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Added test case that performs a point transformation using rigid transform's matrix and validates that the same transformation is performed when using quaternion used to construct the rigid transform. Change-Id: I4f26f8101e2f788c5e248570f923b45cec6445ea Reviewed-on: https://chromium-review.googlesource.com/c/chromium/src/+/1521268 Commit-Queue: Piotr Bialecki <[email protected]> Reviewed-by: Klaus Weidner <[email protected]> Cr-Commit-Position: refs/heads/master@{#640519}
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third_party/blink/web_tests/external/wpt/webxr/resources/webxr_math_utils.js
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| // |matrix| - Float32Array, |input| - point-like dict (must have x, y, z, w) | ||
| let transform_point_by_matrix = function(matrix, input) { | ||
| return { | ||
| x : matrix[0] * input.x + matrix[4] * input.y + matrix[8] * input.z + matrix[12] * input.w, | ||
| y : matrix[1] * input.x + matrix[5] * input.y + matrix[9] * input.z + matrix[13] * input.w, | ||
| z : matrix[2] * input.x + matrix[6] * input.y + matrix[10] * input.z + matrix[14] * input.w, | ||
| w : matrix[3] * input.x + matrix[7] * input.y + matrix[11] * input.z + matrix[15] * input.w, | ||
| }; | ||
| } | ||
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| // Creates a unit-length quaternion. | ||
| // |input| - point-like dict (must have x, y, z, w) | ||
| let normalize_quaternion = function(input) { | ||
| const length_squared = input.x * input.x + input.y * input.y + input.z * input.z + input.w * input.w; | ||
| const length = Math.sqrt(length_squared); | ||
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| return {x : input.x / length, y : input.y / length, z : input.z / length, w : input.w / length}; | ||
| } | ||
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| // |input| - point-like dict (must have x, y, z, w) | ||
| let conjugate_quaternion = function(input) { | ||
| return {x : -input.x, y : -input.y, z : -input.z, w : input.w}; | ||
| } | ||
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| let multiply_quaternions = function(q1, q2) { | ||
| return { | ||
| w : q1.w * q2.w - q1.x * q2.x - q1.y * q2.y - q1.z * q2.z, | ||
| x : q1.w * q2.x + q1.x * q2.w + q1.y * q2.z - q1.z * q2.y, | ||
| y : q1.w * q2.y - q1.x * q2.z + q1.y * q2.w + q1.z * q2.x, | ||
| z : q1.w * q2.z + q1.x * q2.y - q1.y * q2.x + q1.z * q2.w, | ||
| } | ||
| } | ||
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| // |point| - point-like dict (must have x, y, z, w) | ||
| let normalize_perspective = function(point) { | ||
| if(point.w == 0 || point.w == 1) return point; | ||
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| return { | ||
| x : point.x / point.w, | ||
| y : point.y / point.w, | ||
| z : point.z / point.w, | ||
| w : 1 | ||
| }; | ||
| } | ||
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| // |quaternion| - point-like dict (must have x, y, z, w), | ||
| // |input| - point-like dict (must have x, y, z, w) | ||
| let transform_point_by_quaternion = function(quaternion, input) { | ||
| const q_normalized = normalize_quaternion(quaternion); | ||
| const q_conj = conjugate_quaternion(q_normalized); | ||
| const p_in = normalize_perspective(input); | ||
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| // construct a quaternion out of the point (take xyz & zero the real part). | ||
| const p = {x : p_in.x, y : p_in.y, z : p_in.z, w : 0}; | ||
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| // transform the input point | ||
| const p_mul = multiply_quaternions( q_normalized, multiply_quaternions(p, q_conj) ); | ||
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| // add back the w component of the input | ||
| return { x : p_mul.x, y : p_mul.y, z : p_mul.z, w : p_in.w }; | ||
| } |
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third_party/blink/web_tests/external/wpt/webxr/xrRigidTransform_matrix.https.html
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| <!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> | ||
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| <script> | ||
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| let matrix_tests_name = "XRRigidTransform matrix works"; | ||
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| let matrix_tests = function() { | ||
| // Matrix tests for XRRigidTransform. | ||
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| // 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 } | ||
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| let rigidTransform = new XRRigidTransform( | ||
| DOMPoint.fromPoint(originDict), | ||
| DOMPoint.fromPoint(orientationDict)); | ||
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| const point_0 = {x : 10, y : 11, z : 12, w : 1}; | ||
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| // 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); | ||
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| assert_point_approx_equals( | ||
| point_transformed_1, point_transformed_0, | ||
| FLOAT_EPSILON, "by-initial-quaternion-and-matrix:"); | ||
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| assert_point_approx_equals( | ||
| point_transformed_2, point_transformed_0, | ||
| FLOAT_EPSILON, "by-transform's-quaternion-and-matrix:"); | ||
| } | ||
| }; | ||
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| test(matrix_tests, matrix_tests_name); | ||
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| </script> |