diff options
| -rw-r--r-- | components/script/dom/bindings/trace.rs | 4 | ||||
| -rw-r--r-- | components/script/dom/webidls/XRRigidTransform.webidl | 1 | ||||
| -rw-r--r-- | components/script/dom/xrrigidtransform.rs | 39 |
3 files changed, 42 insertions, 2 deletions
diff --git a/components/script/dom/bindings/trace.rs b/components/script/dom/bindings/trace.rs index ecb24ecee2d..1cc2a9a12a5 100644 --- a/components/script/dom/bindings/trace.rs +++ b/components/script/dom/bindings/trace.rs @@ -56,7 +56,9 @@ use cssparser::RGBA; 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}; +use euclid::{ + Point2D, Rect, Rotation3D, Transform2D, Transform3D, TypedScale, TypedSize2D, Vector2D, +}; use html5ever::buffer_queue::BufferQueue; use html5ever::{LocalName, Namespace, Prefix, QualName}; use http::header::HeaderMap; diff --git a/components/script/dom/webidls/XRRigidTransform.webidl b/components/script/dom/webidls/XRRigidTransform.webidl index 91b4f92dc3c..2131ec22356 100644 --- a/components/script/dom/webidls/XRRigidTransform.webidl +++ b/components/script/dom/webidls/XRRigidTransform.webidl @@ -10,4 +10,5 @@ interface XRRigidTransform { readonly attribute DOMPointReadOnly position; readonly attribute DOMPointReadOnly orientation; // readonly attribute Float32Array matrix; + XRRigidTransform inverse(); }; diff --git a/components/script/dom/xrrigidtransform.rs b/components/script/dom/xrrigidtransform.rs index e019f90d678..ad7cbe7543b 100644 --- a/components/script/dom/xrrigidtransform.rs +++ b/components/script/dom/xrrigidtransform.rs @@ -46,7 +46,8 @@ impl XRRigidTransform { reflector_: Reflector::new(), position: Dom::from_ref(position), orientation: Dom::from_ref(orientation), - translate, rotate + translate, + rotate, } } @@ -98,6 +99,42 @@ impl XRRigidTransformMethods for XRRigidTransform { fn Orientation(&self) -> DomRoot<DOMPointReadOnly> { DomRoot::from_ref(&self.orientation) } + // 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) + } } impl XRRigidTransform { |