glmaths 0.0.1

package/tests/mat2.test.ts

@@ -0,0 +1,277 @@
+import { describe, it } from 'node:test'
+import assert from 'node:assert/strict'
+import glmaths, { Mat2, mat2, Vec2 } from '../dist/esm/glmaths'
+
+function closeTo(actual: number, expected: number, numDigits = 5) { const pass = Math.abs(actual - expected) < Math.pow(10, -numDigits) / 2; assert.ok(pass, `expected ${actual} to be close to ${expected}`) }
+
+describe('Mat2', () => {
+  describe('constructor', () => {
+    it('creates zero matrix by default', () => {
+      const m = new Mat2()
+      assert.strictEqual(m[0], 0)
+      assert.strictEqual(m[1], 0)
+      assert.strictEqual(m[2], 0)
+      assert.strictEqual(m[3], 0)
+    })
+    it('creates with given values', () => {
+      const m = new Mat2(1, 2, 3, 4)
+      assert.strictEqual(m[0], 1)
+      assert.strictEqual(m[1], 2)
+      assert.strictEqual(m[2], 3)
+      assert.strictEqual(m[3], 4)
+    })
+    it('extends Float32Array with length 4', () => {
+      assert.ok(new Mat2() instanceof Float32Array)
+      assert.strictEqual(new Mat2().length, 4)
+    })
+  })
+
+  describe('identity', () => {
+    it('creates identity matrix', () => {
+      const m = Mat2.identity
+      assert.strictEqual(m[0], 1)
+      assert.strictEqual(m[1], 0)
+      assert.strictEqual(m[2], 0)
+      assert.strictEqual(m[3], 1)
+    })
+  })
+
+  describe('clone', () => {
+    it('creates independent copy', () => {
+      const a = new Mat2(1, 2, 3, 4)
+      const b = a.clone()
+      assert.strictEqual(b[0], 1)
+      b[0] = 99
+      assert.strictEqual(a[0], 1)
+    })
+  })
+
+  describe('transpose', () => {
+    it('transposes in-place', () => {
+      const m = new Mat2(1, 2, 3, 4)
+      const r = m.transpose()
+      assert.strictEqual(r[0], 1)
+      assert.strictEqual(r[1], 3)
+      assert.strictEqual(r[2], 2)
+      assert.strictEqual(r[3], 4)
+    })
+    it('transposes to out', () => {
+      const m = new Mat2(1, 2, 3, 4)
+      const out = new Mat2()
+      m.transpose(out)
+      assert.strictEqual(out[0], 1)
+      assert.strictEqual(out[1], 3)
+      assert.strictEqual(out[2], 2)
+      assert.strictEqual(out[3], 4)
+    })
+  })
+
+  describe('invert', () => {
+    it('inverts a matrix', () => {
+      const m = Mat2.identity
+      const inv = m.invert()
+      assert.notStrictEqual(inv, null)
+      assert.strictEqual(m[0], 1)
+      assert.strictEqual(m[3], 1)
+    })
+    it('inverts correctly', () => {
+      const m = new Mat2(1, 2, 3, 4)
+      const out = new Mat2()
+      m.invert(out)
+      // m * m^-1 = identity
+      const result = m.multiply(out!, new Mat2())
+      closeTo(result[0], 1)
+      closeTo(result[1], 0)
+      closeTo(result[2], 0)
+      closeTo(result[3], 1)
+    })
+    it('returns null for singular matrix', () => {
+      const m = new Mat2(1, 2, 2, 4)
+      assert.strictEqual(m.invert(new Mat2()), null)
+    })
+  })
+
+  describe('adjoint', () => {
+    it('calculates adjugate', () => {
+      const m = new Mat2(1, 2, 3, 4)
+      const out = new Mat2()
+      m.adjoint(out)
+      assert.strictEqual(out[0], 4)
+      assert.strictEqual(out[1], -2)
+      assert.strictEqual(out[2], -3)
+      assert.strictEqual(out[3], 1)
+    })
+  })
+
+  describe('determinant', () => {
+    it('calculates determinant', () => {
+      const m = new Mat2(1, 2, 3, 4)
+      assert.strictEqual(m.determinant(), -2)
+    })
+    it('identity determinant is 1', () => {
+      assert.strictEqual(Mat2.identity.determinant(), 1)
+    })
+  })
+
+  describe('rotate', () => {
+    it('rotates identity by 90 degrees', () => {
+      const m = Mat2.identity
+      const r = m.rotate(Math.PI / 2)
+      closeTo(r[0], 0)
