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Update to treat view transforms as native-relative

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This commit is contained in:
Manish Goregaokar 2020-05-16 21:49:44 -07:00
parent a97dcd9ad6
commit d627476893
6 changed files with 74 additions and 85 deletions
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67
components/script/dom/xrreferencespace.rs
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@ -9,11 +9,11 @@ use crate::dom::bindings::reflector::{reflect_dom_object, DomObject};
use crate::dom::bindings::root::{Dom, DomRoot};
use crate::dom::globalscope::GlobalScope;
use crate::dom::xrrigidtransform::XRRigidTransform;
use crate::dom::xrsession::{cast_transform, ApiPose, ApiViewerPose, XRSession};
use crate::dom::xrsession::{cast_transform, ApiPose, BaseTransform, XRSession};
use crate::dom::xrspace::XRSpace;
use dom_struct::dom_struct;
use euclid::RigidTransform3D;
use webxr_api::{BaseSpace, Frame, Space};
use webxr_api::{self, Frame, Space};
#[dom_struct]
pub struct XRReferenceSpace {
@ -60,9 +60,9 @@ impl XRReferenceSpace {
pub fn space(&self) -> Space {
let base = match self.ty {
XRReferenceSpaceType::Local => BaseSpace::Local,
XRReferenceSpaceType::Viewer => BaseSpace::Viewer,
XRReferenceSpaceType::Local_floor => BaseSpace::Floor,
XRReferenceSpaceType::Local => webxr_api::BaseSpace::Local,
XRReferenceSpaceType::Viewer => webxr_api::BaseSpace::Viewer,
XRReferenceSpaceType::Local_floor => webxr_api::BaseSpace::Floor,
_ => panic!("unsupported reference space found"),
};
let offset = self.offset.transform();
@ -85,58 +85,13 @@ impl XRReferenceSpaceMethods for XRReferenceSpace {
}
impl XRReferenceSpace {
/// Gets pose of the viewer with respect to this space
/// Get a transform that can be used to locate the base space
///
/// 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) -> 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)
// = offset.inverse() * get_unoffset_pose(space).inverse() * get_pose(viewer_space)
// = offset.inverse() * get_unoffset_viewer_pose(space)
let offset = self.offset.transform();
let inverse = offset.inverse();
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) -> Option<ApiViewerPose> {
// 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)
match self.ty {
XRReferenceSpaceType::Local => {
// get_viewer_pose(eye_level) = get_pose(eye_level).inverse() * get_pose(viewer_space)
// = I * viewer_pose
// = viewer_pose
let viewer_pose: ApiViewerPose = cast_transform(base_pose.pose.as_ref()?.transform);
// we get viewer poses in eye-level space by default
Some(viewer_pose)
},
XRReferenceSpaceType::Local_floor => {
// get_viewer_pose(floor_level) = get_pose(floor_level).inverse() * get_pose(viewer_space)
// = floor_to_native.inverse() * viewer_pose
// = native_to_floor * viewer_pose
let viewer_pose = base_pose.pose.as_ref()?.transform;
let native_to_floor = self
.upcast::<XRSpace>()
.session()
.with_session(|s| s.floor_transform())?;
Some(cast_transform(native_to_floor.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
Some(RigidTransform3D::identity())
},
_ => unimplemented!(),
}
/// This is equivalent to `get_pose(self).inverse()` (in column vector notation),
/// but with better types
pub fn get_base_transform(&self, base_pose: &Frame) -> Option<BaseTransform> {
let pose = self.get_pose(base_pose)?;
Some(pose.inverse().cast_unit())
}
/// Gets pose represented by this space