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// Copyright 2019 The Chromium Authors
// Use of this source code is governed by a BSD-style license that can be
// found in the LICENSE file.
#include "third_party/blink/renderer/modules/xr/xr_rigid_transform.h"
#include <cmath>
#include <utility>
#include "third_party/blink/renderer/bindings/core/v8/v8_dom_point_init.h"
#include "third_party/blink/renderer/core/geometry/dom_point_read_only.h"
#include "third_party/blink/renderer/modules/xr/xr_utils.h"
#include "third_party/blink/renderer/platform/bindings/exception_state.h"
#include "ui/gfx/geometry/decomposed_transform.h"
#include "ui/gfx/geometry/transform.h"
namespace blink {
namespace {
bool IsComponentValid(DOMPointInit* point) {
DCHECK(point);
return std::isfinite(point->x()) && std::isfinite(point->y()) &&
std::isfinite(point->z()) && std::isfinite(point->w());
}
} // anonymous namespace
// makes a deep copy of transformationMatrix
XRRigidTransform::XRRigidTransform(const gfx::Transform& transformationMatrix)
: matrix_(std::make_unique<gfx::Transform>(transformationMatrix)) {
DecomposeMatrix();
}
void XRRigidTransform::DecomposeMatrix() {
// decompose matrix to position and orientation
std::optional<gfx::DecomposedTransform> decomp = matrix_->Decompose();
CHECK(decomp) << "Matrix decompose failed for " << matrix_->ToString();
position_ = DOMPointReadOnly::Create(
decomp->translate[0], decomp->translate[1], decomp->translate[2], 1.0);
orientation_ =
makeNormalizedQuaternion(decomp->quaternion.x(), decomp->quaternion.y(),
decomp->quaternion.z(), decomp->quaternion.w());
}
XRRigidTransform::XRRigidTransform(DOMPointInit* position,
DOMPointInit* orientation) {
if (position) {
position_ = DOMPointReadOnly::Create(position->x(), position->y(),
position->z(), 1.0);
} else {
position_ = DOMPointReadOnly::Create(0.0, 0.0, 0.0, 1.0);
}
if (orientation) {
orientation_ = makeNormalizedQuaternion(orientation->x(), orientation->y(),
orientation->z(), orientation->w());
} else {
orientation_ = DOMPointReadOnly::Create(0.0, 0.0, 0.0, 1.0);
}
// Computing transformation matrix from position and orientation is expensive,
// so compute it lazily in matrix().
}
XRRigidTransform* XRRigidTransform::Create(DOMPointInit* position,
DOMPointInit* orientation,
ExceptionState& exception_state) {
if (position && position->w() != 1.0) {
exception_state.ThrowTypeError("W component of position must be 1.0");
return nullptr;
}
if ((position && !IsComponentValid(position)) ||
(orientation && !IsComponentValid(orientation))) {
exception_state.ThrowTypeError(
"Position and Orientation must consist of only finite values");
return nullptr;
}
if (orientation) {
double x = orientation->x();
double y = orientation->y();
double z = orientation->z();
double w = orientation->w();
double sq_len = x * x + y * y + z * z + w * w;
// The only way for the result of a square root to be 0 is if the squared
// number is 0, so save the square root operation and just compare to 0 now.
if (sq_len == 0.0) {
exception_state.ThrowDOMException(DOMExceptionCode::kInvalidStateError,
"Orientation's length cannot be 0");
return nullptr;
} else if (!std::isfinite(sq_len)) {
// If the orientation has any large numbers that cause us to overflow when
// calculating the length, we won't be able to generate a valid normalized
// quaternion.
exception_state.ThrowDOMException(
DOMExceptionCode::kInvalidStateError,
"Orientation is too large to normalize");
return nullptr;
}
}
return MakeGarbageCollected<XRRigidTransform>(position, orientation);
}
NotShared<DOMFloat32Array> XRRigidTransform::matrix() {
EnsureMatrix();
if (!matrix_array_) {
matrix_array_ = transformationMatrixToDOMFloat32Array(*matrix_);
}
if (!matrix_array_ || !matrix_array_->Data()) {
// A page may take the matrix_array_ value and detach it so matrix_array_ is
// a detached array buffer. This breaks the inspector, so return an empty
// array instead.
return NotShared<DOMFloat32Array>(DOMFloat32Array::Create(0));
}
return matrix_array_;
}
XRRigidTransform* XRRigidTransform::inverse() {
EnsureInverse();
return inverse_.Get();
}
gfx::Transform XRRigidTransform::InverseTransformMatrix() {
EnsureInverse();
return inverse_->TransformMatrix();
}
gfx::Transform XRRigidTransform::TransformMatrix() {
EnsureMatrix();
return *matrix_;
}
void XRRigidTransform::EnsureMatrix() {
if (!matrix_) {
gfx::DecomposedTransform decomp;
decomp.quaternion = gfx::Quaternion(orientation_->x(), orientation_->y(),
orientation_->z(), orientation_->w());
decomp.translate[0] = position_->x();
decomp.translate[1] = position_->y();
decomp.translate[2] = position_->z();
matrix_ = std::make_unique<gfx::Transform>(gfx::Transform::Compose(decomp));
}
}
void XRRigidTransform::EnsureInverse() {
// Only compute inverse matrix when it's requested, but cache it once we do.
// matrix_ does not change once the XRRigidTransfrorm has been constructed, so
// the caching is safe.
if (!inverse_) {
EnsureMatrix();
gfx::Transform inverse;
if (!matrix_->GetInverse(&inverse)) {
DLOG(ERROR) << "Matrix was not invertible: " << matrix_->ToString();
// TODO(https://crbug.com/1258611): Define behavior for non-invertible
// matrices. Note that this is consistent with earlier behavior, which
// just always passed matrix_->Inverse() whether it was invertible or not.
}
inverse_ = MakeGarbageCollected<XRRigidTransform>(inverse);
inverse_->inverse_ = this;
}
}
void XRRigidTransform::Trace(Visitor* visitor) const {
visitor->Trace(position_);
visitor->Trace(orientation_);
visitor->Trace(inverse_);
visitor->Trace(matrix_array_);
ScriptWrappable::Trace(visitor);
}
} // namespace blink
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