Fix Basis(), Basis#isOrthogonal, Basis#isEqualApprox (#330)

* fix Basis::isEqualApprox inverted

* fix Basis() not identity

* fix Basis::isOrthogonal()

* test jvm Basis(), Basis::getRotationQuat(), Basis::isEqualApprox(...)

* fix test_jvm_basis_get_rotation_quat

Co-authored-by: Richard Treier <[email protected]>

harness/tests/src/main/kotlin/godot/tests/coretypes/BasisTest.kt

@@ -4,6 +4,7 @@ import godot.Node
 import godot.annotation.RegisterClass
 import godot.annotation.RegisterFunction
 import godot.core.Basis
+import godot.core.Quat
 import godot.core.Vector3
 
 @RegisterClass
@@ -17,4 +18,19 @@ class BasisTest : Node() {
         basis[index] = vector3
         return basis
     }
-}
+
+    @RegisterFunction
+    fun getRotationQuat(basis: Basis): Quat {
+        return basis.getRotationQuat()
+    }
+
+    @RegisterFunction
+    fun newJvmBasis(): Basis {
+        return Basis()
+    }
+
+    @RegisterFunction
+    fun isEqualApproxJvm(a: Basis, b: Basis): Boolean {
+        return a.isEqualApprox(b)
+    }
+}

harness/tests/test/unit/test_coretypes_basis.gd

@@ -22,3 +22,45 @@ func test_should_set_right_vector3_using_operator_set():
 	jvm_basis = basis_test.set(jvm_basis, 2, Vector3(50, 90, 70))
 	assert_eq(engine_basis, jvm_basis, "Basis set operator on JVM side should be same as gdscript one.")
 	basis_test.free()
+
+func test_jvm_basis_get_rotation_quat():
+	# Tests previous issues with Basis#getQuat()
+	# see https://github.com/utopia-rise/godot-kotlin-jvm/pull/330
+	var basis_test = godot_tests_coretypes_BasisTest.new()
+	var basis = Basis.IDENTITY \
+		.rotated(Vector3(1, 0, 0), 5.0 * PI / 180.0) \
+		.rotated(Vector3(0, 1, 0), 5.0 * PI / 180.0) \
+		.rotated(Vector3(0, 0, 1), 5.0 * PI / 180.0) \
+		.scaled(Vector3(1, 2, 3))
+
+	var jvm_quat = basis.get_rotation_quat()
+	var engine_quat = basis_test.get_rotation_quat(basis)
+	assert_true(engine_quat.is_equal_approx(jvm_quat), "Quat from Basis in JVM should equal expected Quat")
+	basis_test.free()
+
+func test_new_jvm_basis_should_be_unity():
+	# Tests previous issues with Basis#getQuat()
+	# see https://github.com/utopia-rise/godot-kotlin-jvm/pull/330
+	var basis_test = godot_tests_coretypes_BasisTest.new()
+	var jvm_basis = basis_test.new_jvm_basis()
+	var engine_basis = Basis(Vector3(1, 0, 0), Vector3(0, 1, 0), Vector3(0, 0, 1))
+	assert_eq(engine_basis, jvm_basis, "Basis() on JVM side should be same as unity gdscript one.")
+	basis_test.free()
+
+func test_jvm_basis_is_equal_approx():
+	# Tests previous issues with Basis#getQuat()
+	# see https://github.com/utopia-rise/godot-kotlin-jvm/pull/330
+	var basis_test = godot_tests_coretypes_BasisTest.new()
+	var ref = Basis(Vector3(1, 2, 3), Vector3(6, 8, 10), Vector3(5, 9, 7))
+	assert_true(basis_test.is_equal_approx_jvm(ref, Basis(Vector3(1, 2, 3), Vector3(6, 8, 10), Vector3(5, 9, 7))))
+	assert_false(basis_test.is_equal_approx_jvm(ref, Basis(Vector3(0, 2, 3), Vector3(6, 8, 10), Vector3(5, 9, 7))))
+	assert_false(basis_test.is_equal_approx_jvm(ref, Basis(Vector3(1, 0, 3), Vector3(6, 8, 10), Vector3(5, 9, 7))))
+	assert_false(basis_test.is_equal_approx_jvm(ref, Basis(Vector3(1, 2, 0), Vector3(6, 8, 10), Vector3(5, 9, 7))))
+	assert_false(basis_test.is_equal_approx_jvm(ref, Basis(Vector3(1, 2, 3), Vector3(0, 8, 10), Vector3(5, 9, 7))))
+	assert_false(basis_test.is_equal_approx_jvm(ref, Basis(Vector3(1, 2, 3), Vector3(6, 0, 10), Vector3(5, 9, 7))))
+	assert_false(basis_test.is_equal_approx_jvm(ref, Basis(Vector3(1, 2, 3), Vector3(6, 8,  0), Vector3(5, 9, 7))))
+	assert_false(basis_test.is_equal_approx_jvm(ref, Basis(Vector3(1, 2, 3), Vector3(6, 8, 10), Vector3(0, 9, 7))))
+	assert_false(basis_test.is_equal_approx_jvm(ref, Basis(Vector3(1, 2, 3), Vector3(6, 8, 10), Vector3(5, 0, 7))))
+	assert_false(basis_test.is_equal_approx_jvm(ref, Basis(Vector3(1, 2, 3), Vector3(6, 8, 10), Vector3(5, 9, 0))))
+	basis_test.free()
+

kt/godot-library/src/main/kotlin/godot/core/Basis.kt

@@ -25,7 +25,7 @@ class Basis() : CoreType {
         _y.y = 1.0
         _y.z = 0.0
         _z.x = 0.0
-        _z.y = 0.1
+        _z.y = 0.0
         _z.z = 1.0
     }
 
@@ -277,7 +277,7 @@ class Basis() : CoreType {
 
     private fun isOrthogonal(): Boolean {
         val id = Basis()
-        val m = this.transposed()
+        val m = this.transposed().times(this)
         return m.isEqualApprox(id)
     }
 
@@ -418,17 +418,17 @@ class Basis() : CoreType {
      *
      */
     fun isEqualApprox(a: Basis, epsilon: RealT = CMP_EPSILON): Boolean {
-        if (isEqualApprox(this._x.x, a._x.x, epsilon)) return false
-        if (isEqualApprox(this._x.y, a._x.y, epsilon)) return false
-        if (isEqualApprox(this._x.z, a._x.z, epsilon)) return false
+        if (!isEqualApprox(this._x.x, a._x.x, epsilon)) return false
+        if (!isEqualApprox(this._x.y, a._x.y, epsilon)) return false
+        if (!isEqualApprox(this._x.z, a._x.z, epsilon)) return false
 
-        if (isEqualApprox(this._y.x, a._y.x, epsilon)) return false
-        if (isEqualApprox(this._y.y, a._y.y, epsilon)) return false
-        if (isEqualApprox(this._y.x, a._y.x, epsilon)) return false
+        if (!isEqualApprox(this._y.x, a._y.x, epsilon)) return false
+        if (!isEqualApprox(this._y.y, a._y.y, epsilon)) return false
+        if (!isEqualApprox(this._y.z, a._y.z, epsilon)) return false
 
-        if (isEqualApprox(this._z.x, a._z.x, epsilon)) return false
-        if (isEqualApprox(this._z.y, a._z.y, epsilon)) return false
-        if (isEqualApprox(this._z.z, a._z.z, epsilon)) return false
+        if (!isEqualApprox(this._z.x, a._z.x, epsilon)) return false
+        if (!isEqualApprox(this._z.y, a._z.y, epsilon)) return false
+        if (!isEqualApprox(this._z.z, a._z.z, epsilon)) return false
 
         return true
     }