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Issue 2365153002: [GeometryInterface] Add rotateAxisAngle*(x,y,z,angle) function. (Closed)
Patch Set: update test. Created 4 years, 2 months ago
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1 <!DOCTYPE HTML>
2 <script src="../../resources/testharness.js"></script>
3 <script src="../../resources/testharnessreport.js"></script>
4 <script src="./resources/geometry-interfaces-test-helpers.js"></script>
5 <script>
6
7 function deg2rad(degrees) {
8 return degrees * Math.PI / 180;
9 }
10
11 function getRotationMatrix(x, y, z, alpha_in_degrees) {
12 // Vector normalizing
13 var nx = x;
14 var ny = y;
15 var nz = z;
16 var length = Math.sqrt(x * x + y * y + z * z);
17 if (length) {
18 nx = x / length;
19 ny = y / length;
20 nz = z / length;
21 }
22
23 // The 3D rotation matrix is described in CSS Transforms with alpha.
24 // Please see: https://drafts.csswg.org/css-transforms-1/#Rotate3dDefined
25 var alpha_in_radians = deg2rad(alpha_in_degrees / 2);
26 var sc = Math.sin(alpha_in_radians) * Math.cos(alpha_in_radians);
27 var sq = Math.sin(alpha_in_radians) * Math.sin(alpha_in_radians);
28
29 var m11 = 1 - 2 * (ny * ny + nz * nz) * sq;
30 var m12 = 2 * (nx * ny * sq + nz * sc);
31 var m13 = 2 * (nx * nz * sq - ny * sc);
32 var m14 = 0;
33 var m21 = 2 * (nx * ny * sq - nz * sc);
34 var m22 = 1 - 2 * (nx * nx + nz * nz) * sq;
35 var m23 = 2 * (ny * nz * sq + nx * sc);
36 var m24 = 0;
37 var m31 = 2 * (nx * nz * sq + ny * sc);
38 var m32 = 2 * (ny * nz * sq - nx * sc);
39 var m33 = 1 - 2 * (nx * nx + ny * ny) * sq;
40 var m34 = 0;
41 var m41 = 0;
42 var m42 = 0;
43 var m43 = 0;
44 var m44 = 1;
45
46 return new DOMMatrix([m11, m12, m13, m14, m21, m22, m23, m24, m31, m32, m33, m 34, m41, m42, m43, m44]);
47 }
48
49 test(() => {
50 var matrix2d = new DOMMatrix([1, 2, 3, 4, 5, 6]);
51 matrix2d.rotateAxisAngleSelf();
52 var expectedMatrix = new DOMMatrix([1, 2, 3, 4, 5, 6]);
53 expectedMatrix.multiplySelf(getRotationMatrix(0, 0, 0, 0));
54 assert_true(matrix2d.is2D);
55 assert_matrix_almost_equals(matrix2d, expectedMatrix);
56 }, "DOMMatrix 2d - rotateAxisAngleSelf()");
57
58 test(() => {
59 var matrix2d = new DOMMatrix([1, 2, 3, 4, 5, 6]);
60 matrix2d.rotateAxisAngleSelf(0, 0, 1);
61 var expectedMatrix = new DOMMatrix([1, 2, 3, 4, 5, 6]);
62 expectedMatrix.multiplySelf(getRotationMatrix(0, 0, 1, 0));
63 assert_true(matrix2d.is2D);
64 assert_matrix_almost_equals(matrix2d, expectedMatrix);
65 }, "DOMMatrix 2d - rotateAxisAngleSelf(0, 0, 1)");
66
67 test(() => {
68 var matrix2d = new DOMMatrix([1, 2, 3, 4, 5, 6]);
69 matrix2d.rotateAxisAngleSelf(1, 1, 1);
70 var expectedMatrix = new DOMMatrix([1, 2, 3, 4, 5, 6]);
71 expectedMatrix.multiplySelf(getRotationMatrix(1, 1, 1, 0));
72 assert_false(matrix2d.is2D);
73 assert_matrix_almost_equals(matrix2d, expectedMatrix);
74 }, "DOMMatrix 2d - rotateAxisAngleSelf(1, 1, 1, 0)");
75
76 test(() => {
77 var matrix2d = new DOMMatrix([1, 2, 3, 4, 5, 6]);
78 matrix2d.rotateAxisAngleSelf(1, 0, 0, 10);
79 var expectedMatrix = new DOMMatrix([1, 2, 3, 4, 5, 6]);
