mirror of
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Auto merge of #23159 - Manishearth:rigid-transforms, r=asajeffrey
Update XR code to use rigid transforms and new pose/transform stuff from the spec This updates our XR code to use euclid's new [RigidTransform3D type](https://github.com/servo/euclid/pull/328), which is more efficent and convenient to work with. It additionally brings us up to speed with the spec: - `XRViewerPose` was made a subclass of `XRPose` (https://github.com/immersive-web/webxr/pull/496) - `XRView.viewMatrix` was removed in favor of `XRRigidTransform.inverse.matrix` (https://github.com/immersive-web/webxr/pull/531) - `XRRigidTransform.inverse` is an attribute (https://github.com/immersive-web/webxr/pull/560) - `XRRigidTransform` now validates positions in its constructor (https://github.com/immersive-web/webxr/pull/568) Furthermore, it adds support for `XRRigidTransform.matrix`. While fixing this I also noticed that our view matrix code was incorrect, we calculated view matrices as `pose.to_column_major_array()`, whereas it *should* be `pose.inverse().to_row_major_array()` (since Euclid uses row vectors, whenever the spec says it wants a column major array we should use `.to_row_major_array()` since all web specs implicitly use column vectors). For 3DOF devices poses are mostly rotations anyway, so the effective transpose behaved _like_ an inversion, but was incorrect. This PR gets rid of `view.viewMatrix` anyway, however I felt like I should mention this discrepancy, since otherwise the replacement of `view.viewMatrix` with `view.transform.inverse.matrix` doesn't make sense r? @jdm <!-- Reviewable:start --> --- This change is [<img src="https://reviewable.io/review_button.svg" height="34" align="absmiddle" alt="Reviewable"/>](https://reviewable.io/reviews/servo/servo/23159) <!-- Reviewable:end -->
This commit is contained in:
bors-servo
GitHub
commit
f1b82f8573
18 changed files with 225 additions and 216 deletions
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@ -138,7 +138,7 @@ version = "0.35.0"
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source = "git+https://github.com/servo/rust-azure#5c648f2bd5d2d600c28d56f07c29c4e2a08173b6"
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dependencies = [
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version = "0.0.1"
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dependencies = [
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"debugger 0.0.1",
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[[package]]
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name = "euclid"
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version = "0.19.5"
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version = "0.19.7"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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dependencies = [
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"canvas_traits 0.0.1",
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dependencies = [
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name = "pixels"
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version = "0.0.1"
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dependencies = [
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source = "registry+https://github.com/rust-lang/crates.io-index"
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dependencies = [
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dependencies = [
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"app_units 0.7.0 (registry+https://github.com/rust-lang/crates.io-index)",
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"derive_more 0.13.0 (registry+https://github.com/rust-lang/crates.io-index)",
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||||
|
|
@ -4289,7 +4289,7 @@ dependencies = [
|
|||
"app_units 0.7.0 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"bitflags 1.0.3 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"cssparser 0.25.1 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"euclid 0.19.5 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"euclid 0.19.7 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"malloc_size_of 0.0.1",
