1 files changed, 135 insertions, 0 deletions
diff --git a/components/script/dom/xrrigidtransform.rs b/components/script/dom/xrrigidtransform.rs
new file mode 100644
index 00000000000..ac752d5a3dd
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+++ b/components/script/dom/xrrigidtransform.rs
@@ -0,0 +1,135 @@
+/* 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::DOMPointBinding::DOMPointInit;
+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::{DomRoot, MutNullableDom};
+use crate::dom::bindings::utils::create_typed_array;
+use crate::dom::dompointreadonly::DOMPointReadOnly;
+use crate::dom::globalscope::GlobalScope;
+use crate::dom::window::Window;
+use crate::dom::xrsession::ApiRigidTransform;
+use crate::script_runtime::JSContext;
+use dom_struct::dom_struct;
+use euclid::{RigidTransform3D, Rotation3D, Vector3D};
+use js::jsapi::{Heap, JSObject};
+use std::ptr::NonNull;
+
+#[dom_struct]
+pub struct XRRigidTransform {
+    reflector_: Reflector,
+    position: MutNullableDom<DOMPointReadOnly>,
+    orientation: MutNullableDom<DOMPointReadOnly>,
+    #[ignore_malloc_size_of = "defined in euclid"]
+    transform: ApiRigidTransform,
+    inverse: MutNullableDom<XRRigidTransform>,
+    #[ignore_malloc_size_of = "defined in mozjs"]
+    matrix: Heap<*mut JSObject>,
+}
+
+impl XRRigidTransform {
+    fn new_inherited(transform: ApiRigidTransform) -> XRRigidTransform {
+        XRRigidTransform {
+            reflector_: Reflector::new(),
+            position: MutNullableDom::default(),
+            orientation: MutNullableDom::default(),
+            transform,
+            inverse: MutNullableDom::default(),
+            matrix: Heap::default(),
+        }
+    }
+
+    pub fn new(global: &GlobalScope, transform: ApiRigidTransform) -> DomRoot<XRRigidTransform> {
+        reflect_dom_object(Box::new(XRRigidTransform::new_inherited(transform)), global)
+    }
+
+    pub fn identity(window: &GlobalScope) -> DomRoot<XRRigidTransform> {
+        let transform = RigidTransform3D::identity();
+        XRRigidTransform::new(window, transform)
+    }
+
+    // https://immersive-web.github.io/webxr/#dom-xrrigidtransform-xrrigidtransform
+    #[allow(non_snake_case)]
+    pub fn Constructor(
+        window: &Window,
+        position: &DOMPointInit,
+        orientation: &DOMPointInit,
+    ) -> Fallible<DomRoot<Self>> {
+        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 f32, position.y as f32, position.z as f32);
+        let rotate = Rotation3D::unit_quaternion(
+            orientation.x as f32,
+            orientation.y as f32,
+            orientation.z as f32,
+            orientation.w as f32,
+        );
+
+        if !rotate.i.is_finite() {
+            // if quaternion has zero norm, we'll get an infinite or NaN
+            // value for each element. This is preferable to checking for zero.
+            return Err(Error::InvalidState);
+        }
+        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> {
+        self.position.or_init(|| {
+            let t = &self.transform.translation;
+            DOMPointReadOnly::new(&self.global(), t.x.into(), t.y.into(), t.z.into(), 1.0)
+        })
+    }
+    // https://immersive-web.github.io/webxr/#dom-xrrigidtransform-orientation
+    fn Orientation(&self) -> DomRoot<DOMPointReadOnly> {
+        self.orientation.or_init(|| {
+            let r = &self.transform.rotation;
+            DOMPointReadOnly::new(
+                &self.global(),
+                r.i.into(),
+                r.j.into(),
+                r.k.into(),
+                r.r.into(),
+            )
+        })
+    }
+    // https://immersive-web.github.io/webxr/#dom-xrrigidtransform-inverse
+    fn Inverse(&self) -> DomRoot<XRRigidTransform> {
+        self.inverse.or_init(|| {
+            let transform = XRRigidTransform::new(&self.global(), self.transform.inverse());
+            transform.inverse.set(Some(self));
+            transform
+        })
+    }
+    // https://immersive-web.github.io/webxr/#dom-xrrigidtransform-matrix
+    fn Matrix(&self, _cx: 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().to_row_major_array();
+            create_typed_array(cx, &arr, &self.matrix);
+        }
+        NonNull::new(self.matrix.get()).unwrap()
+    }
+}
+
+impl XRRigidTransform {
+    /// https://immersive-web.github.io/webxr/#dom-xrpose-transform
+    pub fn transform(&self) -> ApiRigidTransform {
+        self.transform
+    }
+}