1/*
2 * Copyright (C) 2016 The Android Open Source Project
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 *      http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 */
16
17package com.android.server;
18
19import android.test.AndroidTestCase;
20
21import java.lang.Exception;
22import java.lang.Math;
23
24/**
25 * Tests for {@link com.android.server.AnyMotionDetector.Vector3}
26 */
27public class Vector3Test extends AndroidTestCase {
28    private static final float tolerance = 1.0f / (1 << 12);
29    private static final float STATIONARY_ANGLE_THRESHOLD = 0.05f;
30
31    private AnyMotionDetector.Vector3 unitXAxis;
32    private AnyMotionDetector.Vector3 unitYAxis;
33    private AnyMotionDetector.Vector3 unitZAxis;
34    private AnyMotionDetector.Vector3 x3;
35    private AnyMotionDetector.Vector3 case1A;
36    private AnyMotionDetector.Vector3 case1B;
37    private AnyMotionDetector.Vector3 case2A;
38    private AnyMotionDetector.Vector3 case2B;
39    private AnyMotionDetector.Vector3 x1y1;
40    private AnyMotionDetector.Vector3 xn1y1;
41    private AnyMotionDetector.Vector3 x1z1;
42    private AnyMotionDetector.Vector3 y1z1;
43    private AnyMotionDetector.Vector3 piOverSixUnitCircle;
44
45
46    private boolean nearlyEqual(float a, float b) {
47        return Math.abs(a - b) <= tolerance;
48    }
49
50    public void setUp() throws Exception {
51        super.setUp();
52        unitXAxis = new AnyMotionDetector.Vector3(0, 1, 0, 0);
53        unitYAxis = new AnyMotionDetector.Vector3(0, 0, 1, 0);
54        unitZAxis = new AnyMotionDetector.Vector3(0, 0, 0, 1);
55        x3 = new AnyMotionDetector.Vector3(0, 3, 0, 0);
56        x1y1 = new AnyMotionDetector.Vector3(0, 1, 1, 0);
57        xn1y1 = new AnyMotionDetector.Vector3(0, -1, 1, 0);
58        x1z1 = new AnyMotionDetector.Vector3(0, 1, 0, 1);
59        y1z1 = new AnyMotionDetector.Vector3(0, 0, 1, 1);
60        piOverSixUnitCircle = new AnyMotionDetector.Vector3(
61                0, (float)Math.sqrt(3)/2, (float)0.5, 0);
62
63        case1A = new AnyMotionDetector.Vector3(0, -9.81f, -0.02f, 0.3f);
64        case1B = new AnyMotionDetector.Vector3(0, -9.80f, -0.02f, 0.3f);
65        case2A = new AnyMotionDetector.Vector3(0, 1f, 2f, 3f);
66        case2B = new AnyMotionDetector.Vector3(0, 4f, 5f, 6f);
67    }
68
69    public void testVector3Norm() {
70        assertTrue(nearlyEqual(unitXAxis.norm(), 1.0f));
71        assertTrue(nearlyEqual(unitYAxis.norm(), 1.0f));
72        assertTrue(nearlyEqual(unitZAxis.norm(), 1.0f));
73        assertTrue(nearlyEqual(x1y1.norm(), (float)Math.sqrt(2)));
74    }
75
76    public void testVector3AngleBetween() {
77        // Zero angle.
78        assertTrue(nearlyEqual(unitXAxis.angleBetween(unitXAxis), 0.0f));
79        assertTrue(nearlyEqual(unitYAxis.angleBetween(unitYAxis), 0.0f));
80        assertTrue(nearlyEqual(unitZAxis.angleBetween(unitZAxis), 0.0f));
81
82        // Unit axes should be perpendicular.
83        assertTrue(nearlyEqual(unitXAxis.angleBetween(unitYAxis), 90.0f));
84        assertTrue(nearlyEqual(unitXAxis.angleBetween(unitZAxis), 90.0f));
85        assertTrue(nearlyEqual(unitYAxis.angleBetween(unitZAxis), 90.0f));
86
87        // 45 degree angles.
88        assertTrue(nearlyEqual(unitXAxis.angleBetween(x1y1), 45.0f));
89        assertTrue(nearlyEqual(unitYAxis.angleBetween(x1y1), 45.0f));
90
91        // 135 degree angles.
