Update XR code to use rigid transforms and new pose/transform stuff from the spec #23159

Manishearth · 2019-04-03T20:44:02Z

This updates our XR code to use euclid's new RigidTransform3D type, which is more efficent and convenient to work with.

It additionally brings us up to speed with the spec:

XRViewerPose was made a subclass of XRPose (immersive-web/webxr#496)
XRView.viewMatrix was removed in favor of XRRigidTransform.inverse.matrix (immersive-web/webxr#531)
XRRigidTransform.inverse is an attribute (immersive-web/webxr#560)
XRRigidTransform now validates positions in its constructor (immersive-web/webxr#568)

Furthermore, it adds support for XRRigidTransform.matrix.

While fixing this I also noticed that our view matrix code was incorrect, we calculated view matrices as pose.to_column_major_array(), whereas it should be pose.inverse().to_row_major_array() (since Euclid uses row vectors, whenever the spec says it wants a column major array we should use .to_row_major_array() since all web specs implicitly use column vectors). For 3DOF devices poses are mostly rotations anyway, so the effective transpose behaved like an inversion, but was incorrect.

This PR gets rid of view.viewMatrix anyway, however I felt like I should mention this discrepancy, since otherwise the replacement of view.viewMatrix with view.transform.inverse.matrix doesn't make sense

r? @jdm

This change is

highfive · 2019-04-03T20:44:06Z

Heads up! This PR modifies the following files:

@asajeffrey: components/script/dom/mod.rs, components/script/dom/webidls/XRView.webidl, components/script/Cargo.toml, components/script/dom/xrpose.rs, components/script/dom/xrreferencespace.rs and 12 more
@KiChjang: components/script/dom/mod.rs, components/script/dom/webidls/XRView.webidl, components/script/Cargo.toml, components/script/dom/xrpose.rs, components/script/dom/xrreferencespace.rs and 12 more

highfive · 2019-04-03T20:44:08Z

Warning

These commits modify unsafe code. Please review it carefully!
These commits modify script code, but no tests are modified. Please consider adding a test!

Manishearth · 2019-04-03T20:51:02Z

Actually, probably should be r? @asajeffrey since he reviewed #23055

Manishearth · 2019-04-03T20:51:59Z

There are still some changes left out of this PR which I may add later: namely, XRStationaryReferenceSpace::get_pose is a lie, it should be ::get_viewer_pose(). I was not interpreting the nature of reference spaces correctly, however my misinterpretation only affects the observed behavior of getPose(), which isn't implemented yet.

Nell mentioned that she had some feedback to give on immersive-web/webxr#565, so I'm going to hold off on making those changes till I know the real mental model involved.

asajeffrey · 2019-04-04T00:56:09Z

LGTM. You might want to squash before merging.

Manishearth · 2019-04-04T01:04:16Z

The commits are all self-contained, incremental, and building, and I prefer to have more commits whenever possible.

@bors-servo r=asajeffrey

bors-servo · 2019-04-04T01:04:17Z

📌 Commit e8d172a has been approved by asajeffrey

bors-servo · 2019-04-04T01:04:22Z

⌛ Testing commit e8d172a with merge 6e797f6...


        Auto merge of #23159 - Manishearth:rigid-transforms, r=asajeffrey

@jdm

Update XR code to use rigid transforms and new pose/transform stuff from the spec This updates our XR code to use euclid's new [RigidTransform3D type](servo/euclid#328), which is more efficent and convenient to work with. It additionally brings us up to speed with the spec: - `XRViewerPose` was made a subclass of `XRPose` (immersive-web/webxr#496) - `XRView.viewMatrix` was removed in favor of `XRRigidTransform.inverse.matrix` (immersive-web/webxr#531) - `XRRigidTransform.inverse` is an attribute (immersive-web/webxr#560) - `XRRigidTransform` now validates positions in its constructor (immersive-web/webxr#568) Furthermore, it adds support for `XRRigidTransform.matrix`. While fixing this I also noticed that our view matrix code was incorrect, we calculated view matrices as `pose.to_column_major_array()`, whereas it *should* be `pose.inverse().to_row_major_array()` (since Euclid uses row vectors, whenever the spec says it wants a column major array we should use `.to_row_major_array()` since all web specs implicitly use column vectors). For 3DOF devices poses are mostly rotations anyway, so the effective transpose behaved _like_ an inversion, but was incorrect. This PR gets rid of `view.viewMatrix` anyway, however I felt like I should mention this discrepancy, since otherwise the replacement of `view.viewMatrix` with `view.transform.inverse.matrix` doesn't make sense r? @jdm  --- This change is [<img src="https://reviewable.io/review_button.svg" height="34" align="absmiddle" alt="Reviewable"/>](https://reviewable.io/reviews/servo/servo/23159)