|
||||
"malloc_size_of_derive 0.1.0 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"selectors 0.21.0",
|
||||
|
|
@ -4866,7 +4866,7 @@ dependencies = [
|
|||
"base64 0.10.1 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"cookie 0.11.0 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"crossbeam-channel 0.3.0 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"euclid 0.19.5 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"euclid 0.19.7 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"hyper 0.12.14 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"image 0.21.0 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"ipc-channel 0.11.2 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
|
|
@ -4938,7 +4938,7 @@ dependencies = [
|
|||
"core-foundation 0.6.2 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"core-graphics 0.17.3 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"derive_more 0.13.0 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"euclid 0.19.5 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"euclid 0.19.7 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"ipc-channel 0.11.2 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"malloc_size_of_derive 0.1.0 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"serde 1.0.80 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
|
|
@ -4962,7 +4962,7 @@ version = "0.0.1"
|
|||
dependencies = [
|
||||
"canvas_traits 0.0.1",
|
||||
"crossbeam-channel 0.3.0 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"euclid 0.19.5 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"euclid 0.19.7 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"gleam 0.6.13 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"ipc-channel 0.11.2 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"log 0.4.6 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
|
|
@ -5073,7 +5073,7 @@ version = "0.0.1"
|
|||
source = "git+https://github.com/servo/webrender#e53aae02728e155e555b8baa9d180d90dac3b86f"
|
||||
dependencies = [
|
||||
"app_units 0.7.0 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"euclid 0.19.5 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"euclid 0.19.7 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
|
|
@ -5287,7 +5287,7 @@ dependencies = [
|
|||
"checksum enum-iterator-derive 0.2.3 (registry+https://github.com/rust-lang/crates.io-index)" = "293ee6af5f9349c2594a7c867b7c89347fb939415508e6367a19bd246ffc08d8"
|
||||
"checksum env_logger 0.6.0 (registry+https://github.com/rust-lang/crates.io-index)" = "afb070faf94c85d17d50ca44f6ad076bce18ae92f0037d350947240a36e9d42e"
|
||||
"checksum error-chain 0.12.0 (registry+https://github.com/rust-lang/crates.io-index)" = "07e791d3be96241c77c43846b665ef1384606da2cd2a48730abe606a12906e02"
|
||||
"checksum euclid 0.19.5 (registry+https://github.com/rust-lang/crates.io-index)" = "d1a7698bdda3d7444a79d33bdc96e8b518d44ea3ff101d8492a6ca1207b886ea"
|
||||
"checksum euclid 0.19.7 (registry+https://github.com/rust-lang/crates.io-index)" = "6a8acd6a7f2740b7b936008acd58b1def492854254dc4af9d2b850ca01f4960e"
|
||||
"checksum euclid_macros 0.1.0 (registry+https://github.com/rust-lang/crates.io-index)" = "fdcb84c18ea5037a1c5a23039b4ff29403abce2e0d6b1daa11cf0bde2b30be15"
|
||||
"checksum expat-sys 2.1.6 (registry+https://github.com/rust-lang/crates.io-index)" = "658f19728920138342f68408b7cf7644d90d4784353d8ebc32e7e8663dbe45fa"
|
||||
"checksum failure 0.1.3 (registry+https://github.com/rust-lang/crates.io-index)" = "6dd377bcc1b1b7ce911967e3ec24fa19c3224394ec05b54aa7b083d498341ac7"
|
||||
|
|
|
|||
|
|
@ -50,7 +50,7 @@ domobject_derive = {path = "../domobject_derive"}
|
|||
embedder_traits = {path = "../embedder_traits"}
|
||||
encoding_rs = "0.8"
|
||||
enum-iterator = "0.2.0"
|
||||
euclid = "0.19"
|
||||
euclid = "0.19.7"
|
||||
fnv = "1.0"
|
||||
gleam = "0.6"
|
||||
headers-core = "0.0.1"
|
||||
|
|
|
|||
|
|
@ -57,7 +57,8 @@ use devtools_traits::{CSSError, TimelineMarkerType, WorkerId};
|
|||
use encoding_rs::{Decoder, Encoding};
|
||||
use euclid::Length as EuclidLength;
|
||||
use euclid::{
|
||||
Point2D, Rect, Rotation3D, Transform2D, Transform3D, TypedScale, TypedSize2D, Vector2D,
