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Support nullable origins and floors

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Manish Goregaokar 2019-12-11 18:16:41 -08:00
parent 0bace66f70
commit 322463450d
7 changed files with 51 additions and 27 deletions
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30
components/script/dom/xrreferencespace.rs
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@ -80,8 +80,8 @@ impl XRReferenceSpace {
///
/// This is equivalent to `get_pose(self).inverse() * get_pose(viewerSpace)` (in column vector notation),
/// however we specialize it to be efficient
pub fn get_viewer_pose(&self, base_pose: &Frame) -> ApiViewerPose {
let pose = self.get_unoffset_viewer_pose(base_pose);
pub fn get_viewer_pose(&self, base_pose: &Frame) -> Option<ApiViewerPose> {
let pose = self.get_unoffset_viewer_pose(base_pose)?;
// in column-vector notation,
// get_viewer_pose(space) = get_pose(space).inverse() * get_pose(viewer_space)
// = (get_unoffset_pose(space) * offset).inverse() * get_pose(viewer_space)
@ -89,14 +89,14 @@ impl XRReferenceSpace {
// = offset.inverse() * get_unoffset_viewer_pose(space)
let offset = self.offset.transform();
let inverse = offset.inverse();
inverse.pre_transform(&pose)
Some(inverse.pre_transform(&pose))
}
/// Gets pose of the viewer with respect to this space
///
/// Does not apply originOffset, use get_viewer_pose instead if you need it
pub fn get_unoffset_viewer_pose(&self, base_pose: &Frame) -> ApiViewerPose {
let viewer_pose: ApiViewerPose = cast_transform(base_pose.transform);
pub fn get_unoffset_viewer_pose(&self, base_pose: &Frame) -> Option<ApiViewerPose> {
let viewer_pose: ApiViewerPose = cast_transform(base_pose.transform?);
// all math is in column-vector notation
// we use the following equation to verify correctness here:
// get_viewer_pose(space) = get_pose(space).inverse() * get_pose(viewer_space)
@ -107,7 +107,7 @@ impl XRReferenceSpace {
// = viewer_pose
// we get viewer poses in eye-level space by default
viewer_pose
Some(viewer_pose)
},
XRReferenceSpaceType::Local_floor => {
// XXXManishearth support getting floor info from stage parameters
@ -118,12 +118,12 @@ impl XRReferenceSpace {
// assume approximate user height of 2 meters
let floor_to_eye: ApiRigidTransform = Vector3D::new(0., 2., 0.).into();
floor_to_eye.pre_transform(&viewer_pose)
Some(floor_to_eye.pre_transform(&viewer_pose))
},
XRReferenceSpaceType::Viewer => {
// This reference space follows the viewer around, so the viewer is
// always at an identity transform with respect to it
RigidTransform3D::identity()
Some(RigidTransform3D::identity())
},
_ => unimplemented!(),
}
@ -134,34 +134,34 @@ impl XRReferenceSpace {
/// The reference origin used is common between all
/// get_pose calls for spaces from the same device, so this can be used to compare
/// with other spaces
pub fn get_pose(&self, base_pose: &Frame) -> ApiPose {
let pose = self.get_unoffset_pose(base_pose);
pub fn get_pose(&self, base_pose: &Frame) -> Option<ApiPose> {
let pose = self.get_unoffset_pose(base_pose)?;
let offset = self.offset.transform();
// pose is a transform from the unoffset space to native space,
// offset is a transform from offset space to unoffset space,
// we want a transform from unoffset space to native space,
// which is pose * offset in column vector notation
pose.pre_transform(&offset)
Some(pose.pre_transform(&offset))
}
/// Gets pose represented by this space
///
/// Does not apply originOffset, use get_viewer_pose instead if you need it
pub fn get_unoffset_pose(&self, base_pose: &Frame) -> ApiPose {
pub fn get_unoffset_pose(&self, base_pose: &Frame) -> Option<ApiPose> {
match self.ty {
XRReferenceSpaceType::Local => {
// The eye-level pose is basically whatever the headset pose was at t=0, which
// for most devices is (0, 0, 0)
RigidTransform3D::identity()
Some(RigidTransform3D::identity())
},
XRReferenceSpaceType::Local_floor => {
// XXXManishearth support getting floor info from stage parameters
// Assume approximate height of 2m
// the floor-level space is 2m below the eye-level space, which is (0, 0, 0)
Vector3D::new(0., -2., 0.).into()
Some(Vector3D::new(0., -2., 0.).into())
},
XRReferenceSpaceType::Viewer => cast_transform(base_pose.transform),
XRReferenceSpaceType::Viewer => base_pose.transform.map(cast_transform),
_ => unimplemented!(),
}
}