92        assertTrue(nearlyEqual(xn1y1.angleBetween(unitXAxis), 135.0f));
93
94        // 30 degree angles.
95        assertTrue(nearlyEqual(piOverSixUnitCircle.angleBetween(unitXAxis), 30.0f));
96
97        // These vectors are expected to be still.
98        assertTrue(case1A.angleBetween(case1A) < STATIONARY_ANGLE_THRESHOLD);
99        assertTrue(case1A.angleBetween(case1B) < STATIONARY_ANGLE_THRESHOLD);
100        assertTrue(unitXAxis.angleBetween(unitXAxis) < STATIONARY_ANGLE_THRESHOLD);
101        assertTrue(unitYAxis.angleBetween(unitYAxis) < STATIONARY_ANGLE_THRESHOLD);
102        assertTrue(unitZAxis.angleBetween(unitZAxis) < STATIONARY_ANGLE_THRESHOLD);
103    }
104
105    public void testVector3Normalized() {
106        AnyMotionDetector.Vector3 unitXAxisNormalized = unitXAxis.normalized();
107        assertTrue(nearlyEqual(unitXAxisNormalized.x, unitXAxis.x));
108        assertTrue(nearlyEqual(unitXAxisNormalized.y, unitXAxis.y));
109        assertTrue(nearlyEqual(unitXAxisNormalized.z, unitXAxis.z));
110
111        // Normalizing the vector created by multiplying the unit vector by 3 gets the unit vector.
112        AnyMotionDetector.Vector3 x3Normalized = x3.normalized();
113        assertTrue(nearlyEqual(x3Normalized.x, unitXAxis.x));
114        assertTrue(nearlyEqual(x3Normalized.y, unitXAxis.y));
115        assertTrue(nearlyEqual(x3Normalized.z, unitXAxis.z));
116    }
117
118    public void testVector3Cross() {
119        AnyMotionDetector.Vector3 xCrossX = unitXAxis.cross(unitXAxis);
120        assertTrue(nearlyEqual(xCrossX.x, 0f));
121        assertTrue(nearlyEqual(xCrossX.y, 0f));
122        assertTrue(nearlyEqual(xCrossX.z, 0f));
123
124        AnyMotionDetector.Vector3 xCrossNx = unitXAxis.cross(unitXAxis.times(-1));
125        assertTrue(nearlyEqual(xCrossNx.x, 0f));
126        assertTrue(nearlyEqual(xCrossNx.y, 0f));
127        assertTrue(nearlyEqual(xCrossNx.z, 0f));
128
129        AnyMotionDetector.Vector3 cross2 = case2A.cross(case2B);
130        assertTrue(nearlyEqual(cross2.x, -3));
131        assertTrue(nearlyEqual(cross2.y, 6));
132        assertTrue(nearlyEqual(cross2.z, -3));
133    }
134
135     public void testVector3Times() {
136         AnyMotionDetector.Vector3 yTimes2 = unitYAxis.times(2);
137         assertTrue(nearlyEqual(yTimes2.x, 0f));
138         assertTrue(nearlyEqual(yTimes2.y, 2f));
139         assertTrue(nearlyEqual(yTimes2.z, 0f));
140     }
141
142     public void testVector3Plus() {
143         AnyMotionDetector.Vector3 xPlusY = unitXAxis.plus(unitYAxis);
144         assertTrue(nearlyEqual(xPlusY.x, 1f));
145         assertTrue(nearlyEqual(xPlusY.y, 1f));
146         assertTrue(nearlyEqual(xPlusY.z, 0f));
147     }
148
149     public void testVector3Minus() {
150         AnyMotionDetector.Vector3 xMinusY = unitXAxis.minus(unitYAxis);
151         assertTrue(nearlyEqual(xMinusY.x, 1f));
152         assertTrue(nearlyEqual(xMinusY.y, -1f));
153         assertTrue(nearlyEqual(xMinusY.z, 0f));
154     }
155
156     public void testVector3DotProduct() {
157         float xDotX = unitXAxis.dotProduct(unitXAxis);
158         float xDotY = unitXAxis.dotProduct(unitYAxis);
159         float xDotZ = unitXAxis.dotProduct(unitZAxis);
160         assertTrue(nearlyEqual(xDotX, 1f));
161         assertTrue(nearlyEqual(xDotY, 0f));
162         assertTrue(nearlyEqual(xDotZ, 0f));
163     }
164}
165