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/*
* Copyright (C) 2020 Igalia S.L. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY APPLE INC. AND ITS CONTRIBUTORS ``AS IS''
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL APPLE INC. OR ITS CONTRIBUTORS
* BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF
* THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "config.h"
#include "WebXRRigidTransform.h"
#if ENABLE(WEBXR)
#include "DOMPointReadOnly.h"
#include "TransformationMatrix.h"
#include <JavaScriptCore/TypedArrayInlines.h>
#include <wtf/TZoneMallocInlines.h>
namespace WebCore {
static bool normalizeQuaternion(DOMPointInit& q)
{
const double length = std::sqrt(q.x * q.x + q.y * q.y + q.z * q.z + q.w * q.w);
if (WTF::areEssentiallyEqual<double>(length, 0))
return false;
q.x /= length;
q.y /= length;
q.z /= length;
q.w /= length;
return true;
}
WTF_MAKE_TZONE_OR_ISO_ALLOCATED_IMPL(WebXRRigidTransform);
Ref<WebXRRigidTransform> WebXRRigidTransform::create()
{
return adoptRef(*new WebXRRigidTransform({ }, { }));
}
Ref<WebXRRigidTransform> WebXRRigidTransform::create(const TransformationMatrix& transform)
{
return adoptRef(*new WebXRRigidTransform(transform));
}
ExceptionOr<Ref<WebXRRigidTransform>> WebXRRigidTransform::create(const DOMPointInit& position, const DOMPointInit& orientation)
{
// The XRRigidTransform(position, orientation) constructor MUST perform the following steps when invoked:
// 1. Let transform be a new XRRigidTransform.
// 2. If position is not a DOMPointInit initialize transform’s position to { x: 0.0, y: 0.0, z: 0.0, w: 1.0 }.
// 3. If position’s w value is not 1.0, throw a TypeError.
// 4. Else initialize transform’s position’s x value to position’s x dictionary member, y value to position’s y dictionary member, z value to position’s z dictionary member and w to 1.0.
if (position.w != 1.0)
return Exception { ExceptionCode::TypeError };
DOMPointInit positionInit { position.x, position.y, position.z, 1 };
// 5. If orientation is not a DOMPointInit initialize transform’s orientation to { x: 0.0, y: 0.0, z: 0.0, w: 1.0 }.
// 6. Else initialize transform’s orientation’s x value to orientation’s x dictionary member, y value to orientation’s y dictionary member, z value to orientation’s z dictionary member and w value to orientation’s w dictionary member.
// 7. Normalize x, y, z, and w components of transform’s orientation.
DOMPointInit orientationInit { orientation.x, orientation.y, orientation.z, orientation.w };
if (!normalizeQuaternion(orientationInit))
return Exception { ExceptionCode::InvalidStateError };
// 8. Return transform.
return adoptRef(*new WebXRRigidTransform(positionInit, orientationInit));
}
WebXRRigidTransform::WebXRRigidTransform(const DOMPointInit& position, const DOMPointInit& orientation)
: m_position(DOMPointReadOnly::create(position))
, m_orientation(DOMPointReadOnly::create(orientation))
{
TransformationMatrix translation;
translation.translate3d(position.x, position.y, position.z);
auto rotation = TransformationMatrix::fromQuaternion({ orientation.x, orientation.y, orientation.z, orientation.w });
m_rawTransform = translation * rotation;
}
WebXRRigidTransform::WebXRRigidTransform(const TransformationMatrix& transform)
: m_position(DOMPointReadOnly::create({ }))
, m_orientation(DOMPointReadOnly::create({ }))
, m_rawTransform(transform)
{
if (transform.isIdentity()) {
// TransformationMatrix::decompose returns a empty quaternion instead of unit quaternion for Identity.
// WebXR tests expect a unit quaternion for this case.
return;
}
TransformationMatrix::Decomposed4Type decomp = { };
if (!transform.decompose4(decomp))
return;
m_position = DOMPointReadOnly::create(decomp.translateX, decomp.translateY, decomp.translateZ, 1.0f);
DOMPointInit orientationInit { decomp.quaternion.x, decomp.quaternion.y, decomp.quaternion.z, decomp.quaternion.w };
normalizeQuaternion(orientationInit);
m_orientation = DOMPointReadOnly::create(orientationInit);
}
WebXRRigidTransform::~WebXRRigidTransform() = default;
const DOMPointReadOnly& WebXRRigidTransform::position() const
{
return m_position;
}
const DOMPointReadOnly& WebXRRigidTransform::orientation() const
{
return m_orientation;
}
const Float32Array& WebXRRigidTransform::matrix()
{
if (m_matrix && !m_matrix->isDetached())
return *m_matrix;
// Lazily create matrix Float32Array.
auto matrixData = m_rawTransform.toColumnMajorFloatArray();
m_matrix = Float32Array::create(matrixData.data(), matrixData.size());
return *m_matrix;
}
const WebXRRigidTransform& WebXRRigidTransform::inverse()
{
// The inverse of a inverse object should return the original object.
if (m_parentInverse)
return *m_parentInverse;
// Inverse should always return the same object.
if (m_inverse)
return *m_inverse;
auto inverseTransform = m_rawTransform.inverse();
ASSERT(!!inverseTransform);
m_inverse = WebXRRigidTransform::create(*inverseTransform);
// The inverse of a inverse object should return the original object.
m_inverse->m_parentInverse = *this;
return *m_inverse;
}
const TransformationMatrix& WebXRRigidTransform::rawTransform() const
{
return m_rawTransform;
}
} // namespace WebCore
#endif // ENABLE(WEBXR)
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