|
||||
Point2D, Rect, RigidTransform3D, Rotation3D, Transform2D, Transform3D, TypedScale, TypedSize2D,
|
||||
Vector2D,
|
||||
};
|
||||
use html5ever::buffer_queue::BufferQueue;
|
||||
use html5ever::{LocalName, Namespace, Prefix, QualName};
|
||||
|
|
@ -494,7 +495,8 @@ unsafe_no_jsmanaged_fields!(ResourceFetchTiming);
|
|||
unsafe_no_jsmanaged_fields!(Timespec);
|
||||
unsafe_no_jsmanaged_fields!(HTMLMediaElementFetchContext);
|
||||
unsafe_no_jsmanaged_fields!(Rotation3D<f64>, Transform2D<f32>, Transform3D<f64>);
|
||||
unsafe_no_jsmanaged_fields!(Point2D<f32>, Vector2D<f32>, Rect<Au>, Rect<f32>);
|
||||
unsafe_no_jsmanaged_fields!(Point2D<f32>, Vector2D<f32>, Rect<Au>);
|
||||
unsafe_no_jsmanaged_fields!(Rect<f32>, RigidTransform3D<f64>);
|
||||
|
||||
unsafe impl<'a> JSTraceable for &'a str {
|
||||
#[inline]
|
||||
|
|
|
|||
|
|
@ -2,7 +2,6 @@
|
|||
* License, v. 2.0. If a copy of the MPL was not distributed with this
|
||||
* file, You can obtain one at https://mozilla.org/MPL/2.0/. */
|
||||
|
||||
use crate::dom::bindings::codegen::Bindings::DOMPointBinding::DOMPointInit;
|
||||
use crate::dom::bindings::codegen::Bindings::DOMPointReadOnlyBinding::{
|
||||
DOMPointReadOnlyMethods, Wrap,
|
||||
};
|
||||
|
|
@ -51,10 +50,6 @@ impl DOMPointReadOnly {
|
|||
) -> Fallible<DomRoot<DOMPointReadOnly>> {
|
||||
Ok(DOMPointReadOnly::new(global, x, y, z, w))
|
||||
}
|
||||
|
||||
pub fn new_from_init(global: &GlobalScope, p: &DOMPointInit) -> DomRoot<DOMPointReadOnly> {
|
||||
DOMPointReadOnly::new(global, p.x, p.y, p.z, p.w)
|
||||
}
|
||||
}
|
||||
|
||||
impl DOMPointReadOnlyMethods for DOMPointReadOnly {
|
||||
|
|
|
|||
|
|
@ -537,6 +537,7 @@ pub mod xmlserializer;
|
|||
pub mod xr;
|
||||
pub mod xrframe;
|
||||
pub mod xrlayer;
|
||||
pub mod xrpose;
|
||||
pub mod xrreferencespace;
|
||||
pub mod xrrenderstate;
|
||||
pub mod xrrigidtransform;
|
||||
|
|
|
|||
11
components/script/dom/webidls/XRPose.webidl
Normal file
11
components/script/dom/webidls/XRPose.webidl
Normal file
|
|
@ -0,0 +1,11 @@
|
|||
/* This Source Code Form is subject to the terms of the Mozilla Public
|
||||
* License, v. 2.0. If a copy of the MPL was not distributed with this
|
||||
* file, You can obtain one at https://mozilla.org/MPL/2.0/. */
|
||||
|
||||
// https://immersive-web.github.io/webxr/#xrpose-interface
|
||||
|
||||
[SecureContext, Exposed=Window, Pref="dom.webxr.enabled"]
|
||||
interface XRPose {
|
||||
readonly attribute XRRigidTransform transform;
|
||||
// readonly attribute boolean emulatedPosition;
|
||||
};
|
||||
|
|
@ -9,6 +9,6 @@
|
|||
interface XRRigidTransform {
|
||||
readonly attribute DOMPointReadOnly position;
|
||||
readonly attribute DOMPointReadOnly orientation;
|
||||
// readonly attribute Float32Array matrix;
|
||||
XRRigidTransform inverse();
|
||||
readonly attribute Float32Array matrix;
|
||||
readonly attribute XRRigidTransform inverse;
|
||||
};
|
||||
|
|
|
|||
|
|
@ -13,6 +13,5 @@ enum XREye {
|
|||
interface XRView {
|
||||
readonly attribute XREye eye;
|
||||
readonly attribute Float32Array projectionMatrix;
|
||||
readonly attribute Float32Array viewMatrix;
|
||||
// readonly attribute XRRigidTransform transform;
|
||||
readonly attribute XRRigidTransform transform;
|
||||
};
|
||||
|
|
|
|||
|
|
@ -5,8 +5,7 @@
|
|||
// https://immersive-web.github.io/webxr/#xrviewerpose-interface
|
||||
|
||||
[SecureContext, Exposed=Window, Pref="dom.webxr.enabled"]
|
||||
interface XRViewerPose {
|
||||
// readonly attribute XRRigidTransform transform;
|
||||
interface XRViewerPose : XRPose {
|
||||
// readonly attribute FrozenArray<XRView> views;
|
||||
// workaround until we have FrozenArray
|
||||
// see https://github.com/servo/servo/issues/10427#issuecomment-449593626
|
||||
|
|
|
|||
|
|
@ -4,13 +4,11 @@
|
|||
|
||||
use crate::dom::bindings::codegen::Bindings::XRFrameBinding;
|
||||
use crate::dom::bindings::codegen::Bindings::XRFrameBinding::XRFrameMethods;
|
||||
use crate::dom::bindings::codegen::Bindings::XRViewBinding::XREye;
|
||||
use crate::dom::bindings::reflector::{reflect_dom_object, DomObject, Reflector};
|
||||
use crate::dom::bindings::root::{Dom, DomRoot};
|
||||