80 expectedMatrix.multiplySelf(getRotationMatrix(1, 0, 0, 10));
81 assert_false(matrix2d.is2D);
82 assert_matrix_almost_equals(matrix2d, expectedMatrix);
83 }, "DOMMatrix 2d - rotateAxisAngleSelf(1, 0, 0, 10)");
84
85 test(() => {
86 var matrix2d = new DOMMatrix([1, 2, 3, 4, 5, 6]);
87 matrix2d.rotateAxisAngleSelf(0, 1, 0, 27);
88 var expectedMatrix = new DOMMatrix([1, 2, 3, 4, 5, 6]);
89 expectedMatrix.multiplySelf(getRotationMatrix(0, 1, 0, 27));
90 assert_false(matrix2d.is2D);
91 assert_matrix_almost_equals(matrix2d, expectedMatrix);
92 }, "DOMMatrix 2d - rotateAxisAngleSelf(0, 1, 0, 27)");
93
94 test(() => {
95 var matrix2d = new DOMMatrix([1, 2, 3, 4, 5, 6]);
96 matrix2d.rotateAxisAngleSelf(0, 0, 1, 38);
97 var expectedMatrix = new DOMMatrix([1, 2, 3, 4, 5, 6]);
98 expectedMatrix.multiplySelf(getRotationMatrix(0, 0, 1, 38));
99 assert_true(matrix2d.is2D);
100 assert_matrix_almost_equals(matrix2d, expectedMatrix);
101 }, "DOMMatrix 2d - rotateAxisAngleSelf(0, 0, 1, 38)");
102
103 test(() => {
104 var matrix2d = new DOMMatrix([1, 2, 3, 4, 5, 6]);
105 matrix2d.rotateAxisAngleSelf(1, 1, 1, 45);
106 var expectedMatrix = new DOMMatrix([1, 2, 3, 4, 5, 6]);
107 expectedMatrix.multiplySelf(getRotationMatrix(1, 1, 1, 45));
108 assert_false(matrix2d.is2D);
109 assert_matrix_almost_equals(matrix2d, expectedMatrix);
110 }, "DOMMatrix 2d - rotateAxisAngleSelf(1, 1, 1, 45)");
111
112 test(() => {
113 var matrix3d = new DOMMatrix([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 1 5, 16]);
114 matrix3d.rotateAxisAngleSelf();
115 var expectedMatrix = new DOMMatrix([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16]);
116 expectedMatrix.multiplySelf(getRotationMatrix(0, 0, 0, 0));
117 assert_false(matrix3d.is2D);
118 assert_matrix_almost_equals(matrix3d, expectedMatrix);
119 }, "DOMMatrix 3d - rotateAxisAngleSelf()");
120
121 test(() => {
122 var matrix3d = new DOMMatrix([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 1 5, 16]);
123 matrix3d.rotateAxisAngleSelf(0, 0, 1);
124 var expectedMatrix = new DOMMatrix([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16]);
125 expectedMatrix.multiplySelf(getRotationMatrix(0, 0, 1, 0));
126 assert_false(matrix3d.is2D);
127 assert_matrix_almost_equals(matrix3d, expectedMatrix);
128 }, "DOMMatrix 3d - rotateAxisAngleSelf(0, 0, 1)");
129
130 test(() => {
131 var matrix3d = new DOMMatrix([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 1 5, 16]);
132 matrix3d.rotateAxisAngleSelf(0, 0, 1, 0);
133 var expectedMatrix = new DOMMatrix([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16]);
134 expectedMatrix.multiplySelf(getRotationMatrix(0, 0, 1, 0));
135 assert_false(matrix3d.is2D);
136 assert_matrix_almost_equals(matrix3d, expectedMatrix);
137 }, "DOMMatrix 3d - rotateAxisAngleSelf(0, 0, 1, 0)");
138
139 test(() => {
140 var matrix3d = new DOMMatrix([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 1 5, 16]);
141 matrix3d.rotateAxisAngleSelf(1, 0, 0, 19);
142 var expectedMatrix = new DOMMatrix([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16]);
