Changeset 271941 in webkit

Timestamp:

Jan 27, 2021 3:04:16 AM (3 years ago)

Author:

commit-queue@webkit.org

Message:

Complete WebXRRigidTransform implementation
​https://bugs.webkit.org/show_bug.cgi?id=220732
<rdar://problem/73617302>

Patch by Imanol Fernandez <imanol> on 2021-01-27
Reviewed by Sergio Villar Senin.

LayoutTests/imported/w3c:

Enable XRRigidTransform WebXR tests.

• web-platform-tests/webxr/xrRigidTransform_inverse.https-expected.txt: Added.
• web-platform-tests/webxr/xrRigidTransform_matrix.https-expected.txt: Added.

Source/WebCore:

• Implement XRRigidTransform.inverse().
• Expose raw matrix to be used in other WebXR math calculations (e.g pose composition).
• Correctly lazily initialize and reuse the Float32Array matrixData.

Tested by the WebXR platform tests.

• Modules/webxr/WebXRRigidTransform.cpp:

(WebCore::normalizeQuaternion):
(WebCore::WebXRRigidTransform::create):
(WebCore::WebXRRigidTransform::WebXRRigidTransform):
(WebCore::m_orientation):
(WebCore::m_rawTransform):
(WebCore::WebXRRigidTransform::matrix):
(WebCore::WebXRRigidTransform::inverse):
(WebCore::WebXRRigidTransform::rawTransform const):

• Modules/webxr/WebXRRigidTransform.h:
• platform/graphics/transforms/TransformationMatrix.cpp:

(WebCore::TransformationMatrix::fromQuaternion):

• platform/graphics/transforms/TransformationMatrix.h:

LayoutTests:

Enable XRRigidTransform WebXR tests.

• platform/wpe/TestExpectations:

Location:

trunk

Files:

• LayoutTests/ChangeLog (modified) (1 diff)
• LayoutTests/imported/w3c/ChangeLog (modified) (1 diff)
• LayoutTests/imported/w3c/web-platform-tests/webxr/xrRigidTransform_inverse.https-expected.txt (added)
• LayoutTests/imported/w3c/web-platform-tests/webxr/xrRigidTransform_matrix.https-expected.txt (added)
• LayoutTests/platform/wpe/TestExpectations (modified) (1 diff)
• Source/WebCore/ChangeLog (modified) (1 diff)
• Source/WebCore/Modules/webxr/WebXRRigidTransform.cpp (modified) (5 diffs)
• Source/WebCore/Modules/webxr/WebXRRigidTransform.h (modified) (3 diffs)
• Source/WebCore/platform/graphics/transforms/TransformationMatrix.cpp (modified) (1 diff)
• Source/WebCore/platform/graphics/transforms/TransformationMatrix.h (modified) (1 diff)

trunk/LayoutTests/ChangeLog

@@ +1 @@
+2021-01-27  Imanol Fernandez  <ifernandez@igalia.com>
+
+        Complete WebXRRigidTransform implementation
+        https://bugs.webkit.org/show_bug.cgi?id=220732
+        <rdar://problem/73617302>
+
+        Reviewed by Sergio Villar Senin.
+
+        Enable XRRigidTransform WebXR tests.
+
+        * platform/wpe/TestExpectations:
+
 2021-01-27  Youenn Fablet  <youenn@apple.com>
 

trunk/LayoutTests/imported/w3c/ChangeLog

@@ +1 @@
+2021-01-27  Imanol Fernandez  <ifernandez@igalia.com>
+
+        Complete WebXRRigidTransform implementation
+        https://bugs.webkit.org/show_bug.cgi?id=220732
+        <rdar://problem/73617302>
+
+        Reviewed by Sergio Villar Senin.
+
+        Enable XRRigidTransform WebXR tests.
+
+        * web-platform-tests/webxr/xrRigidTransform_inverse.https-expected.txt: Added.
+        * web-platform-tests/webxr/xrRigidTransform_matrix.https-expected.txt: Added.
+
 2021-01-27  Youenn Fablet  <youenn@apple.com>
 