use crate::dom::globalscope::GlobalScope;
|
||||
use crate::dom::xrreferencespace::XRReferenceSpace;
|
||||
use crate::dom::xrsession::XRSession;
|
||||
use crate::dom::xrview::XRView;
|
||||
use crate::dom::xrviewerpose::XRViewerPose;
|
||||
use dom_struct::dom_struct;
|
||||
use webvr_traits::WebVRFrameData;
|
||||
|
|
@ -54,20 +52,11 @@ impl XRFrameMethods for XRFrame {
|
|||
/// https://immersive-web.github.io/webxr/#dom-xrframe-getviewerpose
|
||||
fn GetViewerPose(&self, reference: &XRReferenceSpace) -> Option<DomRoot<XRViewerPose>> {
|
||||
let pose = reference.get_viewer_pose(&self.data);
|
||||
let left = XRView::new(
|
||||
Some(XRViewerPose::new(
|
||||
&self.global(),
|
||||
&self.session,
|
||||
XREye::Left,
|
||||
&pose,
|
||||
pose,
|
||||
&self.data,
|
||||
);
|
||||
let right = XRView::new(
|
||||
&self.global(),
|
||||
&self.session,
|
||||
XREye::Right,
|
||||
&pose,
|
||||
&self.data,
|
||||
);
|
||||
Some(XRViewerPose::new(&self.global(), &left, &right))
|
||||
))
|
||||
}
|
||||
}
|
||||
|
|
|
|||
44
components/script/dom/xrpose.rs
Normal file
44
components/script/dom/xrpose.rs
Normal file
|
|
@ -0,0 +1,44 @@
|
|||
/* This Source Code Form is subject to the terms of the Mozilla Public
|
||||
* License, v. 2.0. If a copy of the MPL was not distributed with this
|
||||
* file, You can obtain one at https://mozilla.org/MPL/2.0/. */
|
||||
|
||||
use crate::dom::bindings::codegen::Bindings::XRPoseBinding;
|
||||
use crate::dom::bindings::codegen::Bindings::XRPoseBinding::XRPoseMethods;
|
||||
use crate::dom::bindings::reflector::{reflect_dom_object, Reflector};
|
||||
use crate::dom::bindings::root::{Dom, DomRoot};
|
||||
use crate::dom::globalscope::GlobalScope;
|
||||
use crate::dom::xrrigidtransform::XRRigidTransform;
|
||||
use dom_struct::dom_struct;
|
||||
use euclid::RigidTransform3D;
|
||||
|
||||
#[dom_struct]
|
||||
pub struct XRPose {
|
||||
reflector_: Reflector,
|
||||
transform: Dom<XRRigidTransform>,
|
||||
}
|
||||
|
||||
impl XRPose {
|
||||
pub fn new_inherited(transform: &XRRigidTransform) -> XRPose {
|
||||
XRPose {
|
||||
reflector_: Reflector::new(),
|
||||
transform: Dom::from_ref(transform),
|
||||
}
|
||||
}
|
||||
|
||||
#[allow(unused)]
|
||||
pub fn new(global: &GlobalScope, transform: RigidTransform3D<f64>) -> DomRoot<XRPose> {
|
||||
let transform = XRRigidTransform::new(global, transform);
|
||||
reflect_dom_object(
|
||||
Box::new(XRPose::new_inherited(&transform)),
|
||||
global,
|
||||
XRPoseBinding::Wrap,
|
||||
)
|
||||
}
|
||||
}
|
||||
|
||||
impl XRPoseMethods for XRPose {
|
||||
/// https://immersive-web.github.io/webxr/#dom-xrpose-transform
|
||||
fn Transform(&self) -> DomRoot<XRRigidTransform> {
|
||||
DomRoot::from_ref(&self.transform)
|
||||
}
|
||||
}
|
||||
|
|
@ -7,14 +7,13 @@ use crate::dom::bindings::codegen::Bindings::XRReferenceSpaceBinding::XRReferenc
|
|||
use crate::dom::bindings::inheritance::Castable;
|
||||
use crate::dom::bindings::reflector::reflect_dom_object;
|
||||
use crate::dom::bindings::root::{DomRoot, MutDom};
|
||||
use crate::dom::dompointreadonly::DOMPointReadOnly;
|
||||
use crate::dom::window::Window;
|
||||
use crate::dom::globalscope::GlobalScope;
|
||||
use crate::dom::xrrigidtransform::XRRigidTransform;
|
||||
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]
|
||||
|
|
@ -32,22 +31,7 @@ impl XRReferenceSpace {
|
|||
}
|
||||
|
||||
#[allow(unused)]
|
||||
pub fn new(
|
||||
global: &Window,
|
||||
session: &XRSession,
|
||||
position: &DOMPointReadOnly,
|
||||
orientation: &DOMPointReadOnly,
|
||||
) -> DomRoot<XRReferenceSpace> {
|
||||
let transform = XRRigidTransform::new(global, position, orientation);
|
||||
reflect_dom_object(
|
||||
Box::new(XRReferenceSpace::new_inherited(session, &transform)),
|
||||
global,
|
||||
XRReferenceSpaceBinding::Wrap,
|
||||
)
|
||||
}
|
||||
|
||||
#[allow(unused)]
|
||||
pub fn identity(global: &Window, session: &XRSession) -> DomRoot<XRReferenceSpace> {
|
||||
pub fn identity(global: &GlobalScope, session: &XRSession) -> DomRoot<XRReferenceSpace> {
|
||||
let transform = XRRigidTransform::identity(global);
|
||||
reflect_dom_object(
|
||||
Box::new(XRReferenceSpace::new_inherited(session, &transform)),
