@pawells/math-extended 1.0.1 → 1.0.2

package/build/quaternions/conversions.spec.js

@@ -1,344 +0,0 @@
-import { QuaternionIdentity, QuaternionEquals, QuaternionNormalize } from './core.js';
-import { QuaternionRotationX, QuaternionRotationY, QuaternionRotationZ } from './predefined.js';
-import { QuaternionError } from './asserts.js';
-import { DegreesToRadians } from '../angles.ts';
-import { IsValidRotationMatrix, QuaternionFromRotationMatrix, QuaternionFromTransformationMatrix, QuaternionToRotationMatrix, QuaternionToTransformationMatrix } from './conversions.js';
-import { AssertMatrixRow, AssertMatrixValue } from '../matrices/asserts.ts';
-describe('Quaternion Conversions', () => {
-    const TOLERANCE = 1e-6;
-    describe('QuaternionToRotationMatrix', () => {
-        test('should convert identity quaternion to identity matrix', () => {
-            const quaternion = QuaternionIdentity();
-            const matrix = QuaternionToRotationMatrix(quaternion);
-            const expectedMatrix = [
-                [1, 0, 0],
-                [0, 1, 0],
-                [0, 0, 1],
-            ];
-            expect(matrix).toEqual(expectedMatrix);
-        });
-        test('should convert 90-degree rotation around X-axis', () => {
-            const quaternion = QuaternionRotationX(DegreesToRadians(90));
-            const matrix = QuaternionToRotationMatrix(quaternion);
-            // 90° rotation around X should transform Y to Z and Z to -Y
-            expect(matrix[0][0]).toBeCloseTo(1, 5);
-            expect(matrix[0][1]).toBeCloseTo(0, 5);
-            expect(matrix[0][2]).toBeCloseTo(0, 5);
-            expect(matrix[1][0]).toBeCloseTo(0, 5);
-            expect(matrix[1][1]).toBeCloseTo(0, 5);
-            expect(matrix[1][2]).toBeCloseTo(-1, 5);
-            expect(matrix[2][0]).toBeCloseTo(0, 5);
-            expect(matrix[2][1]).toBeCloseTo(1, 5);
-            expect(matrix[2][2]).toBeCloseTo(0, 5);
-        });
-        test('should convert 90-degree rotation around Y-axis', () => {
-            const quaternion = QuaternionRotationY(DegreesToRadians(90));
-            const matrix = QuaternionToRotationMatrix(quaternion);
-            // 90° rotation around Y should transform X to -Z and Z to X
-            expect(matrix[0][0]).toBeCloseTo(0, 5);
-            expect(matrix[0][1]).toBeCloseTo(0, 5);
-            expect(matrix[0][2]).toBeCloseTo(1, 5);
-            expect(matrix[1][0]).toBeCloseTo(0, 5);
-            expect(matrix[1][1]).toBeCloseTo(1, 5);
-            expect(matrix[1][2]).toBeCloseTo(0, 5);
-            expect(matrix[2][0]).toBeCloseTo(-1, 5);
-            expect(matrix[2][1]).toBeCloseTo(0, 5);
-            expect(matrix[2][2]).toBeCloseTo(0, 5);
-        });
-        test('should convert 90-degree rotation around Z-axis', () => {
-            const quaternion = QuaternionRotationZ(DegreesToRadians(90));
-            const matrix = QuaternionToRotationMatrix(quaternion);
-            // 90° rotation around Z should transform X to Y and Y to -X
-            expect(matrix[0][0]).toBeCloseTo(0, 5);
-            expect(matrix[0][1]).toBeCloseTo(-1, 5);
-            expect(matrix[0][2]).toBeCloseTo(0, 5);
-            expect(matrix[1][0]).toBeCloseTo(1, 5);
-            expect(matrix[1][1]).toBeCloseTo(0, 5);
-            expect(matrix[1][2]).toBeCloseTo(0, 5);
-            expect(matrix[2][0]).toBeCloseTo(0, 5);
-            expect(matrix[2][1]).toBeCloseTo(0, 5);
-            expect(matrix[2][2]).toBeCloseTo(1, 5);
-        });
-        test('should throw for non-normalized quaternion', () => {
-            const nonNormalized = [1, 1, 1, 1];
-            expect(() => QuaternionToRotationMatrix(nonNormalized)).toThrow(QuaternionError);
-        });
-    });
-    describe('QuaternionFromRotationMatrix', () => {
-        test('should convert identity matrix to identity quaternion', () => {
-            const identityMatrix = [
-                [1, 0, 0],
-                [0, 1, 0],
-                [0, 0, 1],
-            ];
-            const quaternion = QuaternionFromRotationMatrix(identityMatrix);
-            const expected = QuaternionIdentity();
-            expect(QuaternionEquals(quaternion, expected, TOLERANCE, true)).toBe(true);
-        });
-        test('should convert 90-degree X rotation matrix', () => {
-            const matrix = [
