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Add some math verifying relationship between get_viewer_pose and get_pose
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2 changed files with 28 additions and 6 deletions
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@ -56,12 +56,18 @@ impl XRReferenceSpaceMethods for XRReferenceSpace {
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impl XRReferenceSpace {
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/// Gets pose of the viewer with respect to this space
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///
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/// This is equivalent to `get_pose(self).inverse() * get_pose(viewerSpace)`, however
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/// we specialize it to be efficient
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/// This is equivalent to `get_pose(self).inverse() * get_pose(viewerSpace)` (in column vector notation),
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/// however we specialize it to be efficient
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pub fn get_viewer_pose(&self, base_pose: &WebVRFrameData) -> RigidTransform3D<f64> {
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let pose = self.get_unoffset_viewer_pose(base_pose);
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// This may change, see https://github.com/immersive-web/webxr/issues/567
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// in column-vector notation,
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// get_viewer_pose(space) = get_pose(space).inverse() * get_pose(viewer_space)
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// = (get_unoffset_pose(space) * offset).inverse() * get_pose(viewer_space)
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// = offset.inverse() * get_unoffset_pose(space).inverse() * get_pose(viewer_space)
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// = offset.inverse() * get_unoffset_viewer_pose(space)
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let offset = self.transform.get().transform();
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let inverse = offset.inverse();
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inverse.pre_mul(&pose)
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