|
||||
|
|
@ -71,30 +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();
|
||||
// XXXManishearth we can directly compute the inverse from the transform parameters
|
||||
// (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");
|
||||
let offset = self.transform.get().transform();
|
||||
let inverse = offset.inverse();
|
||||
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()
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -3,77 +3,59 @@
|
|||
* file, You can obtain one at https://mozilla.org/MPL/2.0/. */
|
||||
|
||||
use crate::dom::bindings::codegen::Bindings::DOMPointBinding::DOMPointInit;
|
||||
use crate::dom::bindings::codegen::Bindings::DOMPointReadOnlyBinding::DOMPointReadOnlyBinding::DOMPointReadOnlyMethods;
|
||||
use crate::dom::bindings::codegen::Bindings::XRRigidTransformBinding;
|
||||
use crate::dom::bindings::codegen::Bindings::XRRigidTransformBinding::XRRigidTransformMethods;
|
||||
use crate::dom::bindings::error::Error;
|
||||
use crate::dom::bindings::error::Fallible;
|
||||
use crate::dom::bindings::reflector::DomObject;
|
||||
use crate::dom::bindings::reflector::{reflect_dom_object, Reflector};
|
||||
use crate::dom::bindings::root::{Dom, DomRoot};
|
||||
use crate::dom::bindings::root::{DomRoot, MutNullableDom};
|
||||
use crate::dom::dompointreadonly::DOMPointReadOnly;
|
||||
use crate::dom::globalscope::GlobalScope;
|
||||
use crate::dom::vrframedata::create_typed_array;
|
||||
use crate::dom::window::Window;
|
||||
use dom_struct::dom_struct;
|
||||
use euclid::{Rotation3D, Transform3D};
|
||||
use euclid::{RigidTransform3D, Rotation3D, Vector3D};
|
||||
use js::jsapi::{Heap, JSContext, JSObject};
|
||||
use std::ptr::NonNull;
|
||||
|
||||
#[dom_struct]
|
||||
pub struct XRRigidTransform {
|
||||
reflector_: Reflector,
|
||||
position: Dom<DOMPointReadOnly>,
|
||||
orientation: Dom<DOMPointReadOnly>,
|
||||
position: MutNullableDom<DOMPointReadOnly>,
|
||||
orientation: MutNullableDom<DOMPointReadOnly>,
|
||||
#[ignore_malloc_size_of = "defined in euclid"]
|
||||
translate: Transform3D<f64>,
|
||||
#[ignore_malloc_size_of = "defined in euclid"]
|
||||
rotate: Rotation3D<f64>,
|
||||
transform: RigidTransform3D<f64>,
|
||||
inverse: MutNullableDom<XRRigidTransform>,
|
||||
matrix: Heap<*mut JSObject>,
|
||||
}
|
||||
|
||||
impl XRRigidTransform {
|
||||
fn new_inherited(
|
||||
position: &DOMPointReadOnly,
|
||||
orientation: &DOMPointReadOnly,
|
||||
) -> XRRigidTransform {
|
||||
let translate = Transform3D::create_translation(
|
||||
position.X() as f64,
|
||||
position.Y() as f64,
|
||||
position.Z() as f64,
|
||||
);
|
||||
let rotate = Rotation3D::unit_quaternion(
|
||||
orientation.X() as f64,
|
||||
orientation.Y() as f64,
|
||||
orientation.Z() as f64,
|
||||
orientation.W() as f64,
|
||||
);
|
||||
fn new_inherited(transform: RigidTransform3D<f64>) -> XRRigidTransform {
|
||||
XRRigidTransform {
|
||||
reflector_: Reflector::new(),
|
||||
position: Dom::from_ref(position),
|
||||
orientation: Dom::from_ref(orientation),
|
||||
translate,
|
||||
rotate,
|
||||
position: MutNullableDom::default(),
|
||||
orientation: MutNullableDom::default(),
|
||||
transform,
|
||||
inverse: MutNullableDom::default(),
|
||||
matrix: Heap::default(),
|
||||
}
|
||||
}
|
||||
|
||||
#[allow(unused)]
|
||||
pub fn new(
|
||||
global: &Window,
|
||||
position: &DOMPointReadOnly,
|
||||
orientation: &DOMPointReadOnly,
|
||||
global: &GlobalScope,
|
||||
transform: RigidTransform3D<f64>,
|
||||
) -> DomRoot<XRRigidTransform> {
|
||||
reflect_dom_object(
|
||||
Box::new(XRRigidTransform::new_inherited(position, orientation)),
|
||||
Box::new(XRRigidTransform::new_inherited(transform)),
|
||||
global,
|
||||
XRRigidTransformBinding::Wrap,
|
||||
)
|
||||
}
|
||||
|
||||
#[allow(unused)]
|
||||
pub fn identity(window: &Window) -> DomRoot<XRRigidTransform> {
|
||||
let global = window.global();
|
||||
let position = DOMPointReadOnly::new(&global, 0., 0., 0., 1.);
|
||||
let orientation = DOMPointReadOnly::new(&global, 0., 0., 0., 1.);
|
||||
reflect_dom_object(
|
||||
Box::new(XRRigidTransform::new_inherited(&position, &orientation)),
|
||||
window,
|
||||
XRRigidTransformBinding::Wrap,
|
||||
)
|
