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Bug 1650714 - Part 1: Correct Matrix Decompose and SetRotationFromQuaternion. r=kip,imanol,lsalzman

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Differential Revision: https://phabricator.services.mozilla.com/D82391
This commit is contained in:
Daosheng Mu 2020-07-10 22:01:11 +00:00
parent ab92315948
commit 088f996216
6 changed files with 28 additions and 64 deletions
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4
dom/vr/XRFrame.cpp
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@ -73,10 +73,6 @@ already_AddRefed<XRViewerPose> XRFrame::GetViewerPose(
sensorState.pose.orientation[0], sensorState.pose.orientation[1],
sensorState.pose.orientation[2], sensorState.pose.orientation[3]);
// Quaternion was inverted for WebVR. We need to invert it here again.
// TODO: Remove those extra inverts when WebVR support is disabled.
viewerOrientation.Invert();
gfx::Matrix4x4Double headTransform;
headTransform.SetRotationFromQuaternion(viewerOrientation);
headTransform.PostTranslate(viewerPosition);

4
dom/vr/XRNativeOriginTracker.cpp
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@ -25,10 +25,6 @@ gfx::QuaternionDouble XRNativeOriginTracker::GetOrientation() {
gfx::QuaternionDouble orientation(
mPose->orientation[0], mPose->orientation[1], mPose->orientation[2],
mPose->orientation[3]);
// Quaternion was inverted for WebVR in XXXVRSession when handling controller
// poses. We need to re-invert it here again.
// TODO: Remove those extra inverts when WebVR support is disabled.
orientation.Invert();
return orientation;
}

8
dom/vr/XRRigidTransform.cpp
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@ -60,10 +60,6 @@ XRRigidTransform::XRRigidTransform(nsISupports* aParent,
gfx::PointDouble3D scale;
mRawTransformMatrix = aTransform;
mRawTransformMatrix.Decompose(mRawPosition, mRawOrientation, scale);
// TODO: Investigate why we need to do this invert after getting orientation
// from the transform matrix. It looks like we have a bug at
// Matrix4x4Typed.SetFromRotationMatrix() (Bug 1635363).
mRawOrientation.Invert();
}
XRRigidTransform::~XRRigidTransform() { mozilla::DropJSObjects(this); }
@ -128,10 +124,6 @@ void XRRigidTransform::Update(const gfx::Matrix4x4Double& aTransform) {
mRawTransformMatrix = aTransform;
gfx::PointDouble3D scale;
mRawTransformMatrix.Decompose(mRawPosition, mRawOrientation, scale);
// TODO: Investigate why we need to do this invert after getting orientation
// from the transform matrix. It looks like we have a bug at
// Matrix4x4Typed.SetFromRotationMatrix() (Bug 1635363).
mRawOrientation.Invert();
UpdateInternal();
}

26
gfx/2d/Matrix.h
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@ -1433,21 +1433,9 @@ class Matrix4x4Typed {
// We do not support matrices with a zero scale component
return false;
}
T invXS = 1.0f / scale.x;
T invYS = 1.0f / scale.y;
T invZS = 1.0f / scale.z;
mat._11 *= invXS;
mat._21 *= invXS;
mat._31 *= invXS;
mat._12 *= invYS;
mat._22 *= invYS;
mat._32 *= invYS;
mat._13 *= invZS;
mat._23 *= invZS;
mat._33 *= invZS;
// Extract rotation
rotation.SetFromRotationMatrix(mat);
rotation.SetFromRotationMatrix(*this);
return true;
}
@ -1461,17 +1449,17 @@ class Matrix4x4Typed {
const T wx = q.w * x2, wy = q.w * y2, wz = q.w * z2;
_11 = 1.0f - (yy + zz);
_21 = xy + wz;
_31 = xz - wy;
_21 = xy - wz;
_31 = xz + wy;
_41 = 0.0f;
_12 = xy - wz;
_12 = xy + wz;
_22 = 1.0f - (xx + zz);
_32 = yz + wx;
_32 = yz - wx;
_42 = 0.0f;
_13 = xz + wy;
_23 = yz - wx;
_13 = xz - wy;
_23 = yz + wx;
_33 = 1.0f - (xx + yy);
_43 = 0.0f;

