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/* 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::XRReferenceSpaceBinding;
use crate::dom::bindings::codegen::Bindings::XRReferenceSpaceBinding::XRReferenceSpaceMethods;
use crate::dom::bindings::codegen::Bindings::XRReferenceSpaceBinding::XRReferenceSpaceType;
use crate::dom::bindings::inheritance::Castable;
use crate::dom::bindings::reflector::{reflect_dom_object, DomObject};
use crate::dom::bindings::root::{Dom, DomRoot};
use crate::dom::globalscope::GlobalScope;
use crate::dom::xrrigidtransform::XRRigidTransform;
use crate::dom::xrsession::{cast_transform, ApiPose, ApiViewerPose, XRSession};
use crate::dom::xrspace::XRSpace;
use dom_struct::dom_struct;
use euclid::RigidTransform3D;
use webxr_api::Frame;
#[dom_struct]
pub struct XRReferenceSpace {
xrspace: XRSpace,
offset: Dom<XRRigidTransform>,
ty: XRReferenceSpaceType,
}
impl XRReferenceSpace {
pub fn new_inherited(
session: &XRSession,
offset: &XRRigidTransform,
ty: XRReferenceSpaceType,
) -> XRReferenceSpace {
XRReferenceSpace {
xrspace: XRSpace::new_inherited(session),
offset: Dom::from_ref(offset),
ty,
}
}
#[allow(unused)]
pub fn new(
global: &GlobalScope,
session: &XRSession,
ty: XRReferenceSpaceType,
) -> DomRoot<XRReferenceSpace> {
let offset = XRRigidTransform::identity(global);
Self::new_offset(global, session, ty, &offset)
}
#[allow(unused)]
pub fn new_offset(
global: &GlobalScope,
session: &XRSession,
ty: XRReferenceSpaceType,
offset: &XRRigidTransform,
) -> DomRoot<XRReferenceSpace> {
reflect_dom_object(
Box::new(XRReferenceSpace::new_inherited(session, &offset, ty)),
global,
XRReferenceSpaceBinding::Wrap,
)
}
}
impl XRReferenceSpaceMethods for XRReferenceSpace {
/// https://immersive-web.github.io/webxr/#dom-xrreferencespace-getoffsetreferencespace
fn GetOffsetReferenceSpace(&self, new: &XRRigidTransform) -> DomRoot<Self> {
let offset = self.offset.transform().pre_transform(&new.transform());
let offset = XRRigidTransform::new(&self.global(), offset);
Self::new_offset(
&self.global(),
self.upcast::<XRSpace>().session(),
self.ty,
&offset,
)
}
}
impl XRReferenceSpace {
/// Gets pose of the viewer with respect to this space
///
/// This is equivalent to `get_pose(self).inverse() * get_pose(viewerSpace)` (in column vector notation),
/// however we specialize it to be efficient
pub fn get_viewer_pose(&self, base_pose: &Frame) -> Option<ApiViewerPose> {
let pose = self.get_unoffset_viewer_pose(base_pose)?;
// in column-vector notation,
// get_viewer_pose(space) = get_pose(space).inverse() * get_pose(viewer_space)
// = (get_unoffset_pose(space) * offset).inverse() * get_pose(viewer_space)
// = offset.inverse() * get_unoffset_pose(space).inverse() * get_pose(viewer_space)
// = offset.inverse() * get_unoffset_viewer_pose(space)
let offset = self.offset.transform();
let inverse = offset.inverse();
Some(inverse.pre_transform(&pose))
}
/// Gets pose of the viewer with respect to this space
///
/// Does not apply originOffset, use get_viewer_pose instead if you need it
pub fn get_unoffset_viewer_pose(&self, base_pose: &Frame) -> Option<ApiViewerPose> {
// all math is in column-vector notation
// we use the following equation to verify correctness here:
// get_viewer_pose(space) = get_pose(space).inverse() * get_pose(viewer_space)
match self.ty {
XRReferenceSpaceType::Local => {
// get_viewer_pose(eye_level) = get_pose(eye_level).inverse() * get_pose(viewer_space)
// = I * viewer_pose
// = viewer_pose
let viewer_pose: ApiViewerPose = cast_transform(base_pose.transform?);
// we get viewer poses in eye-level space by default
Some(viewer_pose)
},
XRReferenceSpaceType::Local_floor => {
// get_viewer_pose(floor_level) = get_pose(floor_level).inverse() * get_pose(viewer_space)
// = floor_to_native.inverse() * viewer_pose
// = native_to_floor * viewer_pose
let viewer_pose = base_pose.transform?;
let native_to_floor = self
.upcast::<XRSpace>()
.session()
.with_session(|s| s.floor_transform())?;
Some(cast_transform(native_to_floor.pre_transform(&viewer_pose)))
},
XRReferenceSpaceType::Viewer => {
// This reference space follows the viewer around, so the viewer is
// always at an identity transform with respect to it
Some(RigidTransform3D::identity())
},
_ => unimplemented!(),
}
}
/// Gets pose represented by this space
///
/// The reference origin used is common between all
/// get_pose calls for spaces from the same device, so this can be used to compare
/// with other spaces
pub fn get_pose(&self, base_pose: &Frame) -> Option<ApiPose> {
let pose = self.get_unoffset_pose(base_pose)?;
let offset = self.offset.transform();
// pose is a transform from the unoffset space to native space,
// offset is a transform from offset space to unoffset space,
// we want a transform from unoffset space to native space,
// which is pose * offset in column vector notation
Some(pose.pre_transform(&offset))
}
/// Gets pose represented by this space
///
/// Does not apply originOffset, use get_viewer_pose instead if you need it
pub fn get_unoffset_pose(&self, base_pose: &Frame) -> Option<ApiPose> {
match self.ty {
XRReferenceSpaceType::Local => {
// The eye-level pose is basically whatever the headset pose was at t=0, which
// for most devices is (0, 0, 0)
Some(RigidTransform3D::identity())
},
XRReferenceSpaceType::Local_floor => {
let native_to_floor = self
.upcast::<XRSpace>()
.session()
.with_session(|s| s.floor_transform())?;
Some(cast_transform(native_to_floor.inverse()))
},
XRReferenceSpaceType::Viewer => base_pose.transform.map(cast_transform),
_ => unimplemented!(),
}
}
}
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