Manishearth · 2019-04-04T01:04:26Z

(This PR is also like ... five changes at once)

bors-servo · 2019-04-04T02:21:31Z

💔 Test failed - mac-rel-css1

Manishearth · 2019-04-04T05:24:23Z

@bors-servo retry

weird timeout in urlsearchparams-getall

bors-servo · 2019-04-04T05:24:26Z

⚡ Previous build results for android-mac, arm32, arm64, linux-rel-css, linux-rel-wpt, mac-rel-css2, mac-rel-wpt1, mac-rel-wpt2, mac-rel-wpt3, mac-rel-wpt4, magicleap, status-taskcluster are reusable. Rebuilding only mac-rel-css1...

bors-servo · 2019-04-04T06:30:39Z

💔 Test failed - mac-rel-css1

Manishearth · 2019-04-04T06:43:36Z

Huh, it's a different URLSearchParams test.


        Bump euclid to 0.19.7


        Move XRRigidTransform to using RigidTransform3D


        Make XRRigidTransform.position/orientation lazy, default to using euc…

…lid things


        Validate the position passed to XRRigidTransform

Added in immersive-web/webxr#568


        Switch XRSpace code to using rigid transforms

Manishearth · 2019-04-04T06:56:08Z

@bors-servo try retry r-

bors-servo · 2019-04-04T06:56:12Z

⌛ Trying commit e055884 with merge 21defb9...


        Auto merge of #23159 - Manishearth:rigid-transforms, r=<try>

@jdm

Update XR code to use rigid transforms and new pose/transform stuff from the spec This updates our XR code to use euclid's new [RigidTransform3D type](servo/euclid#328), which is more efficent and convenient to work with. It additionally brings us up to speed with the spec: - `XRViewerPose` was made a subclass of `XRPose` (immersive-web/webxr#496) - `XRView.viewMatrix` was removed in favor of `XRRigidTransform.inverse.matrix` (immersive-web/webxr#531) - `XRRigidTransform.inverse` is an attribute (immersive-web/webxr#560) - `XRRigidTransform` now validates positions in its constructor (immersive-web/webxr#568) Furthermore, it adds support for `XRRigidTransform.matrix`. While fixing this I also noticed that our view matrix code was incorrect, we calculated view matrices as `pose.to_column_major_array()`, whereas it *should* be `pose.inverse().to_row_major_array()` (since Euclid uses row vectors, whenever the spec says it wants a column major array we should use `.to_row_major_array()` since all web specs implicitly use column vectors). For 3DOF devices poses are mostly rotations anyway, so the effective transpose behaved _like_ an inversion, but was incorrect. This PR gets rid of `view.viewMatrix` anyway, however I felt like I should mention this discrepancy, since otherwise the replacement of `view.viewMatrix` with `view.transform.inverse.matrix` doesn't make sense r? @jdm  --- This change is [<img src="https://reviewable.io/review_button.svg" height="34" align="absmiddle" alt="Reviewable"/>](https://reviewable.io/reviews/servo/servo/23159)

Manishearth · 2019-04-04T06:58:56Z

I suspect that intermittent comes from one of the WPT updates but it's not clear why cc @jdm

It could also be due to the euclid bump but the relevant test isn't using euclid. A possibility is that a test running in parallel is using up all the cpu and causing timeouts elsewhere.

bors-servo · 2019-04-04T08:21:38Z

☀️ Test successful - android-mac, arm32, arm64, linux-rel-css, linux-rel-wpt, mac-rel-css1, mac-rel-css2, mac-rel-wpt1, mac-rel-wpt2, mac-rel-wpt3, mac-rel-wpt4, magicleap, status-taskcluster
State: approved= try=True