-                [1, 0, 0],
-                [0, 0, -1],
-                [0, 1, 0],
-            ];
-            const quaternion = QuaternionFromRotationMatrix(matrix);
-            const expected = QuaternionRotationX(DegreesToRadians(90));
-            expect(QuaternionEquals(quaternion, expected, TOLERANCE, true)).toBe(true);
-        });
-        test('should convert 90-degree Y rotation matrix', () => {
-            const matrix = [
-                [0, 0, 1],
-                [0, 1, 0],
-                [-1, 0, 0],
-            ];
-            const quaternion = QuaternionFromRotationMatrix(matrix);
-            const expected = QuaternionRotationY(DegreesToRadians(90));
-            expect(QuaternionEquals(quaternion, expected, TOLERANCE, true)).toBe(true);
-        });
-        test('should convert 90-degree Z rotation matrix', () => {
-            const matrix = [
-                [0, -1, 0],
-                [1, 0, 0],
-                [0, 0, 1],
-            ];
-            const quaternion = QuaternionFromRotationMatrix(matrix);
-            const expected = QuaternionRotationZ(DegreesToRadians(90));
-            expect(QuaternionEquals(quaternion, expected, TOLERANCE, true)).toBe(true);
-        });
-        test('should handle matrix with largest diagonal element in different positions', () => {
-            // Test case where m11 is largest
-            const matrix = [
-                [0, 0, 1],
-                [0, 1, 0],
-                [-1, 0, 0],
-            ];
-            const quaternion = QuaternionFromRotationMatrix(matrix);
-            expect(quaternion).toHaveLength(4);
-            expect(Math.abs(Math.sqrt((quaternion[0] ** 2) + (quaternion[1] ** 2) + (quaternion[2] ** 2) + (quaternion[3] ** 2)) - 1)).toBeLessThan(TOLERANCE);
-        });
-        test('should handle matrix with largest diagonal element m22', () => {
-            // Test case where m22 is largest
-            const matrix = [
-                [0, 1, 0],
-                [-1, 0, 0],
-                [0, 0, 1],
-            ];
-            const quaternion = QuaternionFromRotationMatrix(matrix);
-            expect(quaternion).toHaveLength(4);
-            expect(Math.abs(Math.sqrt((quaternion[0] ** 2) + (quaternion[1] ** 2) + (quaternion[2] ** 2) + (quaternion[3] ** 2)) - 1)).toBeLessThan(TOLERANCE);
-        });
-        test('should throw for invalid matrix dimensions', () => {
-            const invalidMatrix = [[1, 0], [0, 1]];
-            expect(() => QuaternionFromRotationMatrix(invalidMatrix)).toThrow();
-        });
-    });
-    describe('QuaternionToTransformationMatrix', () => {
-        test('should convert identity quaternion to 4x4 identity matrix', () => {
-            const quaternion = QuaternionIdentity();
-            const matrix4x4 = QuaternionToTransformationMatrix(quaternion);
-            const expected = [
-                [1, 0, 0, 0],
-                [0, 1, 0, 0],
-                [0, 0, 1, 0],
-                [0, 0, 0, 1],
-            ];
-            expect(matrix4x4).toEqual(expected);
-        });
-        test('should convert rotation quaternion to 4x4 transformation matrix', () => {
-            const quaternion = QuaternionRotationZ(DegreesToRadians(90));
-            const matrix4x4 = QuaternionToTransformationMatrix(quaternion);
-            // Should be a 4x4 matrix
-            expect(matrix4x4).toHaveLength(4);
-            expect(matrix4x4[0]).toHaveLength(4);
-            // Last row should be [0, 0, 0, 1]
-            expect(matrix4x4[3][0]).toBeCloseTo(0, 5);
-            expect(matrix4x4[3][1]).toBeCloseTo(0, 5);
-            expect(matrix4x4[3][2]).toBeCloseTo(0, 5);
-            expect(matrix4x4[3][3]).toBeCloseTo(1, 5);
-            // Translation elements should be 0
-            expect(matrix4x4[0][3]).toBeCloseTo(0, 5);
-            expect(matrix4x4[1][3]).toBeCloseTo(0, 5);
-            expect(matrix4x4[2][3]).toBeCloseTo(0, 5);
-        });
-        test('should maintain rotation properties in 4x4 matrix', () => {
-            const quaternion = QuaternionRotationX(DegreesToRadians(45));
-            const matrix4x4 = QuaternionToTransformationMatrix(quaternion);
-            // Extract 3x3 rotation part
-            const rotationMatrix = [
-                [matrix4x4[0][0], matrix4x4[0][1], matrix4x4[0][2]],