35
gfx/2d/Quaternion.h
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@ -48,34 +48,35 @@ class BaseQuaternion {
// Assumes upper 3x3 of aMatrix is a pure rotation matrix (no scaling)
void SetFromRotationMatrix(
const Matrix4x4Typed<UnknownUnits, UnknownUnits, T>& m) {
// see
// http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.htm
const T trace = m._11 + m._22 + m._33;
if (trace > 0.0) {
const T s = 0.5f / sqrt(trace + 1.0f);
const T trace = m._11 + m._22 + m._33 + 1.0f;
if (trace > 1e-4) {
const T s = 0.5f / sqrt(trace);
w = 0.25f / s;
x = (m._32 - m._23) * s;
y = (m._13 - m._31) * s;
z = (m._21 - m._12) * s;
x = (m._23 - m._32) * s;
y = (m._31 - m._13) * s;
z = (m._12 - m._21) * s;
} else if (m._11 > m._22 && m._11 > m._33) {
const T s = 2.0f * sqrt(1.0f + m._11 - m._22 - m._33);
w = (m._32 - m._23) / s;
w = (m._23 - m._32) / s;
x = 0.25f * s;
y = (m._12 + m._21) / s;
z = (m._13 + m._31) / s;
y = (m._21 + m._12) / s;
z = (m._31 + m._13) / s;
} else if (m._22 > m._33) {
const T s = 2.0 * sqrt(1.0f + m._22 - m._11 - m._33);
w = (m._13 - m._31) / s;
x = (m._12 + m._21) / s;
w = (m._31 - m._13) / s;
x = (m._21 + m._12) / s;
y = 0.25f * s;
z = (m._23 + m._32) / s;
z = (m._32 + m._23) / s;
} else {
const T s = 2.0 * sqrt(1.0f + m._33 - m._11 - m._22);
w = (m._21 - m._12) / s;
x = (m._13 + m._31) / s;
y = (m._23 + m._32) / s;
w = (m._12 - m._21) / s;
x = (m._31 + m._13) / s;
y = (m._32 + m._23) / s;
z = 0.25f * s;
}
Normalize();
}
// result = this * aQuat

15
gfx/vr/VRDisplayClient.cpp
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@ -258,9 +258,7 @@ void VRDisplayClient::GamepadMappingForWebVR(
aControllerState.pose.orientation[1],
aControllerState.pose.orientation[2],
aControllerState.pose.orientation[3]);
// We need to invert its quaternion here because we did an invertion
// in FxR WaveVR delegate.
originalMtx.SetRotationFromQuaternion(quat.Invert());
originalMtx.SetRotationFromQuaternion(quat);
originalMtx._41 = aControllerState.pose.position[0];
originalMtx._42 = aControllerState.pose.position[1];
originalMtx._43 = aControllerState.pose.position[2];
@ -269,7 +267,6 @@ void VRDisplayClient::GamepadMappingForWebVR(
gfx::Point3D pos, scale;
originalMtx.Decompose(pos, quat, scale);
quat.Invert();
aControllerState.pose.position[0] = pos.x;
aControllerState.pose.position[1] = pos.y;
aControllerState.pose.position[2] = pos.z;
@ -299,9 +296,7 @@ void VRDisplayClient::GamepadMappingForWebVR(
aControllerState.pose.orientation[1],
aControllerState.pose.orientation[2],
aControllerState.pose.orientation[3]);
// We need to invert its quaternion here because we did an invertion
// in FxR OculusVR delegate.
originalMtx.SetRotationFromQuaternion(quat.Invert());
originalMtx.SetRotationFromQuaternion(quat);
originalMtx._41 = aControllerState.pose.position[0];
originalMtx._42 = aControllerState.pose.position[1];
originalMtx._43 = aControllerState.pose.position[2];
@ -310,7 +305,6 @@ void VRDisplayClient::GamepadMappingForWebVR(
gfx::Point3D pos, scale;
originalMtx.Decompose(pos, quat, scale);
quat.Invert();
aControllerState.pose.position[0] = pos.x;
aControllerState.pose.position[1] = pos.y;
aControllerState.pose.position[2] = pos.z;
@ -365,9 +359,7 @@ void VRDisplayClient::GamepadMappingForWebVR(
aControllerState.pose.orientation[1],
aControllerState.pose.orientation[2],
aControllerState.pose.orientation[3]);
// We need to invert its quaternion here because we did an invertion
// in FxR OculusVR delegate.
originalMtx.SetRotationFromQuaternion(quat.Invert());
originalMtx.SetRotationFromQuaternion(quat);
originalMtx._41 = aControllerState.pose.position[0];
originalMtx._42 = aControllerState.pose.position[1];
originalMtx._43 = aControllerState.pose.position[2];
@ -376,7 +368,6 @@ void VRDisplayClient::GamepadMappingForWebVR(
gfx::Point3D pos, scale;
originalMtx.Decompose(pos, quat, scale);
quat.Invert();
aControllerState.pose.position[0] = pos.x;
aControllerState.pose.position[1] = pos.y;
aControllerState.pose.position[2] = pos.z;