jdm · 2019-04-04T12:10:34Z

@bors-servo r=asajeffrey

bors-servo · 2019-04-04T12:10:35Z

📌 Commit e055884 has been approved by asajeffrey


        Auto merge of #23159 - Manishearth:rigid-transforms, r=asajeffrey

@jdm

Update XR code to use rigid transforms and new pose/transform stuff from the spec This updates our XR code to use euclid's new [RigidTransform3D type](servo/euclid#328), which is more efficent and convenient to work with. It additionally brings us up to speed with the spec: - `XRViewerPose` was made a subclass of `XRPose` (immersive-web/webxr#496) - `XRView.viewMatrix` was removed in favor of `XRRigidTransform.inverse.matrix` (immersive-web/webxr#531) - `XRRigidTransform.inverse` is an attribute (immersive-web/webxr#560) - `XRRigidTransform` now validates positions in its constructor (immersive-web/webxr#568) Furthermore, it adds support for `XRRigidTransform.matrix`. While fixing this I also noticed that our view matrix code was incorrect, we calculated view matrices as `pose.to_column_major_array()`, whereas it *should* be `pose.inverse().to_row_major_array()` (since Euclid uses row vectors, whenever the spec says it wants a column major array we should use `.to_row_major_array()` since all web specs implicitly use column vectors). For 3DOF devices poses are mostly rotations anyway, so the effective transpose behaved _like_ an inversion, but was incorrect. This PR gets rid of `view.viewMatrix` anyway, however I felt like I should mention this discrepancy, since otherwise the replacement of `view.viewMatrix` with `view.transform.inverse.matrix` doesn't make sense r? @jdm  --- This change is [<img src="https://reviewable.io/review_button.svg" height="34" align="absmiddle" alt="Reviewable"/>](https://reviewable.io/reviews/servo/servo/23159)

bors-servo · 2019-04-04T13:39:24Z

⌛ Testing commit e055884 with merge 709cfeb...

bors-servo · 2019-04-04T14:00:39Z

💔 Test failed - linux-rel-css

jdm · 2019-04-04T15:03:40Z

@bors-servo retry

#21067

bors-servo · 2019-04-04T15:36:48Z

💣 Failed to start rebuilding: Unknown error

bors-servo · 2019-04-04T15:36:57Z

⌛ Testing commit e055884 with merge f1b82f8...


        Auto merge of #23159 - Manishearth:rigid-transforms, r=asajeffrey

@jdm

Update XR code to use rigid transforms and new pose/transform stuff from the spec This updates our XR code to use euclid's new [RigidTransform3D type](servo/euclid#328), which is more efficent and convenient to work with. It additionally brings us up to speed with the spec: - `XRViewerPose` was made a subclass of `XRPose` (immersive-web/webxr#496) - `XRView.viewMatrix` was removed in favor of `XRRigidTransform.inverse.matrix` (immersive-web/webxr#531) - `XRRigidTransform.inverse` is an attribute (immersive-web/webxr#560) - `XRRigidTransform` now validates positions in its constructor (immersive-web/webxr#568) Furthermore, it adds support for `XRRigidTransform.matrix`. While fixing this I also noticed that our view matrix code was incorrect, we calculated view matrices as `pose.to_column_major_array()`, whereas it *should* be `pose.inverse().to_row_major_array()` (since Euclid uses row vectors, whenever the spec says it wants a column major array we should use `.to_row_major_array()` since all web specs implicitly use column vectors). For 3DOF devices poses are mostly rotations anyway, so the effective transpose behaved _like_ an inversion, but was incorrect. This PR gets rid of `view.viewMatrix` anyway, however I felt like I should mention this discrepancy, since otherwise the replacement of `view.viewMatrix` with `view.transform.inverse.matrix` doesn't make sense r? @jdm  --- This change is [<img src="https://reviewable.io/review_button.svg" height="34" align="absmiddle" alt="Reviewable"/>](https://reviewable.io/reviews/servo/servo/23159)

bors-servo · 2019-04-04T16:12:14Z

💔 Test failed - linux-rel-wpt

Manishearth · 2019-04-04T16:19:38Z

@bors-servo retry

#13479

bors-servo · 2019-04-04T18:05:18Z

⚡ Previous build results for android-mac, arm32, arm64, linux-rel-css, mac-rel-css1, mac-rel-css2, mac-rel-wpt1, mac-rel-wpt2, mac-rel-wpt3, mac-rel-wpt4, magicleap, status-taskcluster are reusable. Rebuilding only linux-rel-wpt...

bors-servo · 2019-04-04T18:31:37Z

☀️ Test successful - android-mac, arm32, arm64, linux-rel-css, linux-rel-wpt, mac-rel-css1, mac-rel-css2, mac-rel-wpt1, mac-rel-wpt2, mac-rel-wpt3, mac-rel-wpt4, magicleap, status-taskcluster
Approved by: asajeffrey
Pushing f1b82f8 to master...