trunk/LayoutTests/platform/wpe/TestExpectations

@@ -641 +641 @@
 imported/w3c/web-platform-tests/webxr/xrFrame_session_sameObject.https.html [ Pass ]
 imported/w3c/web-platform-tests/webxr/xrRigidTransform_constructor.https.html [ Pass ]
+imported/w3c/web-platform-tests/webxr/xrRigidTransform_inverse.https.html [ Pass ]
+imported/w3c/web-platform-tests/webxr/xrRigidTransform_matrix.https.html [ Pass ]
 imported/w3c/web-platform-tests/webxr/xrSession_prevent_multiple_exclusive.https.html [ Pass ]
 imported/w3c/web-platform-tests/webxr/render_state_vertical_fov_immersive.https.html [ Pass ]

trunk/Source/WebCore/ChangeLog

@@ +1 @@
+2021-01-27  Imanol Fernandez  <ifernandez@igalia.com>
+
+        Complete WebXRRigidTransform implementation
+        https://bugs.webkit.org/show_bug.cgi?id=220732
+        <rdar://problem/73617302>
+
+        Reviewed by Sergio Villar Senin.
+
+        - Implement XRRigidTransform.inverse().
+        - Expose raw matrix to be used in other WebXR math calculations (e.g pose composition).
+        - Correctly lazily initialize and reuse the Float32Array matrixData.
+
+        Tested by the WebXR platform tests. 
+
+        * Modules/webxr/WebXRRigidTransform.cpp:
+        (WebCore::normalizeQuaternion):
+        (WebCore::WebXRRigidTransform::create):
+        (WebCore::WebXRRigidTransform::WebXRRigidTransform):
+        (WebCore::m_orientation):
+        (WebCore::m_rawTransform):
+        (WebCore::WebXRRigidTransform::matrix):
+        (WebCore::WebXRRigidTransform::inverse):
+        (WebCore::WebXRRigidTransform::rawTransform const):
+        * Modules/webxr/WebXRRigidTransform.h:
+        * platform/graphics/transforms/TransformationMatrix.cpp:
+        (WebCore::TransformationMatrix::fromQuaternion):
+        * platform/graphics/transforms/TransformationMatrix.h:
+
 2021-01-27  Andy Estes  <aestes@apple.com>
 

trunk/Source/WebCore/Modules/webxr/WebXRRigidTransform.cpp

@@ -36 +36 @@
 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_ISO_ALLOCATED_IMPL(WebXRRigidTransform);
 
@@ -42 +54 @@
     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)
@@ -59 +77 @@
     //   7. Normalize x, y, z, and w components of transform’s orientation.
     DOMPointInit orientationInit { orientation.x, orientation.y, orientation.z, orientation.w };
-    {
-        double length = std::sqrt(orientationInit.x * orientationInit.x + orientationInit.y * orientationInit.y
-            + orientationInit.z * orientationInit.z + orientationInit.w * orientationInit.w);
-        if (WTF::areEssentiallyEqual<double>(length, 0))
-            return Exception { InvalidStateError };
-
-        orientationInit= {
-            orientationInit.x / length, orientationInit.y / length,
-            orientationInit.z / length, orientationInit.w / length,
-        };
-    }
+    if (!normalizeQuaternion(orientationInit))
+        return Exception { InvalidStateError };
 
     //   8. Return transform.
@@ -79 +88 @@
     , m_orientation(DOMPointReadOnly::create(orientation))
 {
-    // FIXME: implement properly, per spec.
-    TransformationMatrix matrix;
-    auto matrixData = matrix.toColumnMajorFloatArray();
-    m_matrix = Float32Array::create(matrixData.data(), matrixData.size());
+    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 = { };
+    transform.decompose4(decomp);
+
+    m_position = DOMPointReadOnly::create(decomp.translateX, decomp.translateY, decomp.translateZ, 1.0f);
+
+    DOMPointInit orientationInit { -decomp.quaternionX, -decomp.quaternionY, -decomp.quaternionZ, decomp.quaternionW };
+    normalizeQuaternion(orientationInit);
+    m_orientation = DOMPointReadOnly::create(orientationInit);
 }
 
@@ -97 +127 @@
 }
 
-Ref<Float32Array>  WebXRRigidTransform::matrix() const
+const Float32Array& WebXRRigidTransform::matrix()
 {
-    auto matrix = Float32Array::create(16);
-    matrix->zeroFill();
-    return 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;
 }
 
