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import MatrixMath from './fill/MatrixMath.js'
import Quaternion from './fill/Quaternion.js'
import XRAnchor from './XRAnchor.js'
import XRCoordinates from './XRCoordinates.js'
/*
XRAnchorOffset represents a pose in relation to an XRAnchor
*/
export default class XRAnchorOffset {
constructor(anchorUID, poseMatrix=null){
this._anchorUID = anchorUID
this._poseMatrix = poseMatrix || MatrixMath.mat4_generateIdentity()
}
get anchorUID(){ return this._anchorUID }
/*
A Float32Array(16) representing a column major affine transform matrix
*/
get poseMatrix(){ return this._poseMatrix }
set poseMatrix(array16){
for(let i=0; i < 16; i++){
this._poseMatrix[i] = array16[i]
}
}
/*
returns a Float32Array(4) representing an x, y, z position from this.poseMatrix
*/
get position(){
return new Float32Array([this._poseMatrix[12], this._poseMatrix[13], this._poseMatrix[14]])
}
/*
returns a Float32Array(4) representing x, y, z, w of a quaternion from this.poseMatrix
*/
get orientation(){
let quat = new Quaternion()
quat.setFromRotationMatrix(this._poseMatrix)
return quat.toArray()
}
/*
Return an XRCoordinates in the same coordinate system as `anchor` that is offset by this XRAnchorOffset.poseMatrix
*/
getTransformedCoordinates(anchor){
const coordinates = new XRCoordinates(anchor.coordinates._display, anchor.coordinates.coordinateSystem)
MatrixMath.mat4_multiply(coordinates.poseMatrix, this._poseMatrix, anchor.coordinates.poseMatrix)
return coordinates
}
}