-                [matrix4x4[1][0], matrix4x4[1][1], matrix4x4[1][2]],
-                [matrix4x4[2][0], matrix4x4[2][1], matrix4x4[2][2]],
-            ];
-            expect(IsValidRotationMatrix(rotationMatrix)).toBe(true);
-        });
-    });
-    describe('QuaternionFromTransformationMatrix', () => {
-        test('should extract rotation from 4x4 identity matrix', () => {
-            const matrix4x4 = [
-                [1, 0, 0, 0],
-                [0, 1, 0, 0],
-                [0, 0, 1, 0],
-                [0, 0, 0, 1],
-            ];
-            const quaternion = QuaternionFromTransformationMatrix(matrix4x4);
-            const expected = QuaternionIdentity();
-            expect(QuaternionEquals(quaternion, expected, TOLERANCE, true)).toBe(true);
-        });
-        test('should extract rotation ignoring translation', () => {
-            const matrix4x4 = [
-                [1, 0, 0, 5], // Translation in X
-                [0, 1, 0, 10], // Translation in Y
-                [0, 0, 1, 15], // Translation in Z
-                [0, 0, 0, 1],
-            ];
-            const quaternion = QuaternionFromTransformationMatrix(matrix4x4);
-            const expected = QuaternionIdentity();
-            expect(QuaternionEquals(quaternion, expected, TOLERANCE, true)).toBe(true);
-        });
-        test('should extract rotation with translation present', () => {
-            // Create a Z-rotation matrix with translation
-            const cos90 = Math.cos(DegreesToRadians(90));
-            const sin90 = Math.sin(DegreesToRadians(90));
-            const matrix4x4 = [
-                [cos90, -sin90, 0, 100],
-                [sin90, cos90, 0, 200],
-                [0, 0, 1, 300],
-                [0, 0, 0, 1],
-            ];
-            const quaternion = QuaternionFromTransformationMatrix(matrix4x4);
-            const expected = QuaternionRotationZ(DegreesToRadians(90));
-            expect(QuaternionEquals(quaternion, expected, TOLERANCE, true)).toBe(true);
-        });
-        test('should throw for invalid matrix structure', () => {
-            const invalidMatrix = [[1, 0], [0, 1]];
-            expect(() => QuaternionFromTransformationMatrix(invalidMatrix)).toThrow();
-        });
-    });
-    describe('IsValidRotationMatrix', () => {
-        test('should validate identity matrix', () => {
-            const identityMatrix = [
-                [1, 0, 0],
-                [0, 1, 0],
-                [0, 0, 1],
-            ];
-            expect(IsValidRotationMatrix(identityMatrix)).toBe(true);
-        });
-        test('should validate proper rotation matrices', () => {
-            // 90-degree rotation around Z-axis
-            const rotationZ = [
-                [0, -1, 0],
-                [1, 0, 0],
-                [0, 0, 1],
-            ];
-            expect(IsValidRotationMatrix(rotationZ)).toBe(true);
-        });
-        test('should reject non-orthogonal matrix', () => {
-            const nonOrthogonal = [
-                [1, 1, 0], // Not orthogonal
-                [0, 1, 0],
-                [0, 0, 1],
-            ];
-            expect(IsValidRotationMatrix(nonOrthogonal)).toBe(false);
-        });
-        test('should reject matrix with non-unit column vectors', () => {
-            const nonUnit = [
-                [2, 0, 0], // Column 1 has length 2, not 1
-                [0, 1, 0],
-                [0, 0, 1],
-            ];
-            expect(IsValidRotationMatrix(nonUnit)).toBe(false);
-        });
-        test('should reject matrix with determinant -1 (reflection)', () => {
-            const reflection = [
-                [-1, 0, 0], // Reflection, det = -1
-                [0, 1, 0],
-                [0, 0, 1],
-            ];
-            expect(IsValidRotationMatrix(reflection)).toBe(false);
-        });
-        test('should respect custom tolerance', () => {
-            const almostValid = [
-                [1.0001, 0, 0], // Slightly off from 1
-                [0, 1, 0],
-                [0, 0, 1],
-            ];
-            expect(IsValidRotationMatrix(almostValid, 1e-6)).toBe(false);
-            expect(IsValidRotationMatrix(almostValid, 1e-3)).toBe(true);
-        });
-        test('should validate complex rotation matrix', () => {
-            // 45-degree rotation around Y-axis