-Ref<WebXRRigidTransform> WebXRRigidTransform::inverse() const
+const WebXRRigidTransform& WebXRRigidTransform::inverse()
 {
-    // FIXME: implement properly.
-    return WebXRRigidTransform::create();
+    // 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 = makeWeakPtr(this);
+
+    return *m_inverse;
+}
+
+const TransformationMatrix& WebXRRigidTransform::rawTransform() const
+{
+    return m_rawTransform;
 }
 

trunk/Source/WebCore/Modules/webxr/WebXRRigidTransform.h

@@ -29 +29 @@
 
 #include "ExceptionOr.h"
+#include "TransformationMatrix.h"
 #include <JavaScriptCore/Float32Array.h>
 #include <wtf/IsoMalloc.h>
 #include <wtf/RefCounted.h>
+#include <wtf/WeakPtr.h>
 
 namespace WebCore {
@@ -38 +40 @@
 class DOMPointReadOnly;
 
-class WebXRRigidTransform : public RefCounted<WebXRRigidTransform> {
+class WebXRRigidTransform : public RefCounted<WebXRRigidTransform>, public CanMakeWeakPtr<WebXRRigidTransform> {
     WTF_MAKE_ISO_ALLOCATED_EXPORT(WebXRRigidTransform, WEBCORE_EXPORT);
 public:
     static Ref<WebXRRigidTransform> create();
+    static Ref<WebXRRigidTransform> create(const TransformationMatrix&);
     WEBCORE_EXPORT static ExceptionOr<Ref<WebXRRigidTransform>> create(const DOMPointInit&, const DOMPointInit&);
     WEBCORE_EXPORT ~WebXRRigidTransform();
@@ -47 +50 @@
     const DOMPointReadOnly& position() const;
     const DOMPointReadOnly& orientation() const;
-    Ref<Float32Array> matrix() const;
-    Ref<WebXRRigidTransform> inverse() const;
+    const Float32Array& matrix();
+    const WebXRRigidTransform& inverse();
+    const TransformationMatrix& rawTransform() const;
 
 private:
     WebXRRigidTransform(const DOMPointInit&, const DOMPointInit&);
+    WebXRRigidTransform(const TransformationMatrix&);
 
     Ref<DOMPointReadOnly> m_position;
     Ref<DOMPointReadOnly> m_orientation;
+    TransformationMatrix m_rawTransform;
     RefPtr<Float32Array> m_matrix;
+    RefPtr<WebXRRigidTransform> m_inverse;
+    WeakPtr<WebXRRigidTransform> m_parentInverse;
 };
 

trunk/Source/WebCore/platform/graphics/transforms/TransformationMatrix.cpp

@@ -579 +579 @@
 {
     setMatrix(t.a(), t.b(), t.c(), t.d(), t.e(), t.f());
+}
+
+
+// FIXME: Once https://bugs.webkit.org/show_bug.cgi?id=220856 is addressed we can reuse this function in TransformationMatrix::recompose4().
+TransformationMatrix TransformationMatrix::fromQuaternion(double qx, double qy, double qz, double qw)
+{
+    const double xx = qx * qx;
+    const double yy = qy * qy;
+    const double zz = qz * qz;
+    const double xz = qx * qz;
+    const double xy = qx * qy; 
+    const double yz = qy * qz;
+    const double xw = qw * qx;
+    const double yw = qw * qy;
+    const double zw = qw * qz;
+
+    return TransformationMatrix(1 - 2 * (yy + zz), 2 * (xy + zw), 2 * (xz - yw), 0,
+        2 * (xy - zw), 1 - 2 * (xx + zz), 2 * (yz + xw), 0,
+        2 * (xz + yw), 2 * (yz - xw), 1 - 2 * (xx + yy), 0,
+        0, 0, 0, 1);
 }
 

trunk/Source/WebCore/platform/graphics/transforms/TransformationMatrix.h

@@ -119 +119 @@
 
     WEBCORE_EXPORT TransformationMatrix(const AffineTransform&);
+
+    static TransformationMatrix fromQuaternion(double qx, double qy, double qz, double qw);
 
     static const TransformationMatrix identity;