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Update to treat view transforms as native-relative
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@Manishearth
Manishearth committed May 18, 2020
1 parent a97dcd9 commit d627476
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Showing 6 changed files with 74 additions and 85 deletions.
4 changes: 2 additions & 2 deletions Cargo.lock
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6 changes: 3 additions & 3 deletions components/script/dom/xrframe.rs
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Expand Up @@ -80,8 +80,8 @@ impl XRFrameMethods for XRFrame {
return Err(Error::InvalidState);
}

let pose = if let Some(pose) = reference.get_viewer_pose(&self.data) {
pose
let to_base = if let Some(to_base) = reference.get_base_transform(&self.data) {
to_base
} else {
return Ok(None);
};
Expand All @@ -93,7 +93,7 @@ impl XRFrameMethods for XRFrame {
Ok(Some(XRViewerPose::new(
&self.global(),
&self.session,
pose,
to_base,
viewer_pose,
)))
}
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67 changes: 11 additions & 56 deletions components/script/dom/xrreferencespace.rs
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Expand Up @@ -9,11 +9,11 @@ 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::xrsession::{cast_transform, ApiPose, BaseTransform, XRSession};
use crate::dom::xrspace::XRSpace;
use dom_struct::dom_struct;
use euclid::RigidTransform3D;
use webxr_api::{BaseSpace, Frame, Space};
use webxr_api::{self, Frame, Space};

#[dom_struct]
pub struct XRReferenceSpace {
Expand Down Expand Up @@ -60,9 +60,9 @@ impl XRReferenceSpace {

pub fn space(&self) -> Space {
let base = match self.ty {
XRReferenceSpaceType::Local => BaseSpace::Local,
XRReferenceSpaceType::Viewer => BaseSpace::Viewer,
XRReferenceSpaceType::Local_floor => BaseSpace::Floor,
XRReferenceSpaceType::Local => webxr_api::BaseSpace::Local,
XRReferenceSpaceType::Viewer => webxr_api::BaseSpace::Viewer,
XRReferenceSpaceType::Local_floor => webxr_api::BaseSpace::Floor,
_ => panic!("unsupported reference space found"),
};
let offset = self.offset.transform();
Expand All @@ -85,58 +85,13 @@ impl XRReferenceSpaceMethods for XRReferenceSpace {
}

impl XRReferenceSpace {
/// Gets pose of the viewer with respect to this space
/// Get a transform that can be used to locate the base 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.pose.as_ref()?.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.pose.as_ref()?.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!(),
}
/// This is equivalent to `get_pose(self).inverse()` (in column vector notation),
/// but with better types
pub fn get_base_transform(&self, base_pose: &Frame) -> Option<BaseTransform> {
let pose = self.get_pose(base_pose)?;
Some(pose.inverse().cast_unit())
}

/// Gets pose represented by this space
Expand Down
7 changes: 5 additions & 2 deletions components/script/dom/xrsession.rs
View file
Expand Up @@ -791,11 +791,14 @@ impl XRSessionMethods for XRSession {

// The pose of an object in native-space. Should never be exposed.
pub type ApiPose = RigidTransform3D<f32, ApiSpace, webxr_api::Native>;
// The pose of the viewer in some api-space.
pub type ApiViewerPose = RigidTransform3D<f32, webxr_api::Viewer, ApiSpace>;
// A transform between objects in some API-space
pub type ApiRigidTransform = RigidTransform3D<f32, ApiSpace, ApiSpace>;

#[derive(Clone, Copy)]
pub struct BaseSpace;

pub type BaseTransform = RigidTransform3D<f32, webxr_api::Native, BaseSpace>;