highfive assigned jdm Apr 3, 2019

highfive added the S-awaiting-review label Apr 3, 2019

Manishearth requested review from asajeffrey and jdm Apr 3, 2019

highfive assigned asajeffrey and unassigned jdm Apr 3, 2019

highfive added S-awaiting-merge and removed S-awaiting-review labels Apr 4, 2019

highfive added S-tests-failed and removed S-awaiting-merge labels Apr 4, 2019

Manishearth added 5 commits Apr 3, 2019

Bump euclid to 0.19.7

67694dc

Move XRRigidTransform to using RigidTransform3D

feb3517

Make XRRigidTransform.position/orientation lazy, default to using euc…

e296185

…lid things

Validate the position passed to XRRigidTransform

1f3f372

Added in immersive-web/webxr#568

Switch XRSpace code to using rigid transforms

08079c4

highfive added S-awaiting-review and removed S-tests-failed labels Apr 4, 2019

highfive added S-awaiting-merge and removed S-awaiting-review labels Apr 4, 2019

highfive added S-tests-failed and removed S-awaiting-merge labels Apr 4, 2019

highfive added S-awaiting-merge and removed S-tests-failed labels Apr 4, 2019

highfive added S-tests-failed and removed S-awaiting-merge labels Apr 4, 2019

Manishearth deleted the Manishearth:rigid-transforms branch May 7, 2019

servo / servo

Update XR code to use rigid transforms and new pose/transform stuff from the spec #23159

Update XR code to use rigid transforms and new pose/transform stuff from the spec #23159

Manishearth commented Apr 3, 2019 •

edited

highfive commented Apr 3, 2019

highfive commented Apr 3, 2019

Manishearth commented Apr 3, 2019

Manishearth commented Apr 3, 2019

asajeffrey commented Apr 4, 2019

Manishearth commented Apr 4, 2019

bors-servo commented Apr 4, 2019

bors-servo commented Apr 4, 2019

Manishearth commented Apr 4, 2019

bors-servo commented Apr 4, 2019

Manishearth commented Apr 4, 2019

bors-servo commented Apr 4, 2019

bors-servo commented Apr 4, 2019

Manishearth commented Apr 4, 2019

Manishearth commented Apr 4, 2019

bors-servo commented Apr 4, 2019

Manishearth commented Apr 4, 2019

bors-servo commented Apr 4, 2019

jdm commented Apr 4, 2019

bors-servo commented Apr 4, 2019

bors-servo commented Apr 4, 2019

bors-servo commented Apr 4, 2019

jdm commented Apr 4, 2019

bors-servo commented Apr 4, 2019

bors-servo commented Apr 4, 2019

bors-servo commented Apr 4, 2019

Manishearth commented Apr 4, 2019 •

edited

bors-servo commented Apr 4, 2019

bors-servo commented Apr 4, 2019

servo / servo

Join GitHub today

Update XR code to use rigid transforms and new pose/transform stuff from the spec #23159

Update XR code to use rigid transforms and new pose/transform stuff from the spec #23159

Conversation

Manishearth commented Apr 3, 2019 • edited

highfive commented Apr 3, 2019

highfive commented Apr 3, 2019

Manishearth commented Apr 3, 2019

Manishearth commented Apr 3, 2019

asajeffrey commented Apr 4, 2019

Manishearth commented Apr 4, 2019

bors-servo commented Apr 4, 2019

bors-servo commented Apr 4, 2019

Manishearth commented Apr 4, 2019

bors-servo commented Apr 4, 2019

Manishearth commented Apr 4, 2019

bors-servo commented Apr 4, 2019

bors-servo commented Apr 4, 2019

Manishearth commented Apr 4, 2019

Manishearth commented Apr 4, 2019

bors-servo commented Apr 4, 2019

Manishearth commented Apr 4, 2019

bors-servo commented Apr 4, 2019

jdm commented Apr 4, 2019

bors-servo commented Apr 4, 2019

bors-servo commented Apr 4, 2019

bors-servo commented Apr 4, 2019

jdm commented Apr 4, 2019

bors-servo commented Apr 4, 2019

bors-servo commented Apr 4, 2019

bors-servo commented Apr 4, 2019

Manishearth commented Apr 4, 2019 • edited

bors-servo commented Apr 4, 2019

bors-servo commented Apr 4, 2019

Manishearth commented Apr 3, 2019 •

edited

Manishearth commented Apr 4, 2019 •

edited