143 expectedMatrix.multiplySelf(getRotationMatrix(1, 0, 0, 19));
144 assert_false(matrix3d.is2D);
145 assert_matrix_almost_equals(matrix3d, expectedMatrix);
146 }, "DOMMatrix 3d - rotateAxisAngleSelf(1, 0, 0, 19)");
147
148 test(() => {
149 var matrix3d = new DOMMatrix([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 1 5, 16]);
150 matrix3d.rotateAxisAngleSelf(0, 1, 0, 46);
151 var expectedMatrix = new DOMMatrix([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16]);
152 expectedMatrix.multiplySelf(getRotationMatrix(0, 1, 0, 46));
153 assert_false(matrix3d.is2D);
154 assert_matrix_almost_equals(matrix3d, expectedMatrix);
155 }, "DOMMatrix 3d - rotateAxisAngleSelf(0, 1, 0, 46)");
156
157 test(() => {
158 var matrix3d = new DOMMatrix([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 1 5, 16]);
159 matrix3d.rotateAxisAngleSelf(0, 0, 1, 65);
160 var expectedMatrix = new DOMMatrix([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16]);
161 expectedMatrix.multiplySelf(getRotationMatrix(0, 0, 1, 65));
162 assert_false(matrix3d.is2D);
163 assert_matrix_almost_equals(matrix3d, expectedMatrix);
164 }, "DOMMatrix 3d - rotateAxisAngleSelf(0, 0, 1, 65)");
165
166 test(() => {
167 var matrix3d = new DOMMatrix([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 1 5, 16]);
168 matrix3d.rotateAxisAngleSelf(1, 1, 1, 67);
169 var expectedMatrix = new DOMMatrix([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16]);
170 expectedMatrix.multiplySelf(getRotationMatrix(1, 1, 1, 67));
171 assert_false(matrix3d.is2D);
172 assert_matrix_almost_equals(matrix3d, expectedMatrix);
173 }, "DOMMatrix 3d - rotateAxisAngleSelf(1, 1, 1, 67)");
174
175 test(() => {
176 var matrix2d = new DOMMatrixReadOnly([1, 2, 3, 4, 5, 6]);
177 matrix2d = matrix2d.rotateAxisAngle();
178 var expectedMatrix = new DOMMatrixReadOnly([1, 2, 3, 4, 5, 6]);
179 expectedMatrix = expectedMatrix.multiply(getRotationMatrix(0, 0, 0, 0));
180 assert_true(matrix2d.is2D);
181 assert_matrix_almost_equals(matrix2d, expectedMatrix);
182 }, "DOMMatrixReadOnly 2d - rotateAxisAngle()");
183
184 test(() => {
185 var matrix2d = new DOMMatrixReadOnly([1, 2, 3, 4, 5, 6]);
186 matrix2d = matrix2d.rotateAxisAngle(0, 0, 1);
187 var expectedMatrix = new DOMMatrixReadOnly([1, 2, 3, 4, 5, 6]);
188 expectedMatrix = expectedMatrix.multiply(getRotationMatrix(0, 0, 1, 0));
189 assert_true(matrix2d.is2D);
190 assert_matrix_almost_equals(matrix2d, expectedMatrix);
191 }, "DOMMatrixReadOnly 2d - rotateAxisAngle(0, 0, 1)");
192
193 test(() => {
194 var matrix2d = new DOMMatrixReadOnly([1, 2, 3, 4, 5, 6]);
195 matrix2d = matrix2d.rotateAxisAngle(1, 1, 1);
196 var expectedMatrix = new DOMMatrixReadOnly([1, 2, 3, 4, 5, 6]);
197 expectedMatrix = expectedMatrix.multiply(getRotationMatrix(1, 1, 1, 0));
198 }, "DOMMatrixReadOnly 2d - rotateAxisAngle(1, 1, 1, 0)");
199
200 test(() => {
201 var matrix2d = new DOMMatrixReadOnly([1, 2, 3, 4, 5, 6]);
202 matrix2d = matrix2d.rotateAxisAngle(1, 0, 0, 21);
203 var expectedMatrix = new DOMMatrixReadOnly([1, 2, 3, 4, 5, 6]);