#[allow(unsafe_code)]
pub fn cast_transform<T, U, V, W>(
transform: RigidTransform3D<f32, T, U>,
Expand Down
13 changes: 4 additions & 9 deletions components/script/dom/xrview.rs
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Expand Up @@ -9,9 +9,10 @@ use crate::dom::bindings::root::{Dom, DomRoot};
use crate::dom::bindings::utils::create_typed_array;
use crate::dom::globalscope::GlobalScope;
use crate::dom::xrrigidtransform::XRRigidTransform;
use crate::dom::xrsession::{cast_transform, ApiViewerPose, XRSession};
use crate::dom::xrsession::{cast_transform, BaseSpace, BaseTransform, XRSession};
use crate::script_runtime::JSContext;
use dom_struct::dom_struct;
use euclid::RigidTransform3D;
use js::jsapi::{Heap, JSObject};
use std::ptr::NonNull;
use webxr_api::{ApiSpace, View};
Expand Down Expand Up @@ -54,15 +55,9 @@ impl XRView {
view: &View<V>,
eye: XREye,
viewport_index: usize,
pose: &ApiViewerPose,
to_base: &BaseTransform,
) -> DomRoot<XRView> {
// XXXManishearth compute and cache projection matrices on the Display

// this transform is the pose of the viewer in the eye space, i.e. it is the transform
// from the viewer space to the eye space. We invert it to get the pose of the eye in the viewer space.
let offset = view.transform.inverse();

let transform = pose.pre_transform(&offset);
let transform: RigidTransform3D<f32, V, BaseSpace> = to_base.pre_transform(&view.transform);
let transform = XRRigidTransform::new(global, cast_transform(transform));

reflect_dom_object(
Expand Down
62 changes: 49 additions & 13 deletions components/script/dom/xrviewerpose.rs
View file
Expand Up @@ -9,15 +9,16 @@ use crate::dom::bindings::root::DomRoot;
use crate::dom::globalscope::GlobalScope;
use crate::dom::xrpose::XRPose;
use crate::dom::xrrigidtransform::XRRigidTransform;
use crate::dom::xrsession::{cast_transform, ApiViewerPose, XRSession};
use crate::dom::xrsession::{cast_transform, BaseSpace, BaseTransform, XRSession};
use crate::dom::xrview::XRView;
use crate::realms::enter_realm;
use crate::script_runtime::JSContext;
use dom_struct::dom_struct;
use euclid::RigidTransform3D;
use js::conversions::ToJSValConvertible;
use js::jsapi::Heap;
use js::jsval::{JSVal, UndefinedValue};
use webxr_api::{ViewerPose, Views};
use webxr_api::{Viewer, ViewerPose, Views};

#[dom_struct]
pub struct XRViewerPose {
Expand All @@ -38,7 +39,7 @@ impl XRViewerPose {
pub fn new(
global: &GlobalScope,
session: &XRSession,
pose: ApiViewerPose,
to_base: BaseTransform,
viewer_pose: &ViewerPose,
) -> DomRoot<XRViewerPose> {
let _ac = enter_realm(&*global);
Expand All @@ -50,29 +51,64 @@ impl XRViewerPose {
&session.inline_view(),
XREye::None,
0,
&pose,
&to_base,
)),
Views::Mono(view) => views.push(XRView::new(
global,
session,
&view,
XREye::None,
0,
&to_base,
)),
Views::Mono(view) => {
views.push(XRView::new(global, session, &view, XREye::None, 0, &pose))
},
Views::Stereo(left, right) => {
views.push(XRView::new(global, session, &left, XREye::Left, 0, &pose));
views.push(XRView::new(global, session, &right, XREye::Right, 1, &pose));
views.push(XRView::new(
global,
session,
&left,
XREye::Left,
0,
&to_base,
));
views.push(XRView::new(
global,
session,
&right,
XREye::Right,
1,
&to_base,
));
},
Views::StereoCapture(left, right, third_eye) => {
views.push(XRView::new(global, session, &left, XREye::Left, 0, &pose));
views.push(XRView::new(global, session, &right, XREye::Right, 1, &pose));
views.push(XRView::new(
global,
session,
&left,
XREye::Left,
0,
&to_base,
));
views.push(XRView::new(
global,
session,
&right,
XREye::Right,
1,
&to_base,
));
views.push(XRView::new(
global,
session,
&third_eye,
XREye::None,
2,
&pose,
&to_base,
));
},
};
let transform = XRRigidTransform::new(global, cast_transform(pose));
let transform: RigidTransform3D<f32, Viewer, BaseSpace> =
to_base.pre_transform(&viewer_pose.transform);
let transform = XRRigidTransform::new(global, cast_transform(transform));
let pose = reflect_dom_object(Box::new(XRViewerPose::new_inherited(&transform)), global);

let cx = global.get_cx();
Expand Down

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