-            const cos45 = Math.cos(DegreesToRadians(45));
-            const sin45 = Math.sin(DegreesToRadians(45));
-            const rotationY = [
-                [cos45, 0, sin45],
-                [0, 1, 0],
-                [-sin45, 0, cos45],
-            ];
-            expect(IsValidRotationMatrix(rotationY)).toBe(true);
-        });
-    });
-    describe('Round-trip conversions', () => {
-        test('quaternion -> matrix -> quaternion should preserve rotation', () => {
-            const originalQuaternion = QuaternionRotationX(DegreesToRadians(45));
-            const matrix = QuaternionToRotationMatrix(originalQuaternion);
-            const convertedQuaternion = QuaternionFromRotationMatrix(matrix);
-            expect(QuaternionEquals(originalQuaternion, convertedQuaternion, TOLERANCE, true)).toBe(true);
-        });
-        test('matrix -> quaternion -> matrix should preserve matrix', () => {
-            const originalMatrix = [
-                [0, -1, 0],
-                [1, 0, 0],
-                [0, 0, 1],
-            ];
-            const quaternion = QuaternionFromRotationMatrix(originalMatrix);
-            const convertedMatrix = QuaternionToRotationMatrix(quaternion);
-            // Compare each element
-            for (let i = 0; i < 3; i++) {
-                const originalRow = originalMatrix[i];
-                AssertMatrixRow(originalRow);
-                const convertedRow = convertedMatrix[i];
-                AssertMatrixRow(convertedRow);
-                for (let j = 0; j < 3; j++) {
-                    const originalValue = originalRow[j];
-                    AssertMatrixValue(originalValue);
-                    const convertedValue = convertedRow[j];
-                    AssertMatrixValue(convertedValue);
-                    expect(convertedValue).toBeCloseTo(originalValue, 5);
-                }
-            }
-        });
-        test('quaternion -> 4x4 matrix -> quaternion should preserve rotation', () => {
-            const originalQuaternion = QuaternionRotationY(DegreesToRadians(60));
-            const matrix4x4 = QuaternionToTransformationMatrix(originalQuaternion);
-            const convertedQuaternion = QuaternionFromTransformationMatrix(matrix4x4);
-            expect(QuaternionEquals(originalQuaternion, convertedQuaternion, TOLERANCE, true)).toBe(true);
-        });
-    });
-    describe('Edge cases and error conditions', () => {
-        test('should handle zero quaternion input for conversion functions', () => {
-            const zeroQuaternion = [0, 0, 0, 0];
-            expect(() => QuaternionToRotationMatrix(zeroQuaternion)).toThrow(QuaternionError);
-        });
-        test('should handle very small quaternion components', () => {
-            const smallQuaternion = QuaternionNormalize([1e-10, 1e-10, 1e-10, 1e-10]);
-            const matrix = QuaternionToRotationMatrix(smallQuaternion);
-            const convertedBack = QuaternionFromRotationMatrix(matrix);
-            expect(QuaternionEquals(smallQuaternion, convertedBack, TOLERANCE, true)).toBe(true);
-        });
-        test('should handle matrices from known quaternion conversions', () => {
-            // Test all the branch conditions in QuaternionFromRotationMatrix
-            const testQuaternions = [
-                QuaternionRotationX(DegreesToRadians(30)),
-                QuaternionRotationY(DegreesToRadians(60)),
-                QuaternionRotationZ(DegreesToRadians(120)),
-                QuaternionNormalize([0.5, 0.5, 0.5, 0.5]),
-            ];
-            for (const quaternion of testQuaternions) {
-                const matrix = QuaternionToRotationMatrix(quaternion);
-                const convertedBack = QuaternionFromRotationMatrix(matrix);
-                expect(QuaternionEquals(quaternion, convertedBack, TOLERANCE, true)).toBe(true);
-            }
-        });
-    });
-});
-//# sourceMappingURL=conversions.spec.js.map

package/build/quaternions/conversions.spec.js.map

@@ -1 +0,0 @@
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package/build/quaternions/core.spec.d.ts

@@ -1,2 +0,0 @@
-export {};
-//# sourceMappingURL=core.spec.d.ts.map

package/build/quaternions/core.spec.d.ts.map

@@ -1 +0,0 @@
-{"version":3,"file":"core.spec.d.ts","sourceRoot":"","sources":["../../src/quaternions/core.spec.ts"],"names":[],"mappings":""}