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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::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::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::dompointreadonly::DOMPointReadOnly;
use crate::dom::window::Window;
use dom_struct::dom_struct;
use euclid::{RigidTransform3D, Rotation3D, Transform3D, Vector3D};
#[dom_struct]
pub struct XRRigidTransform {
reflector_: Reflector,
position: Dom<DOMPointReadOnly>,
orientation: Dom<DOMPointReadOnly>,
#[ignore_malloc_size_of = "defined in euclid"]
transform: RigidTransform3D<f64>,
}
impl XRRigidTransform {
fn new_inherited(
position: &DOMPointReadOnly,
orientation: &DOMPointReadOnly,
) -> XRRigidTransform {
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);
XRRigidTransform {
reflector_: Reflector::new(),
position: Dom::from_ref(position),
orientation: Dom::from_ref(orientation),
transform,
}
}
#[allow(unused)]
pub fn new(
global: &Window,
position: &DOMPointReadOnly,
orientation: &DOMPointReadOnly,
) -> DomRoot<XRRigidTransform> {
reflect_dom_object(
Box::new(XRRigidTransform::new_inherited(position, orientation)),
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,
)
}
// https://immersive-web.github.io/webxr/#dom-xrrigidtransform-xrrigidtransform
pub fn Constructor(
window: &Window,
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))
}
}
impl XRRigidTransformMethods for XRRigidTransform {
// https://immersive-web.github.io/webxr/#dom-xrrigidtransform-position
fn Position(&self) -> DomRoot<DOMPointReadOnly> {
DomRoot::from_ref(&self.position)
}
// https://immersive-web.github.io/webxr/#dom-xrrigidtransform-orientation
fn Orientation(&self) -> DomRoot<DOMPointReadOnly> {
DomRoot::from_ref(&self.orientation)
}
// https://immersive-web.github.io/webxr/#dom-xrrigidtransform-inverse
fn Inverse(&self) -> DomRoot<XRRigidTransform> {
let global = self.global();
let inverse = self.transform.inverse();
let position = DOMPointReadOnly::new(
&global,
inverse.translation.x.into(),
inverse.translation.y.into(),
inverse.translation.z.into(),
1.,
);
let orientation = DOMPointReadOnly::new(
&global,
inverse.rotation.i.into(),
inverse.rotation.j.into(),
inverse.rotation.k.into(),
inverse.rotation.r.into(),
);
XRRigidTransform::new(global.as_window(), &position, &orientation)
}
}
impl XRRigidTransform {
pub fn matrix(&self) -> Transform3D<f64> {
// Spec says the orientation applies first,
// so post-multiply (?)
self.transform.to_transform()
}
}
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