Switch XRSpace code to using rigid transforms

components/script/dom/xrreferencespace.rs

@@ -13,7 +13,7 @@ use crate::dom::xrsession::XRSession;
 use crate::dom::xrspace::XRSpace;
 use crate::dom::xrstationaryreferencespace::XRStationaryReferenceSpace;
 use dom_struct::dom_struct;
-use euclid::Transform3D;
+use euclid::RigidTransform3D;
 use webvr_traits::WebVRFrameData;
 
 #[dom_struct]
@@ -55,30 +55,25 @@ impl XRReferenceSpaceMethods for XRReferenceSpace {
 
 impl XRReferenceSpace {
     /// Gets viewer pose represented by this space
-    pub fn get_viewer_pose(&self, base_pose: &WebVRFrameData) -> Transform3D<f64> {
+    pub fn get_viewer_pose(&self, base_pose: &WebVRFrameData) -> RigidTransform3D<f64> {
         let pose = self.get_pose(base_pose);
 
         // This may change, see https://github.com/immersive-web/webxr/issues/567
-        let offset = self.transform.get().matrix();
+        let offset = self.transform.get().transform();
-        // XXXManishearth we can directly compute the inverse from the transform parameters
+        let inverse = offset.inverse();
-        // (and perhaps cache it)
-        // XXXManishearth we can also optimize for the unset/identity offset case
-        let inverse = offset
-            .inverse()
-            .expect("rigid transforms are always invertible");
         inverse.pre_mul(&pose)
     }
 
     /// Gets pose represented by this space
     ///
     /// Does not apply originOffset, use get_viewer_pose instead if you need it
-    pub fn get_pose(&self, base_pose: &WebVRFrameData) -> Transform3D<f64> {
+    pub fn get_pose(&self, base_pose: &WebVRFrameData) -> RigidTransform3D<f64> {
         if let Some(stationary) = self.downcast::<XRStationaryReferenceSpace>() {
             stationary.get_pose(base_pose)
         } else {
             // non-subclassed XRReferenceSpaces exist, obtained via the "identity"
             // type. The pose does not depend on the base pose.
-            Transform3D::identity()
+            RigidTransform3D::identity()
         }
     }
 }

components/script/dom/xrrigidtransform.rs

@@ -13,7 +13,7 @@ use crate::dom::bindings::root::{DomRoot, MutNullableDom};
 use crate::dom::dompointreadonly::DOMPointReadOnly;
 use crate::dom::window::Window;
 use dom_struct::dom_struct;
-use euclid::{RigidTransform3D, Rotation3D, Transform3D, Vector3D};
+use euclid::{RigidTransform3D, Rotation3D, Vector3D};
 
 #[dom_struct]
 pub struct XRRigidTransform {
@@ -34,7 +34,6 @@ impl XRRigidTransform {
         }
     }
 
-    #[allow(unused)]
     pub fn new(global: &Window, transform: RigidTransform3D<f64>) -> DomRoot<XRRigidTransform> {
         reflect_dom_object(
             Box::new(XRRigidTransform::new_inherited(transform)),
@@ -43,7 +42,6 @@ impl XRRigidTransform {
         )
     }
 
-    #[allow(unused)]
     pub fn identity(window: &Window) -> DomRoot<XRRigidTransform> {
         let transform = RigidTransform3D::identity();
         XRRigidTransform::new(window, transform)
@@ -97,9 +95,8 @@ impl XRRigidTransformMethods for XRRigidTransform {
 }
 
 impl XRRigidTransform {
-    pub fn matrix(&self) -> Transform3D<f64> {
+    /// https://immersive-web.github.io/webxr/#dom-xrpose-transform
-        // Spec says the orientation applies first,
+    pub fn transform(&self) -> RigidTransform3D<f64> {
-        // so post-multiply (?)
+        self.transform
-        self.transform.to_transform()
     }
 }

components/script/dom/xrspace.rs

@@ -11,7 +11,7 @@ use crate::dom::globalscope::GlobalScope;
 use crate::dom::xrreferencespace::XRReferenceSpace;
 use crate::dom::xrsession::XRSession;
 use dom_struct::dom_struct;
-use euclid::Transform3D;
+use euclid::RigidTransform3D;
 use webvr_traits::WebVRFrameData;
 