||||
pub fn identity(window: &GlobalScope) -> DomRoot<XRRigidTransform> {
|
||||
let transform = RigidTransform3D::identity();
|
||||
XRRigidTransform::new(window, transform)
|
||||
}
|
||||
|
||||
// https://immersive-web.github.io/webxr/#dom-xrrigidtransform-xrrigidtransform
|
||||
|
|
@ -82,65 +64,62 @@ impl XRRigidTransform {
|
|||
position: &DOMPointInit,
|
||||
orientation: &DOMPointInit,
|
||||
) -> Fallible<DomRoot<Self>> {
|
||||
let global = window.global();
|
||||
let position = DOMPointReadOnly::new_from_init(&global, &position);
|
||||
// XXXManishearth normalize this
|
||||
let orientation = DOMPointReadOnly::new_from_init(&global, &orientation);
|
||||
Ok(XRRigidTransform::new(window, &position, &orientation))
|
||||
if position.w != 1.0 {
|
||||
return Err(Error::Type(format!(
|
||||
"XRRigidTransform must be constructed with a position that has a w value of of 1.0, not {}",
|
||||
position.w
|
||||
)));
|
||||
}
|
||||
|
||||
let translate = Vector3D::new(position.x as f64, position.y as f64, position.z as f64);
|
||||
let rotate = Rotation3D::unit_quaternion(
|
||||
orientation.x as f64,
|
||||
orientation.y as f64,
|
||||
orientation.z as f64,
|
||||
orientation.w as f64,
|
||||
);
|
||||
let transform = RigidTransform3D::new(rotate, translate);
|
||||
Ok(XRRigidTransform::new(&window.global(), transform))
|
||||
}
|
||||
}
|
||||
|
||||
impl XRRigidTransformMethods for XRRigidTransform {
|
||||
// https://immersive-web.github.io/webxr/#dom-xrrigidtransform-position
|
||||
fn Position(&self) -> DomRoot<DOMPointReadOnly> {
|
||||
DomRoot::from_ref(&self.position)
|
||||
self.position.or_init(|| {
|
||||
let t = &self.transform.translation;
|
||||
DOMPointReadOnly::new(&self.global(), t.x, t.y, t.z, 1.0)
|
||||
})
|
||||
}
|
||||
// https://immersive-web.github.io/webxr/#dom-xrrigidtransform-orientation
|
||||
fn Orientation(&self) -> DomRoot<DOMPointReadOnly> {
|
||||
DomRoot::from_ref(&self.orientation)
|
||||
self.position.or_init(|| {
|
||||
let r = &self.transform.rotation;
|
||||
DOMPointReadOnly::new(&self.global(), r.i, r.j, r.k, r.r)
|
||||
})
|
||||
}
|
||||
// https://immersive-web.github.io/webxr/#dom-xrrigidtransform-inverse
|
||||
fn Inverse(&self) -> DomRoot<XRRigidTransform> {
|
||||
// An XRRigidTransform is a rotation and a translation,
|
||||
// i.e. T * R
|
||||
//
|
||||
// Its inverse is (T * R)^-1
|
||||
// = R^-1 * T^-1
|
||||
// = R^-1 * T^-1 * (R * R^-1)
|
||||
// = (R^-1 * T^-1 * R) * R^-1
|
||||
// = T' * R^-1
|
||||
// = T' * R'
|
||||
//
|
||||
// (R^-1 * T^-1 * R) is a translation matrix, and R^-1 is a
|
||||
// rotation matrix, so we can use these in the new rigid transform
|
||||
let r_1 = self.rotate.inverse();
|
||||
let t_1 = self
|
||||
.translate
|
||||
.inverse()
|
||||
.expect("translation matrices should be invertible");
|
||||
let t_p = r_1
|
||||
.to_transform()
|
||||
.post_mul(&t_1)
|
||||
.post_mul(&self.rotate.to_transform());
|
||||
|
||||
let global = self.global();
|
||||
let position =
|
||||
DOMPointReadOnly::new(&global, t_p.m41.into(), t_p.m42.into(), t_p.m43.into(), 1.);
|
||||
let orientation = DOMPointReadOnly::new(
|
||||
&global,
|
||||
r_1.i.into(),
|
||||
r_1.j.into(),
|
||||
r_1.k.into(),
|
||||
r_1.r.into(),
|
||||
);
|
||||
XRRigidTransform::new(global.as_window(), &position, &orientation)
|
||||
self.inverse
|
||||
.or_init(|| XRRigidTransform::new(&self.global(), self.transform.inverse()))
|
||||
}
|
||||
// https://immersive-web.github.io/webxr/#dom-xrrigidtransform-matrix
|
||||
#[allow(unsafe_code)]
|
||||
unsafe fn Matrix(&self, _cx: *mut JSContext) -> NonNull<JSObject> {
|
||||
if self.matrix.get().is_null() {
|
||||
let cx = self.global().get_cx();
|
||||
// According to the spec all matrices are column-major,
|
||||
// however euclid uses row vectors so we use .to_row_major_array()
|
||||
let arr = self.transform.to_transform().cast().to_row_major_array();
|
||||
create_typed_array(cx, &arr, &self.matrix);
|
||||
}
|
||||
NonNull::new(self.matrix.get()).unwrap()
|
||||
}
|
||||
}
|
||||
|
||||
impl XRRigidTransform {
|
||||
pub fn matrix(&self) -> Transform3D<f64> {
|
||||
// Spec says the orientation applies first,
|
||||
// so post-multiply (?)