204 expectedMatrix = expectedMatrix.multiply(getRotationMatrix(1, 0, 0, 21));
205 assert_false(matrix2d.is2D);
206 assert_matrix_almost_equals(matrix2d, expectedMatrix);
207 }, "DOMMatrixReadOnly 2d - rotateAxisAngle(1, 0, 0, 21)");
208
209 test(() => {
210 var matrix2d = new DOMMatrixReadOnly([1, 2, 3, 4, 5, 6]);
211 matrix2d = matrix2d.rotateAxisAngle(0, 1, 0, 35);
212 var expectedMatrix = new DOMMatrixReadOnly([1, 2, 3, 4, 5, 6]);
213 expectedMatrix = expectedMatrix.multiply(getRotationMatrix(0, 1, 0, 35));
214 assert_false(matrix2d.is2D);
215 assert_matrix_almost_equals(matrix2d, expectedMatrix);
216 }, "DOMMatrixReadOnly 2d - rotateAxisAngle(0, 1, 0, 35)");
217
218 test(() => {
219 var matrix2d = new DOMMatrixReadOnly([1, 2, 3, 4, 5, 6]);
220 matrix2d = matrix2d.rotateAxisAngle(0, 0, 1, 55);
221 var expectedMatrix = new DOMMatrixReadOnly([1, 2, 3, 4, 5, 6]);
222 expectedMatrix = expectedMatrix.multiply(getRotationMatrix(0, 0, 1, 55));
223 assert_true(matrix2d.is2D);
224 assert_matrix_almost_equals(matrix2d, expectedMatrix);
225 }, "DOMMatrixReadOnly 2d - rotateAxisAngle(0, 0, 1, 55)");
226
227 test(() => {
228 var matrix2d = new DOMMatrixReadOnly([1, 2, 3, 4, 5, 6]);
229 matrix2d = matrix2d.rotateAxisAngle(1, 1, 1, 75);
230 var expectedMatrix = new DOMMatrixReadOnly([1, 2, 3, 4, 5, 6]);
231 expectedMatrix = expectedMatrix.multiply(getRotationMatrix(1, 1, 1, 75));
232 assert_false(matrix2d.is2D);
233 assert_matrix_almost_equals(matrix2d, expectedMatrix);
234 }, "DOMMatrixReadOnly 2d - rotateAxisAngle(1, 1, 1, 75)");
235
236 test(() => {
237 var matrix3d = new DOMMatrixReadOnly([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 1 3, 14, 15, 16]);
238 matrix3d = matrix3d.rotateAxisAngle();
239 var expectedMatrix = new DOMMatrixReadOnly([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16]);
240 expectedMatrix = expectedMatrix.multiply(getRotationMatrix(0, 0, 0, 0));
241 assert_false(matrix3d.is2D);
242 assert_matrix_almost_equals(matrix3d, expectedMatrix);
243 }, "DOMMatrixReadOnly 3d - rotateAxisAngle()");
244
245 test(() => {
246 var matrix3d = new DOMMatrixReadOnly([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 1 3, 14, 15, 16]);
247 matrix3d = matrix3d.rotateAxisAngle(0, 0, 1);
248 var expectedMatrix = new DOMMatrixReadOnly([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16]);
249 expectedMatrix = expectedMatrix.multiply(getRotationMatrix(0, 0, 1, 0));
250 assert_false(matrix3d.is2D);
251 assert_matrix_almost_equals(matrix3d, expectedMatrix);
252 }, "DOMMatrixReadOnly 3d - rotateAxisAngle(0, 0, 1)");
253
254 test(() => {
255 var matrix3d = new DOMMatrixReadOnly([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 1 3, 14, 15, 16]);
256 matrix3d = matrix3d.rotateAxisAngle(0, 0, 1, 0);
257 var expectedMatrix = new DOMMatrixReadOnly([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16]);
258 expectedMatrix = expectedMatrix.multiply(getRotationMatrix(0, 0, 1, 0));
259 assert_false(matrix3d.is2D);
260 assert_matrix_almost_equals(matrix3d, expectedMatrix);
261 }, "DOMMatrixReadOnly 3d - rotateAxisAngle(0, 0, 1, 0)");
