<!DOCTYPE html>
<script src="/resources/testharness.js"></script>
<script src="/resources/testharnessreport.js"></script>
<script src="resources/webxr_util.js"></script>
<script src="resources/webxr_test_constants.js"></script>
<script src="resources/webxr_test_asserts.js"></script>

<script>

const testName = "Poses between targetRaySpace and gripSpace can be obtained and behave correctly";

const fakeDeviceInitParams = TRACKED_IMMERSIVE_DEVICE;

const testFunction =
  (session, fakeDeviceController, t) => new Promise((resolve) => {
    const input_source = fakeDeviceController.simulateInputSourceConnection({
      handedness: "right",
      targetRayMode: "tracked-pointer",
      pointerOrigin: IDENTITY_TRANSFORM,  // basespace_from_target_ray_space
      gripOrigin: VALID_GRIP_TRANSFORM,   // basespace_from_grip_space
      profiles: []
    });

    function CheckPoseBetweenTargetRayAndGripSpaces(time, xrFrame) {
      let source = session.inputSources[0];
      let target_ray_space_from_grip_space = xrFrame.getPose(source.gripSpace, source.targetRaySpace);
      // target_ray_space_from_grip_space
      // = (basespace_from_target_ray_space)^-1 * basespace_from_grip_space
      //
      // substituting identity for basespace_from_target_ray_space:
      // = (identity)^-1 * basespace_from_grip_space
      // = basespace_from_grip_space
      // = VALID_GRIP_TRANSFORM, whose matrix is equal to VALID_GRIP

      t.step(() => {
        assert_not_equals(target_ray_space_from_grip_space, null);
        assert_matrix_approx_equals(target_ray_space_from_grip_space.transform.matrix, VALID_GRIP);
      });

      resolve();
    }

    // Can only request input poses in an xr frame.
    requestSkipAnimationFrame(session, CheckPoseBetweenTargetRayAndGripSpaces);
  }); // new Promise((resolve) => {

xr_session_promise_test(
  testName, testFunction, fakeDeviceInitParams, 'immersive-vr');

</script>
