diff options
Diffstat (limited to 'components/script/dom/xrrigidtransform.rs')
| -rw-r--r-- | components/script/dom/xrrigidtransform.rs | 151 |
1 files changed, 65 insertions, 86 deletions
diff --git a/components/script/dom/xrrigidtransform.rs b/components/script/dom/xrrigidtransform.rs index ad7cbe7543b..030905d84fa 100644 --- a/components/script/dom/xrrigidtransform.rs +++ b/components/script/dom/xrrigidtransform.rs @@ -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 } } |