262
263 test(() => {
264 var matrix3d = new DOMMatrixReadOnly([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 1 3, 14, 15, 16]);
265 matrix3d = matrix3d.rotateAxisAngle(1, 1, 1, 0);
266 var expectedMatrix = new DOMMatrixReadOnly([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16]);
267 expectedMatrix = expectedMatrix.multiply(getRotationMatrix(1, 1, 1, 0));
268 assert_false(matrix3d.is2D);
269 assert_matrix_almost_equals(matrix3d, expectedMatrix);
270 }, "DOMMatrixReadOnly 3d - rotateAxisAngle(1, 1, 1, 0)");
271
272 test(() => {
273 var matrix3d = new DOMMatrixReadOnly([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 1 3, 14, 15, 16]);
274 matrix3d = matrix3d.rotateAxisAngle(1, 0, 0, 105);
275 var expectedMatrix = new DOMMatrixReadOnly([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16]);
276 expectedMatrix = expectedMatrix.multiply(getRotationMatrix(1, 0, 0, 105));
277 assert_false(matrix3d.is2D);
278 assert_matrix_almost_equals(matrix3d, expectedMatrix);
279 }, "DOMMatrixReadOnly 3d - rotateAxisAngle(1, 0, 0, 105)");
280
281 test(() => {
282 var matrix3d = new DOMMatrixReadOnly([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 1 3, 14, 15, 16]);
283 matrix3d = matrix3d.rotateAxisAngle(0, 1, 0, 45);
284 var expectedMatrix = new DOMMatrixReadOnly([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16]);
285 expectedMatrix = expectedMatrix.multiply(getRotationMatrix(0, 1, 0, 45));
286 assert_false(matrix3d.is2D);
287 assert_matrix_almost_equals(matrix3d, expectedMatrix);
288 }, "DOMMatrixReadOnly 3d - rotateAxisAngle(0, 1, 0, 45)");
289
290 test(() => {
291 var matrix3d = new DOMMatrixReadOnly([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 1 3, 14, 15, 16]);
292 matrix3d = matrix3d.rotateAxisAngle(0, 0, 1, 65);
293 var expectedMatrix = new DOMMatrixReadOnly([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16]);
294 expectedMatrix = expectedMatrix.multiply(getRotationMatrix(0, 0, 1, 65));
295 assert_false(matrix3d.is2D);
296 assert_matrix_almost_equals(matrix3d, expectedMatrix);
297 }, "DOMMatrixReadOnly 3d - rotateAxisAngle(0, 0, 1, 65)");
298
299 test(() => {
300 var matrix3d = new DOMMatrixReadOnly([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 1 3, 14, 15, 16]);
301 matrix3d = matrix3d.rotateAxisAngle(1, 1, 1, 78);
302 var expectedMatrix = new DOMMatrixReadOnly([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16]);
303 expectedMatrix = expectedMatrix.multiply(getRotationMatrix(1, 1, 1, 78));
304 assert_false(matrix3d.is2D);
305 assert_matrix_almost_equals(matrix3d, expectedMatrix);
306 }, "DOMMatrixReadOnly 3d - rotateAxisAngle(1, 1, 1, 78)");
307
308 test(() => {
309 var matrix2d = new DOMMatrix([1, 2, 3, 4, 5, 6]);
310 matrix2d.rotateAxisAngleSelf(1, 0, 0, 90);
311 matrix2d.rotateAxisAngleSelf(1, 0, 0, -90);
312 var expectedMatrix = new DOMMatrix([1, 2, 3, 4, 5, 6]);
313 assert_matrix_almost_equals(matrix2d, expectedMatrix);
314 }, "DOMMatrix 2d - rotateAxisAngleSelf() - do rotate +90,-90");
315
316 test(() => {
317 var matrix2d = new DOMMatrixReadOnly([1, 2, 3, 4, 5, 6]);
