < 0.001, "Passed!" );
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190 | }
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191 | }
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192 |
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193 | });
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194 |
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195 | test( "equals", function() {
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196 | var a = new THREE.Quaternion( x, y, z, w );
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197 | var b = new THREE.Quaternion( -x, -y, -z, -w );
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198 |
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199 | ok( a.x != b.x, "Passed!" );
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200 | ok( a.y != b.y, "Passed!" );
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201 |
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202 | ok( ! a.equals( b ), "Passed!" );
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203 | ok( ! b.equals( a ), "Passed!" );
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204 |
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205 | a.copy( b );
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206 | ok( a.x == b.x, "Passed!" );
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207 | ok( a.y == b.y, "Passed!" );
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208 |
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209 | ok( a.equals( b ), "Passed!" );
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210 | ok( b.equals( a ), "Passed!" );
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211 | });
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