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refactor

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This commit is contained in:
galister
2024-04-24 11:35:54 +09:00
parent 065ce8f136
commit 5afb5ed4ab
3 changed files with 85 additions and 102 deletions
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81
src/backend/common.rs
View File

@@ -1,10 +1,10 @@
use std::{f32::consts::PI, sync::Arc};
use std::sync::Arc;
use once_cell::sync::Lazy;
#[cfg(feature = "openxr")]
use openxr as xr;
use glam::{Affine3A, Vec2, Vec3, Vec3A, Vec3Swizzles};
use glam::{Affine3A, Vec3, Vec3A};
use idmap::IdMap;
use serde::Deserialize;
use thiserror::Error;
@@ -346,83 +346,6 @@ pub enum OverlaySelector {
Name(Arc<str>),
}
pub fn raycast_plane(
source: &Affine3A,
source_fwd: Vec3A,
plane: &Affine3A,
plane_norm: Vec3A,
) -> Option<(f32, Vec2)> {
let plane_normal = plane.transform_vector3a(plane_norm);
let ray_dir = source.transform_vector3a(source_fwd);
let d = plane.translation.dot(-plane_normal);
let dist = -(d + source.translation.dot(plane_normal)) / ray_dir.dot(plane_normal);
let hit_local = plane
.inverse()
.transform_point3a(source.translation + ray_dir * dist)
.xy();
Some((dist, hit_local))
}
pub fn raycast_cylinder(
source: &Affine3A,
source_fwd: Vec3A,
plane: &Affine3A,
curvature: f32,
) -> Option<(f32, Vec2)> {
// this is solved locally; (0,0) is the center of the cylinder, and the cylinder is aligned with the Y axis
let size = plane.x_axis.length();
let to_local = Affine3A {
matrix3: plane.matrix3.mul_scalar(1.0 / size),
translation: plane.translation,
}
.inverse();
let r = size / (2.0 * PI * curvature);
let ray_dir = to_local.transform_vector3a(source.transform_vector3a(source_fwd));
let ray_origin = to_local.transform_point3a(source.translation) + Vec3A::NEG_Z * r;
let d = ray_dir.xz();
let s = ray_origin.xz();
let a = d.dot(d);
let b = d.dot(s);
let c = s.dot(s) - r * r;
let d = (b * b) - (a * c);
if d < f32::EPSILON {
return None;
}
let sqrt_d = d.sqrt();
let t1 = (-b - sqrt_d) / a;
let t2 = (-b + sqrt_d) / a;
let t = t1.max(t2);
if t < f32::EPSILON {
return None;
}
let mut hit_local = ray_origin + ray_dir * t;
if hit_local.z > 0.0 {
// hitting the opposite half of the cylinder
return None;
}
let max_angle = 2.0 * (size / (2.0 * r));
let x_angle = (hit_local.x / r).asin();
hit_local.x = x_angle / max_angle;
hit_local.y /= size;
Some((t, hit_local.xy()))
}
pub fn snap_upright(transform: Affine3A, up_dir: Vec3A) -> Affine3A {
if transform.x_axis.dot(up_dir).abs() < 0.2 {
let scale = transform.x_axis.length();

85
src/backend/input.rs
View File

@@ -1,6 +1,7 @@
use std::f32::consts::PI;
use std::{collections::VecDeque, time::Instant};
use glam::{Affine3A, Vec2, Vec3, Vec3A};
use glam::{Affine3A, Vec2, Vec3, Vec3A, Vec3Swizzles};
use smallvec::{smallvec, SmallVec};
@@ -10,10 +11,7 @@ use crate::overlays::anchor::ANCHOR_NAME;
use crate::state::AppState;
use super::task::{TaskContainer, TaskType};
use super::{
common::{raycast_cylinder, raycast_plane, OverlayContainer},
overlay::OverlayData,
};
use super::{common::OverlayContainer, overlay::OverlayData};
pub struct TrackedDevice {
pub soc: Option<f32>,
@@ -590,3 +588,80 @@ impl Pointer {
})
}
}
fn raycast_plane(
source: &Affine3A,
source_fwd: Vec3A,
plane: &Affine3A,
plane_norm: Vec3A,
) -> Option<(f32, Vec2)> {
let plane_normal = plane.transform_vector3a(plane_norm);
let ray_dir = source.transform_vector3a(source_fwd);
let d = plane.translation.dot(-plane_normal);
let dist = -(d + source.translation.dot(plane_normal)) / ray_dir.dot(plane_normal);
let hit_local = plane
.inverse()
.transform_point3a(source.translation + ray_dir * dist)
.xy();
Some((dist, hit_local))
}
fn raycast_cylinder(
source: &Affine3A,
source_fwd: Vec3A,
plane: &Affine3A,
curvature: f32,
) -> Option<(f32, Vec2)> {
// this is solved locally; (0,0) is the center of the cylinder, and the cylinder is aligned with the Y axis
let size = plane.x_axis.length();
let to_local = Affine3A {
matrix3: plane.matrix3.mul_scalar(1.0 / size),
translation: plane.translation,
}
.inverse();
let r = size / (2.0 * PI * curvature);
let ray_dir = to_local.transform_vector3a(source.transform_vector3a(source_fwd));
let ray_origin = to_local.transform_point3a(source.translation) + Vec3A::NEG_Z * r;
let d = ray_dir.xz();
let s = ray_origin.xz();
let a = d.dot(d);
let b = d.dot(s);
let c = s.dot(s) - r * r;
let d = (b * b) - (a * c);
if d < f32::EPSILON {
return None;
}
let sqrt_d = d.sqrt();
let t1 = (-b - sqrt_d) / a;
let t2 = (-b + sqrt_d) / a;
let t = t1.max(t2);
if t < f32::EPSILON {
return None;
}
let mut hit_local = ray_origin + ray_dir * t;
if hit_local.z > 0.0 {
// hitting the opposite half of the cylinder
return None;
}
let max_angle = 2.0 * (size / (2.0 * r));
let x_angle = (hit_local.x / r).asin();
hit_local.x = x_angle / max_angle;
hit_local.y /= size;
Some((t, hit_local.xy()))
}

21
src/backend/openxr/helpers.rs
View File

@@ -129,29 +129,14 @@ pub(super) fn hmd_pose_from_views(views: &[xr::View]) -> (Affine3A, f32) {
(pos0 + pos1) * 0.5
};
let rot = {
let rot0 = unsafe { std::mem::transmute(views[0].pose.orientation) };
let rot1 = unsafe { std::mem::transmute(views[1].pose.orientation) };
quat_lerp(rot0, rot1, 0.5)
let rot0: Quat = unsafe { std::mem::transmute(views[0].pose.orientation) };
let rot1: Quat = unsafe { std::mem::transmute(views[1].pose.orientation) };
rot0.lerp(rot1, 0.5)
};
(Affine3A::from_rotation_translation(rot, pos), ipd)
}
fn quat_lerp(a: Quat, mut b: Quat, t: f32) -> Quat {
let l2 = a.dot(b);
if l2 < 0.0 {
b = -b;
}
Quat::from_xyzw(
a.x - t * (a.x - b.x),
a.y - t * (a.y - b.y),
a.z - t * (a.z - b.z),
a.w - t * (a.w - b.w),
)
.normalize()
}
pub(super) fn transform_to_norm_quat(transform: &Affine3A) -> Quat {
let norm_mat3 = transform
.matrix3