318 matrix2d = matrix2d.rotateAxisAngle(0, 1, 0, -180);
319 matrix2d = matrix2d.rotateAxisAngle(0, 1, 0, +180);
320 var expectedMatrix = new DOMMatrix([1, 2, 3, 4, 5, 6]);
321 assert_matrix_almost_equals(matrix2d, expectedMatrix);
322 }, "DOMMatrix 2d - rotateAxisAngle() - do rotate -180,+180" );
323
324 test(() => {
325 var matrix3d = new DOMMatrix([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 1 5, 16]);
326 matrix3d.rotateAxisAngleSelf(1, 1, 0, 90);
327 matrix3d.rotateAxisAngleSelf(1, 1, 0, -90);
328 var expectedMatrix = new DOMMatrix([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16]);
329 assert_matrix_almost_equals(matrix3d, expectedMatrix);
330 }, "DOMMatrix 3d - rotateAxisAngleSelf() - do rotate +90,-90");
331
332 test(() => {
333 var matrix3d = new DOMMatrixReadOnly([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 1 3, 14, 15, 16]);
334 matrix3d = matrix3d.rotateAxisAngle(1, 1, 1, -180);
335 matrix3d = matrix3d.rotateAxisAngle(1, 1, 1, +180);
336 var expectedMatrix = new DOMMatrix([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16]);
337 assert_matrix_almost_equals(matrix3d, expectedMatrix);
338 }, "DOMMatrix 3d - rotateAxisAngle() - do rotate -180,+180");
339
340 test(() => {
341 var matrix3d = new DOMMatrix([1, 2, 3, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]) ;
342 matrix3d = matrix3d.rotateAxisAngle(0, 0, 1, -90);
343 var expectedMatrix1 = new DOMMatrix([0, 0, 0, 0, 1, 2, 3, 4, 0, 0, 0, 0, 0, 0, 0, 0]);
344 assert_array_almost_equals(matrix3d.toFloat64Array(), expectedMatrix1.toFloat6 4Array());
345 matrix3d = matrix3d.rotateAxisAngle(1, 0, 0, -90);
346 var expectedMatrix2 = new DOMMatrix([0, 0, 0, 0, 0, 0, 0, 0, 1, 2, 3, 4, 0, 0, 0, 0]);
347 assert_array_almost_equals(matrix3d.toFloat64Array(), expectedMatrix2.toFloat6 4Array());
348 matrix3d = matrix3d.rotateAxisAngle(0, 1, 0, -90);
349 var expectedMatrix3 = new DOMMatrix([1, 2, 3, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]);
350 assert_array_almost_equals(matrix3d.toFloat64Array(), expectedMatrix3.toFloat6 4Array());
351 }, "DOMMatrix 3d - rotateAxisAngle()");
352
353 test(() => {
354 var matrix3d = new DOMMatrix([1, 2, 3, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]) ;
355 matrix3d.rotateAxisAngleSelf(0, 0, 1, -90);
356 var expectedMatrix1 = new DOMMatrix([0, 0, 0, 0, 1, 2, 3, 4, 0, 0, 0, 0, 0, 0, 0, 0]);
357 assert_array_almost_equals(matrix3d.toFloat64Array(), expectedMatrix1.toFloat6 4Array());
358 matrix3d.rotateAxisAngleSelf(1, 0, 0, -90);
359 var expectedMatrix2 = new DOMMatrix([0, 0, 0, 0, 0, 0, 0, 0, 1, 2, 3, 4, 0, 0, 0, 0]);
360 assert_array_almost_equals(matrix3d.toFloat64Array(), expectedMatrix2.toFloat6 4Array());
361 matrix3d.rotateAxisAngleSelf(0, 1, 0, -90);
362 var expectedMatrix3 = new DOMMatrix([1, 2, 3, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]);
363 assert_array_almost_equals(matrix3d.toFloat64Array(), expectedMatrix3.toFloat6 4Array());
364 }, "DOMMatrix 3d - rotateAxisAngleSelf()");
365
366 </script>
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