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import MatrixMath from './fill/MatrixMath.js'
import XRCoordinates from './XRCoordinates.js'
/*
XRCoordinateSystem represents the origin of a 3D coordinate system positioned at a known frame of reference.
The XRCoordinateSystem is a string from XRCoordinateSystem.TYPES:
- XRCoordinateSystem.HEAD_MODEL: origin is aligned with the pose of the head, as sensed by HMD or handset trackers
- XRCoordinateSystem.EYE_LEVEL: origin is at a fixed distance above the ground
- XRCoordinateSystem.TRACKER: The origin of this coordinate system is at floor level at or below the origin of the HMD or handset provided tracking system
- XRCoordinateSystem.GEOSPATIAL: origin is at the East, Up, South plane tangent to the planet at the latitude, longitude, and altitude represented by the `XRCoordinateSystem.cartographicCoordinates`.
*/
export default class XRCoordinateSystem {
constructor(display, type, cartographicCoordinates=null){
this._display = display
this._type = type
this._cartographicCoordinates = cartographicCoordinates
}
get cartographicCoordinates(){ return this._cartographicCoordinates }
get type(){ return this._type }
get _poseModelMatrix(){
switch(this._type){
case XRCoordinateSystem.HEAD_MODEL:
return this._display._headPose.poseModelMatrix
case XRCoordinateSystem.EYE_LEVEL:
return this._display._eyeLevelPose.poseModelMatrix
case XRCoordinateSystem.TRACKER:
return this._display._trackerPoseModelMatrix
case XRCoordinateSystem.GEOSPATIAL:
throw 'This polyfill does not yet handle geospatial coordinate systems'
default:
throw 'Unknown coordinate system type: ' + this._type
}
}
getCoordinates(position=[0,0,0], orientation=[0,0,0,1]){
return new XRCoordinates(this._display, this, position, orientation)
}
getTransformTo(otherCoordinateSystem){
let out = new Float32Array([
1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 1, 0,
0, 0, 0, 1
])
// apply inverse of other system's poseModelMatrix to the identity matrix
let inverse = new Float32Array(16)
MatrixMath.mat4_invert(inverse, otherCoordinateSystem._poseModelMatrix)
MatrixMath.mat4_multiply(out, inverse, out)
// apply this system's poseModelMatrix
MatrixMath.mat4_multiply(out, this._poseModelMatrix, out)
return out
}
}
XRCoordinateSystem.HEAD_MODEL = 'headModel'
XRCoordinateSystem.EYE_LEVEL = 'eyeLevel'
XRCoordinateSystem.TRACKER = 'tracker'
XRCoordinateSystem.GEOSPATIAL = 'geospatial'
XRCoordinateSystem.TYPES = [
XRCoordinateSystem.HEAD_MODEL,
XRCoordinateSystem.EYE_LEVEL,
XRCoordinateSystem.TRACKER,
XRCoordinateSystem.GEOSPATIAL
]