|
||||
self.translate.post_mul(&self.rotate.to_transform())
|
||||
/// https://immersive-web.github.io/webxr/#dom-xrpose-transform
|
||||
pub fn transform(&self) -> RigidTransform3D<f64> {
|
||||
self.transform
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -115,15 +115,12 @@ impl XRSessionMethods for XRSession {
|
|||
|
||||
match options.type_ {
|
||||
XRReferenceSpaceType::Identity => {
|
||||
p.resolve_native(&XRReferenceSpace::identity(
|
||||
&self.global().as_window(),
|
||||
self,
|
||||
));
|
||||
p.resolve_native(&XRReferenceSpace::identity(&self.global(), self));
|
||||
},
|
||||
XRReferenceSpaceType::Stationary => {
|
||||
if let Some(subtype) = options.subtype {
|
||||
p.resolve_native(&XRStationaryReferenceSpace::new(
|
||||
&self.global().as_window(),
|
||||
&self.global(),
|
||||
self,
|
||||
subtype,
|
||||
));
|
||||
|
|
|
|||
|
|
@ -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 {
|
||||
|
|
|
|||
|
|
@ -6,12 +6,12 @@ use crate::dom::bindings::codegen::Bindings::XRStationaryReferenceSpaceBinding;
|
|||
use crate::dom::bindings::codegen::Bindings::XRStationaryReferenceSpaceBinding::XRStationaryReferenceSpaceSubtype;
|
||||
use crate::dom::bindings::reflector::reflect_dom_object;
|
||||
use crate::dom::bindings::root::DomRoot;
|
||||
use crate::dom::window::Window;
|
||||
use crate::dom::globalscope::GlobalScope;
|
||||
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::{RigidTransform3D, Rotation3D, Vector3D};
|
||||
use webvr_traits::WebVRFrameData;
|
||||
|
||||
#[dom_struct]
|
||||
|
|
@ -34,16 +34,16 @@ impl XRStationaryReferenceSpace {
|
|||
}
|
||||
|
||||
pub fn new(
|
||||
window: &Window,
|
||||
global: &GlobalScope,
|
||||
session: &XRSession,
|
||||
ty: XRStationaryReferenceSpaceSubtype,
|
||||
) -> DomRoot<XRStationaryReferenceSpace> {
|
||||
let transform = XRRigidTransform::identity(window);
|
||||
let transform = XRRigidTransform::identity(global);
|
||||
reflect_dom_object(
|
||||
Box::new(XRStationaryReferenceSpace::new_inherited(
|
||||
session, ty, &transform,
|
||||
)),
|
||||
window,
|
||||
global,
|
||||
XRStationaryReferenceSpaceBinding::Wrap,
|
||||
)
|
||||
}
|
||||
|
|
@ -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 =
|
||||
Transform3D::create_translation(pos[0] as f64, pos[1] as f64, pos[2] as f64);
|
||||
let translation = Vector3D::new(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)
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -8,9 +8,10 @@ use crate::dom::bindings::reflector::{reflect_dom_object, Reflector};
|
|||
use crate::dom::bindings::root::{Dom, DomRoot};
|
||||
use crate::dom::globalscope::GlobalScope;
|
||||
use crate::dom::vrframedata::create_typed_array;
|
||||
use crate::dom::xrrigidtransform::XRRigidTransform;
|
||||
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;
|
||||
|
|
@ -22,16 +23,18 @@ pub struct XRView {
|
|||
eye: XREye,
|
||||
proj: Heap<*mut JSObject>,
|
||||
view: Heap<*mut JSObject>,
|
||||
transform: Dom<XRRigidTransform>,
|
||||
}
|
||||
|
||||
impl XRView {
|
||||
fn new_inherited(session: &XRSession, eye: XREye) -> XRView {
|
||||
fn new_inherited(session: &XRSession, transform: &XRRigidTransform, eye: XREye) -> XRView {
|
||||
XRView {
|
||||
reflector_: Reflector::new(),
|
||||
session: Dom::from_ref(session),
|
||||
eye,
|
||||
proj: Heap::default(),
|
||||
view: Heap::default(),
|
||||
transform: Dom::from_ref(transform),
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -40,15 +43,9 @@ impl XRView {
|
|||
global: &GlobalScope,
|
||||
session: &XRSession,
|
||||
eye: XREye,
|
||||
pose: &Transform3D<f64>,
|
||||
pose: &RigidTransform3D<f64>,
|
||||
data: &WebVRFrameData,
|
||||
) -> DomRoot<XRView> {
|
||||
let ret = reflect_dom_object(
|
||||
Box::new(XRView::new_inherited(session, eye)),
|
||||
global,
|
||||
XRViewBinding::Wrap,
|
||||
);
|
||||
|
||||
let vr_display = session.display();
|
||||
|
||||
// XXXManishearth compute and cache projection matrices on the Display
|
||||
|
|
@ -64,14 +61,19 @@ impl XRView {