 #[dom_struct]
@@ -41,7 +41,7 @@ impl XRSpace {
 impl XRSpace {
     /// Gets viewer pose represented by this space
     #[allow(unused)]
-    pub fn get_viewer_pose(&self, base_pose: &WebVRFrameData) -> Transform3D<f64> {
+    pub fn get_viewer_pose(&self, base_pose: &WebVRFrameData) -> RigidTransform3D<f64> {
         if let Some(reference) = self.downcast::<XRReferenceSpace>() {
             reference.get_viewer_pose(base_pose)
         } else {
@@ -53,7 +53,7 @@ impl XRSpace {
     ///
     /// Does not apply originOffset, use get_viewer_pose instead if you need it
     #[allow(unused)]
-    pub fn get_pose(&self, base_pose: &WebVRFrameData) -> Transform3D<f64> {
+    pub fn get_pose(&self, base_pose: &WebVRFrameData) -> RigidTransform3D<f64> {
         if let Some(reference) = self.downcast::<XRReferenceSpace>() {
             reference.get_pose(base_pose)
         } else {

components/script/dom/xrstationaryreferencespace.rs

@@ -11,7 +11,7 @@ use crate::dom::xrreferencespace::XRReferenceSpace;
 use crate::dom::xrrigidtransform::XRRigidTransform;
 use crate::dom::xrsession::XRSession;
 use dom_struct::dom_struct;
-use euclid::{Rotation3D, Transform3D};
+use euclid::{Rotation3D, RigidTransform3D, Vector3D};
 use webvr_traits::WebVRFrameData;
 
 #[dom_struct]
@@ -53,11 +53,10 @@ impl XRStationaryReferenceSpace {
     /// Gets pose represented by this space
     ///
     /// Does not apply originOffset, use get_viewer_pose instead
-    pub fn get_pose(&self, base_pose: &WebVRFrameData) -> Transform3D<f64> {
+    pub fn get_pose(&self, base_pose: &WebVRFrameData) -> RigidTransform3D<f64> {
         // XXXManishearth add floor-level transform for floor-level and disable position in position-disabled
         let pos = base_pose.pose.position.unwrap_or([0., 0., 0.]);
-        let translation =
+        let translation = Vector3D::new(pos[0] as f64, pos[1] as f64, pos[2] as f64);
-            Transform3D::create_translation(pos[0] as f64, pos[1] as f64, pos[2] as f64);
         let orient = base_pose.pose.orientation.unwrap_or([0., 0., 0., 0.]);
         let rotation = Rotation3D::quaternion(
             orient[0] as f64,
@@ -65,6 +64,6 @@ impl XRStationaryReferenceSpace {
             orient[2] as f64,
             orient[3] as f64,
         );
-        translation.pre_mul(&rotation.to_transform())
+        RigidTransform3D::new(rotation, translation)
     }
 }

components/script/dom/xrview.rs

@@ -10,7 +10,7 @@ use crate::dom::globalscope::GlobalScope;
 use crate::dom::vrframedata::create_typed_array;
 use crate::dom::xrsession::XRSession;
 use dom_struct::dom_struct;
-use euclid::Transform3D;
+use euclid::{RigidTransform3D, Vector3D};
 use js::jsapi::{Heap, JSContext, JSObject};
 use std::ptr::NonNull;
 use webvr_traits::WebVRFrameData;
@@ -40,7 +40,7 @@ impl XRView {
         global: &GlobalScope,
         session: &XRSession,
         eye: XREye,
-        pose: &Transform3D<f64>,
+        pose: &RigidTransform3D<f64>,
         data: &WebVRFrameData,
     ) -> DomRoot<XRView> {
         let ret = reflect_dom_object(
@@ -64,9 +64,8 @@ impl XRView {
             )
         };
 
-        let offset =
+        let offset = Vector3D::new(offset[0] as f64, offset[1] as f64, offset[2] as f64);
-            Transform3D::create_translation(offset[0] as f64, offset[1] as f64, offset[2] as f64);
+        let view = pose.post_mul(&offset.into()).to_transform().cast().to_column_major_array();
-        let view = pose.post_mul(&offset).cast().to_column_major_array();
 
         let cx = global.get_cx();
         unsafe {