+      closeTo(r[1], 1)
+      closeTo(r[2], -1)
+      closeTo(r[3], 0)
+    })
+  })
+
+  describe('scale', () => {
+    it('scales identity matrix', () => {
+      const m = Mat2.identity
+      const r = m.scale(new Vec2(2, 3))
+      assert.strictEqual(r[0], 2)
+      assert.strictEqual(r[1], 0)
+      assert.strictEqual(r[2], 0)
+      assert.strictEqual(r[3], 3)
+    })
+  })
+
+  describe('static fromRotation', () => {
+    it('creates rotation matrix', () => {
+      const m = Mat2.fromRotation(Math.PI / 2)
+      closeTo(m[0], 0)
+      closeTo(m[1], 1)
+      closeTo(m[2], -1)
+      closeTo(m[3], 0)
+    })
+  })
+
+  describe('static fromScaling', () => {
+    it('creates scaling matrix', () => {
+      const m = Mat2.fromScaling(new Vec2(2, 3))
+      assert.strictEqual(m[0], 2)
+      assert.strictEqual(m[1], 0)
+      assert.strictEqual(m[2], 0)
+      assert.strictEqual(m[3], 3)
+    })
+  })
+
+  describe('multiply', () => {
+    it('multiplies two matrices', () => {
+      const a = new Mat2(1, 2, 3, 4)
+      const b = new Mat2(5, 6, 7, 8)
+      const out = new Mat2()
+      a.multiply(b, out)
+      assert.strictEqual(out[0], 1 * 5 + 3 * 6)
+      assert.strictEqual(out[1], 2 * 5 + 4 * 6)
+      assert.strictEqual(out[2], 1 * 7 + 3 * 8)
+      assert.strictEqual(out[3], 2 * 7 + 4 * 8)
+    })
+    it('identity * A = A', () => {
+      const a = new Mat2(1, 2, 3, 4)
+      const out = new Mat2()
+      Mat2.identity.multiply(a, out)
+      assert.strictEqual(out[0], 1)
+      assert.strictEqual(out[1], 2)
+      assert.strictEqual(out[2], 3)
+      assert.strictEqual(out[3], 4)
+    })
+  })
+
+  describe('plus / minus', () => {
+    it('adds matrices', () => {
+      const a = new Mat2(1, 2, 3, 4)
+      const b = new Mat2(5, 6, 7, 8)
+      const out = new Mat2()
+      a.plus(b, out)
+      assert.strictEqual(out[0], 6)
+      assert.strictEqual(out[1], 8)
+      assert.strictEqual(out[2], 10)
+      assert.strictEqual(out[3], 12)
+    })
+    it('subtracts matrices', () => {
+      const a = new Mat2(5, 6, 7, 8)
+      const b = new Mat2(1, 2, 3, 4)
+      const out = new Mat2()
+      a.minus(b, out)
+      assert.strictEqual(out[0], 4)
+      assert.strictEqual(out[1], 4)
+      assert.strictEqual(out[2], 4)
+      assert.strictEqual(out[3], 4)
+    })
+  })
+
+  describe('scaleScalar', () => {
+    it('scales all elements', () => {
+      const m = new Mat2(1, 2, 3, 4)
+      const r = m.scaleScalar(2)
+      assert.strictEqual(r[0], 2)
+      assert.strictEqual(r[1], 4)
+      assert.strictEqual(r[2], 6)
+      assert.strictEqual(r[3], 8)
+    })
+  })
+
+  describe('equals / exactEquals', () => {
+    it('exactEquals', () => {
+      assert.strictEqual(new Mat2(1, 2, 3, 4).exactEquals(new Mat2(1, 2, 3, 4)), true)
+      assert.strictEqual(new Mat2(1, 2, 3, 4).exactEquals(new Mat2(1, 2, 3, 5)), false)
+    })
+    it('equals with epsilon', () => {
+      const a = new Mat2(1, 2, 3, 4)
+      const b = new Mat2(1 + glmaths.EPSILON * 0.1, 2, 3, 4)
+      assert.strictEqual(a.equals(b), true)
+    })
+  })
+
+  describe('toString', () => {
+    it('returns string representation', () => {
+      assert.strictEqual(new Mat2(1, 2, 3, 4).toString(), 'mat2x2(1, 2, 3, 4)')
+    })
+  })
+
+  describe('frob', () => {
+    it('frobenius norm of identity', () => {
+      closeTo(Mat2.identity.frob(), Math.sqrt(2))
+    })
+  })
+
+  describe('LDU', () => {
+    it('factors a matrix', () => {
+      const m = new Mat2(4, 3, 6, 3)
+      const [L, D, U] = m.LDU()
+      assert.ok(L instanceof Mat2)
+      assert.ok(D instanceof Mat2)
+      assert.ok(U instanceof Mat2)
+    })
+  })
+
+  describe('factory function', () => {
+    it('creates Mat2 via mat2()', () => {
+      const m = mat2(1, 2, 3, 4)
+      assert.ok(m instanceof Mat2)
+      assert.strictEqual(m[0], 1)
+    })
+  })
+
+  describe('mat * vec operators', () => {
+    it('Mat2 * Vec2 rotation', () => {
+      const m = Mat2.fromRotation(Math.PI / 3)
+      const v = new Vec2(3, 4)
+      const expected = v.transformMat2(m, new Vec2())
+      const r = m * v
+      assert.ok(r instanceof Vec2)
+      closeTo(r.x, expected.x)
+      closeTo(r.y, expected.y)
+    })
+    it('Mat2 * Vec2 scale + rotation', () => {
+      const m = Mat2.fromScaling(new Vec2(2, 3))
+      const rot = Mat2.fromRotation(Math.PI / 5)
+      const combined = rot.multiply(m, new Mat2())
+      const v = new Vec2(7, -2)
+      const expected = v.transformMat2(combined, new Vec2())
+      const r = combined * v
+      closeTo(r.x, expected.x)
+      closeTo(r.y, expected.y)
+    })
+  })
+})

package/tests/mat2x3.test.ts

@@ -0,0 +1,217 @@
+import { describe, it } from 'node:test'
+import assert from 'node:assert/strict'
+import glmaths, { Mat2x3, mat2x3, Vec2 } from '../dist/esm/glmaths'
+
+function closeTo(actual: number, expected: number, numDigits = 5) {
+  const pass = Math.abs(actual - expected) < Math.pow(10, -numDigits) / 2
+  assert.ok(pass, `expected ${actual} to be close to ${expected}`)
+}
+
+describe('Mat2x3', () => {
+  describe('constructor', () => {
+    it('creates zero matrix by default', () => {
+      const m = new Mat2x3()
+      for (let i = 0; i < 6; i++) assert.strictEqual(m[i], 0)
+    })
+    it('creates with given values', () => {
+      const m = new Mat2x3(1, 2, 3, 4, 5, 6)
+      assert.strictEqual(m[0], 1)
+      assert.strictEqual(m[5], 6)
+    })
+    it('extends Float32Array with length 6', () => {
+      assert.ok(new Mat2x3() instanceof Float32Array)
+      assert.strictEqual(new Mat2x3().length, 6)
+    })
+  })
+
+  describe('identity', () => {
+    it('creates identity', () => {
+      const m = Mat2x3.identity
+      assert.strictEqual(m[0], 1)
+      assert.strictEqual(m[1], 0)
+      assert.strictEqual(m[2], 0)
+      assert.strictEqual(m[3], 1)
+      assert.strictEqual(m[4], 0)
+      assert.strictEqual(m[5], 0)
+    })
+  })
+
+  describe('determinant', () => {
+    it('identity determinant is 1', () => {
+      assert.strictEqual(Mat2x3.identity.determinant(), 1)
+    })
+    it('calculates determinant', () => {
+      const m = new Mat2x3(1, 2, 3, 4, 5, 6)
+      assert.strictEqual(m.determinant(), 1 * 4 - 2 * 3)
+    })
+  })
+
+  describe('invert', () => {
+    it('inverts identity to identity', () => {
+      const m = Mat2x3.identity
+      const out = new Mat2x3()
+      m.invert(out)
+      assert.strictEqual(out[0], 1)
+      assert.strictEqual(out[3], 1)
+      assert.strictEqual(out[4], 0)
+      assert.strictEqual(out[5], 0)
+    })
+    it('returns null for singular matrix', () => {
+      const m = new Mat2x3(1, 2, 2, 4, 0, 0)
+      assert.strictEqual(m.invert(new Mat2x3()), null)
+    })
+    it('inverse * original = identity (for the 2x2 part)', () => {
+      const m = new Mat2x3(2, 1, 1, 3, 5, 7)
+      const inv = new Mat2x3()
+      m.invert(inv)
+      const result = new Mat2x3()
+      Mat2x3.identity.multiply.call(m, inv!, result)
+      closeTo(result[0], 1)
+      closeTo(result[1], 0)
+      closeTo(result[2], 0)
+      closeTo(result[3], 1)
+    })
+  })
+
+  describe('rotate', () => {
+    it('rotates identity by PI/2', () => {
+      const m = Mat2x3.identity
+      const r = m.rotate(Math.PI / 2)
+      closeTo(r[0], 0)
+      closeTo(r[1], 1)
+      closeTo(r[2], -1)
+      closeTo(r[3], 0)
+    })
+  })
+
+  describe('scale', () => {
+    it('scales identity', () => {
+      const m = Mat2x3.identity