|
|||
)
|
||||
};
|
||||
|
||||
let offset =
|
||||
Transform3D::create_translation(offset[0] as f64, offset[1] as f64, offset[2] as f64);
|
||||
let view = pose.post_mul(&offset).cast().to_column_major_array();
|
||||
let offset = Vector3D::new(offset[0] as f64, offset[1] as f64, offset[2] as f64);
|
||||
let transform = pose.post_mul(&offset.into());
|
||||
let transform = XRRigidTransform::new(global, transform);
|
||||
|
||||
let ret = reflect_dom_object(
|
||||
Box::new(XRView::new_inherited(session, &transform, eye)),
|
||||
global,
|
||||
XRViewBinding::Wrap,
|
||||
);
|
||||
|
||||
let cx = global.get_cx();
|
||||
unsafe {
|
||||
create_typed_array(cx, proj, &ret.proj);
|
||||
create_typed_array(cx, &view, &ret.view);
|
||||
}
|
||||
ret
|
||||
}
|
||||
|
|
@ -93,9 +95,8 @@ impl XRViewMethods for XRView {
|
|||
NonNull::new(self.proj.get()).unwrap()
|
||||
}
|
||||
|
||||
#[allow(unsafe_code)]
|
||||
/// https://immersive-web.github.io/webxr/#dom-xrview-projectionmatrix
|
||||
unsafe fn ViewMatrix(&self, _cx: *mut JSContext) -> NonNull<JSObject> {
|
||||
NonNull::new(self.view.get()).unwrap()
|
||||
/// https://immersive-web.github.io/webxr/#dom-xrview-transform
|
||||
fn Transform(&self) -> DomRoot<XRRigidTransform> {
|
||||
DomRoot::from_ref(&self.transform)
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -2,35 +2,49 @@
|
|||
* License, v. 2.0. If a copy of the MPL was not distributed with this
|
||||
* file, You can obtain one at https://mozilla.org/MPL/2.0/. */
|
||||
|
||||
use crate::dom::bindings::codegen::Bindings::XRViewBinding::XREye;
|
||||
use crate::dom::bindings::codegen::Bindings::XRViewerPoseBinding;
|
||||
use crate::dom::bindings::codegen::Bindings::XRViewerPoseBinding::XRViewerPoseMethods;
|
||||
use crate::dom::bindings::reflector::{reflect_dom_object, Reflector};
|
||||
use crate::dom::bindings::reflector::reflect_dom_object;
|
||||
use crate::dom::bindings::root::DomRoot;
|
||||
use crate::dom::globalscope::GlobalScope;
|
||||
use crate::dom::xrpose::XRPose;
|
||||
use crate::dom::xrrigidtransform::XRRigidTransform;
|
||||
use crate::dom::xrsession::XRSession;
|
||||
use crate::dom::xrview::XRView;
|
||||
use dom_struct::dom_struct;
|
||||
use euclid::RigidTransform3D;
|
||||
use js::conversions::ToJSValConvertible;
|
||||
use js::jsapi::{Heap, JSContext};
|
||||
use js::jsval::{JSVal, UndefinedValue};
|
||||
use webvr_traits::WebVRFrameData;
|
||||
|
||||
#[dom_struct]
|
||||
pub struct XRViewerPose {
|
||||
reflector_: Reflector,
|
||||
pose: XRPose,
|
||||
views: Heap<JSVal>,
|
||||
}
|
||||
|
||||
impl XRViewerPose {
|
||||
fn new_inherited() -> XRViewerPose {
|
||||
fn new_inherited(transform: &XRRigidTransform) -> XRViewerPose {
|
||||
XRViewerPose {
|
||||
reflector_: Reflector::new(),
|
||||
pose: XRPose::new_inherited(transform),
|
||||
views: Heap::default(),
|
||||
}
|
||||
}
|
||||
|
||||
#[allow(unsafe_code)]
|
||||
pub fn new(global: &GlobalScope, left: &XRView, right: &XRView) -> DomRoot<XRViewerPose> {
|
||||
pub fn new(
|
||||
global: &GlobalScope,
|
||||
session: &XRSession,
|
||||
pose: RigidTransform3D<f64>,
|
||||
data: &WebVRFrameData,
|
||||
) -> DomRoot<XRViewerPose> {
|
||||
let left = XRView::new(global, session, XREye::Left, &pose, &data);
|
||||
let right = XRView::new(global, session, XREye::Right, &pose, &data);
|
||||
let transform = XRRigidTransform::new(global, pose);
|
||||
let pose = reflect_dom_object(
|
||||
Box::new(XRViewerPose::new_inherited()),
|
||||
Box::new(XRViewerPose::new_inherited(&transform)),
|
||||
global,
|
||||
XRViewerPoseBinding::Wrap,
|
||||
);
|
||||
|
|
@ -38,7 +52,7 @@ impl XRViewerPose {
|
|||
unsafe {
|
||||
let cx = global.get_cx();
|
||||
rooted!(in(cx) let mut jsval = UndefinedValue());
|
||||
let vec = vec![DomRoot::from_ref(left), DomRoot::from_ref(right)];
|
||||
let vec = vec![left, right];
|
||||
vec.to_jsval(cx, jsval.handle_mut());
|
||||
pose.views.set(jsval.get());
|
||||
}
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue