feat(tests): Add comprehensive tests for math and 3d libraries

1 files changed, 49 insertions, 6 deletions

diff --git a/src/tests/test_maths.cc b/src/tests/test_maths.cc
index 0a3b9e6..ffc56f2 100644
--- a/src/tests/test_maths.cc
+++ b/src/tests/test_maths.cc
@@ -46,6 +46,11 @@ template <typename T> void test_vector_ops(int n) {
   T n_vec = a.normalize();
   assert(near(n_vec.norm(), 1.0f));
 
+  // Normalize zero vector
+  T zero_vec = T(); // Default construct to zero
+  T norm_zero = zero_vec.normalize();
+  for(int i = 0; i < n; ++i) assert(near(norm_zero[i], 0.0f));
+
   // Lerp
   T l = lerp(a, b, 0.3f);
   for (int i = 0; i < n; ++i)
@@ -76,6 +81,19 @@ void test_quat() {
   vec3 r = q.rotate(v);
   assert(near(r.x, 0) && near(r.z, -1));
 
+  // Rotation edge cases: 0 deg, 180 deg, zero vector
+  quat zero_rot = quat::from_axis({1,0,0}, 0.0f);
+  vec3 rotated_zero = zero_rot.rotate(v);
+  assert(near(rotated_zero.x, 1.0f)); // Original vector
+
+  quat half_pi_rot = quat::from_axis({0,1,0}, 3.14159f); // 180 deg Y
+  vec3 rotated_half_pi = half_pi_rot.rotate(v);
+  assert(near(rotated_half_pi.x, -1.0f)); // Rotated 180 deg around Y
+
+  vec3 zero_vec(0,0,0);
+  vec3 rotated_zero_vec = q.rotate(zero_vec);
+  assert(near(rotated_zero_vec.x, 0.0f) && near(rotated_zero_vec.y, 0.0f) && near(rotated_zero_vec.z, 0.0f));
+
   // Look At
   // Looking from origin to +X, with +Y as up.
   // The local forward vector (0,0,-1) should be transformed to (1,0,0)
@@ -88,6 +106,17 @@ void test_quat() {
   quat q2 = quat::from_axis({0, 1, 0}, 1.5708f); // 90 deg
   quat mid = slerp(q1, q2, 0.5f);                // 45 deg
   assert(near(mid.y, 0.3826f));                  // sin(pi/8)
+
+  // Slerp edge cases
+  quat slerp_mid_edge = slerp(q1, q2, 0.0f);
+  assert(near(slerp_mid_edge.w, q1.w) && near(slerp_mid_edge.x, q1.x) && near(slerp_mid_edge.y, q1.y) && near(slerp_mid_edge.z, q1.z));
+  slerp_mid_edge = slerp(q1, q2, 1.0f);
+  assert(near(slerp_mid_edge.w, q2.w) && near(slerp_mid_edge.x, q2.x) && near(slerp_mid_edge.y, q2.y) && near(slerp_mid_edge.z, q2.z));
+
+  // FromTo
+  quat from_to_test = quat::from_to({1,0,0}, {0,1,0}); // 90 deg rotation around Z
+  vec3 rotated = from_to_test.rotate({1,0,0});
+  assert(near(rotated.y, 1.0f));
 }
 
 // Tests WebGPU specific matrices
@@ -139,12 +168,13 @@ void test_ease() {
   assert(near(ease::out_cubic(1.0f), 1.0f));
   assert(near(ease::in_out_quad(0.0f), 0.0f));
   assert(near(ease::in_out_quad(1.0f), 1.0f));
+  assert(near(ease::out_expo(0.0f), 0.0f));
+  assert(near(ease::out_expo(1.0f), 1.0f));
 
   // Midpoint/Logic tests
-  assert(ease::out_cubic(0.5f) >
-         0.5f); // Out curves should exceed linear value early
-  assert(
-      near(ease::in_out_quad(0.5f), 0.5f)); // Symmetric curves hit 0.5 at 0.5
+  assert(ease::out_cubic(0.5f) > 0.5f); // Out curves should exceed linear value early
+  assert(near(ease::in_out_quad(0.5f), 0.5f)); // Symmetric curves hit 0.5 at 0.5
+  assert(ease::out_expo(0.5f) > 0.5f); // Exponential out should be above linear
 }
 
 // Tests spring solver
@@ -154,7 +184,13 @@ void test_spring() {
   // Simulate approx 1 sec with 0.5s smooth time
   for (int i = 0; i < 60; ++i)
     spring::solve(p, v, 10.0f, 0.5f, 0.016f);
-  assert(p > 8.5f);
+  assert(p > 8.5f); // Should be close to 10 after 1 sec
+
+  // Test convergence over longer period
+  p = 0; v = 0;
+  for (int i = 0; i < 200; ++i)
+    spring::solve(p, v, 10.0f, 0.5f, 0.016f);
+  assert(near(p, 10.0f, 0.1f)); // Should be very close to target
 
   // Test vector spring
   vec3 vp(0, 0, 0), vv(0, 0, 0), vt(10, 0, 0);
@@ -223,6 +259,13 @@ void test_matrix_inversion() {
   stress.m[1] = 0.5f;
   mat4 stress_inv = stress.inverse();
   check_identity(stress * stress_inv);
+
+  // 8. Test Singular Matrix
+  mat4 singular_scale;
+  singular_scale.m[5] = 0.0f; // Scale Y by zero, making it singular
+  mat4 singular_inv = singular_scale.inverse();
+  // The inverse of a singular matrix should be the identity matrix as per the implementation
+  check_identity(singular_inv);
 }
 
 int main() {
@@ -244,4 +287,4 @@ int main() {
 
   std::cout << "--- ALL TESTS PASSED ---" << std::endl;
   return 0;
-}
+}
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