+      const r = m.scale(new Vec2(2, 3))
+      assert.strictEqual(r[0], 2)
+      assert.strictEqual(r[3], 3)
+    })
+  })
+
+  describe('translate', () => {
+    it('translates identity', () => {
+      const m = Mat2x3.identity
+      const r = m.translate(new Vec2(5, 10))
+      assert.strictEqual(r[4], 5)
+      assert.strictEqual(r[5], 10)
+    })
+  })
+
+  describe('static fromRotation', () => {
+    it('creates rotation matrix', () => {
+      const m = Mat2x3.fromRotation(Math.PI / 2)
+      closeTo(m[0], 0)
+      closeTo(m[1], 1)
+      assert.strictEqual(m[4], 0)
+      assert.strictEqual(m[5], 0)
+    })
+  })
+
+  describe('static fromScaling', () => {
+    it('creates scaling matrix', () => {
+      const m = Mat2x3.fromScaling(new Vec2(2, 3))
+      assert.strictEqual(m[0], 2)
+      assert.strictEqual(m[3], 3)
+    })
+  })
+
+  describe('static fromTranslation', () => {
+    it('creates translation matrix', () => {
+      const m = Mat2x3.fromTranslation(new Vec2(5, 10))
+      assert.strictEqual(m[0], 1)
+      assert.strictEqual(m[3], 1)
+      assert.strictEqual(m[4], 5)
+      assert.strictEqual(m[5], 10)
+    })
+  })
+
+  describe('multiply', () => {
+    it('identity * A = A', () => {
+      const a = new Mat2x3(1, 2, 3, 4, 5, 6)
+      const out = new Mat2x3()
+      Mat2x3.identity.multiply(a, out)
+      for (let i = 0; i < 6; i++) assert.strictEqual(out[i], a[i])
+    })
+  })
+
+  describe('plus / minus', () => {
+    it('adds', () => {
+      const a = new Mat2x3(1, 2, 3, 4, 5, 6)
+      const b = new Mat2x3(6, 5, 4, 3, 2, 1)
+      const out = new Mat2x3()
+      a.plus(b, out)
+      assert.strictEqual(out[0], 7)
+      assert.strictEqual(out[5], 7)
+    })
+    it('subtracts', () => {
+      const a = new Mat2x3(6, 5, 4, 3, 2, 1)
+      const b = new Mat2x3(1, 2, 3, 4, 5, 6)
+      const out = new Mat2x3()
+      a.minus(b, out)
+      assert.strictEqual(out[0], 5)
+      assert.strictEqual(out[5], -5)
+    })
+  })
+
+  describe('equals / exactEquals', () => {
+    it('exactEquals', () => {
+      const a = new Mat2x3(1, 2, 3, 4, 5, 6)
+      const b = new Mat2x3(1, 2, 3, 4, 5, 6)
+      assert.strictEqual(a.exactEquals(b), true)
+    })
+    it('equals with epsilon', () => {
+      const a = new Mat2x3(1, 2, 3, 4, 5, 6)
+      const b = new Mat2x3(1 + glmaths.EPSILON * 0.1, 2, 3, 4, 5, 6)
+      assert.strictEqual(a.equals(b), true)
+    })
+  })
+
+  describe('toString', () => {
+    it('returns string', () => {
+      const m = new Mat2x3(1, 0, 0, 1, 0, 0)
+      assert.ok(m.toString().includes('mat2x3'))
+    })
+  })
+
+  describe('frob', () => {
+    it('frobenius norm of identity', () => {
+      closeTo(Mat2x3.identity.frob(), Math.sqrt(3))
+    })
+  })
+
+  describe('factory function', () => {
+    it('creates Mat2x3', () => {
+      const m = mat2x3(1, 0, 0, 1, 0, 0)
+      assert.ok(m instanceof Mat2x3)
+    })
+  })
+
+  describe('mat * vec operators', () => {
+    it('Mat2x3 * Vec2 rotation + translation', () => {
+      const m = Mat2x3.fromRotation(Math.PI / 3)
+      m.translate(new Vec2(10, 20))
+      const v = new Vec2(4, -1)
+      const expected = v.transformMat2x3(m, new Vec2())
+      const r = m * v
+      assert.ok(r instanceof Vec2)
+      closeTo(r.x, expected.x)
+      closeTo(r.y, expected.y)
+    })
+    it('Mat2x3 * Vec2 scale + rotation + translation', () => {
+      const m = Mat2x3.identity
+      m.scale(new Vec2(2, 3))
+      m.rotate(Math.PI / 4)
+      m.translate(new Vec2(5, 10))
+      const v = new Vec2(3, 7)
+      const expected = v.transformMat2x3(m, new Vec2())
+      const r = m * v
+      closeTo(r.x, expected.x)
+      closeTo(r.y, expected.y)
+    })
+  })
+})