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      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 
     17 package com.android.server;
     18 
     19 import android.test.AndroidTestCase;
     20 
     21 import java.lang.Exception;
     22 import java.lang.Math;
     23 
     24 /**
     25  * Tests for {@link com.android.server.AnyMotionDetector.Vector3}
     26  */
     27 public 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