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How to use getPoseFromTransform method in wpt

Best JavaScript code snippet using wpt

webxr-test.js

Source:webxr-test.js

...35          m12, m22, m32, 0,36          m13, m23, m33, 0,37          m14, m24, m34, 1];38}39function getPoseFromTransform(transform) {40  const [px, py, pz] = transform.position;41  const [ox, oy, oz, ow] = transform.orientation;42  return {43    position: {x: px, y: py, z: pz},44    orientation: {x: ox, y: oy, z: oz, w: ow},45  };46}47function composeGFXTransform(fakeTransformInit) {48  return {matrix: getMatrixFromTransform(fakeTransformInit)};49}50class ChromeXRTest {51  constructor() {52    this.mockVRService_ = new MockVRService();53  }54  simulateDeviceConnection(init_params) {55    return Promise.resolve(this.mockVRService_.addRuntime(init_params));56  }57  disconnectAllDevices() {58    this.mockVRService_.removeAllRuntimes();59    return Promise.resolve();60  }61  simulateUserActivation(callback) {62    if (window.top !== window) {63      // test_driver.click only works for the toplevel frame. This alternate64      // Chrome-specific method is sufficient for starting an XR session in an65      // iframe, and is used in platform-specific tests.66      //67      // TODO(https://github.com/web-platform-tests/wpt/issues/20282): use68      // a cross-platform method if available.69      xr_debug('simulateUserActivation', 'use eventSender');70      document.addEventListener('click', callback);71      eventSender.mouseMoveTo(0, 0);72      eventSender.mouseDown();73      eventSender.mouseUp();74      document.removeEventListener('click', callback);75      return;76    }77    const button = document.createElement('button');78    button.textContent = 'click to continue test';79    button.style.display = 'block';80    button.style.fontSize = '20px';81    button.style.padding = '10px';82    button.onclick = () => {83      callback();84      document.body.removeChild(button);85    };86    document.body.appendChild(button);87    test_driver.click(button);88  }89  Debug(name, msg) {90    console.log(new Date().toISOString() + ' DEBUG[' + name + '] ' + msg);91  }92}93// Mocking class definitions94// Mock service implements the VRService mojo interface.95class MockVRService {96  constructor() {97    this.receiver_ = new vrMojom.VRServiceReceiver(this);98    this.runtimes_ = [];99    this.interceptor_ =100        new MojoInterfaceInterceptor(vrMojom.VRService.$interfaceName);101    this.interceptor_.oninterfacerequest =102        e => this.receiver_.$.bindHandle(e.handle);103    this.interceptor_.start();104  }105  // Test methods106  addRuntime(fakeDeviceInit) {107    const runtime = new MockRuntime(fakeDeviceInit, this);108    this.runtimes_.push(runtime);109    if (this.client_) {110      this.client_.onDeviceChanged();111    }112    return runtime;113  }114  removeAllRuntimes() {115    if (this.client_) {116      this.client_.onDeviceChanged();117    }118    this.runtimes_ = [];119  }120  removeRuntime(device) {121    const index = this.runtimes_.indexOf(device);122    if (index >= 0) {123      this.runtimes_.splice(index, 1);124      if (this.client_) {125        this.client_.onDeviceChanged();126      }127    }128  }129  setClient(client) {130    if (this.client_) {131      throw new Error("setClient should only be called once");132    }133    this.client_ = client;134  }135  requestSession(sessionOptions) {136    const requests = [];137    // Request a session from all the runtimes.138    for (let i = 0; i < this.runtimes_.length; i++) {139      requests[i] = this.runtimes_[i].requestRuntimeSession(sessionOptions);140    }141    return Promise.all(requests).then((results) => {142      // Find and return the first successful result.143      for (let i = 0; i < results.length; i++) {144        if (results[i].session) {145          // Construct a dummy metrics recorder146          const metricsRecorderPtr = new vrMojom.XRSessionMetricsRecorderRemote();147          metricsRecorderPtr.$.bindNewPipeAndPassReceiver().handle.close();148          const success = {149            session: results[i].session,150            metricsRecorder: metricsRecorderPtr,151          };152          return {result: {success}};153        }154      }155      // If there were no successful results, returns a null session.156      return {157        result: {failureReason: vrMojom.RequestSessionError.NO_RUNTIME_FOUND}158      };159    });160  }161  exitPresent() {162    return Promise.resolve();163  }164  supportsSession(sessionOptions) {165    const requests = [];166    // Check supports on all the runtimes.167    for (let i = 0; i < this.runtimes_.length; i++) {168      requests[i] = this.runtimes_[i].runtimeSupportsSession(sessionOptions);169    }170    return Promise.all(requests).then((results) => {171      // Find and return the first successful result.172      for (let i = 0; i < results.length; i++) {173        if (results[i].supportsSession) {174          return results[i];175        }176      }177      // If there were no successful results, returns false.178      return {supportsSession: false};179    });180  }181  setFramesThrottled(throttled) {182    this.setFramesThrottledImpl(throttled);183  }184  // May be overridden by specific tests.185  setFramesThrottledImpl(throttled) {}186  // Only handles asynchronous calls to makeXrCompatible. Synchronous calls are187  // not supported in Javascript.188  makeXrCompatible() {189    if (this.runtimes_.length == 0) {190      return {191        xrCompatibleResult: vrMojom.XrCompatibleResult.kNoDeviceAvailable192      };193    }194    return {xrCompatibleResult: vrMojom.XrCompatibleResult.kAlreadyCompatible};195  }196}197class FakeXRAnchorController {198  constructor() {199    // Private properties.200    this.device_ = null;201    this.id_ = null;202    this.dirty_ = true;203    // Properties backing up public attributes / methods.204    this.deleted_ = false;205    this.paused_ = false;206    this.anchorOrigin_ = XRMathHelper.identity();207  }208  get deleted() {209    return this.deleted_;210  }211  pauseTracking() {212    if(!this.paused_) {213      this.paused_ = true;214      this.dirty_ = true;215    }216  }217  resumeTracking() {218    if(this.paused_) {219      this.paused_ = false;220      this.dirty_ = true;221    }222  }223  stopTracking() {224    if(!this.deleted_) {225      this.device_.deleteAnchorController(this.id_);226      this.deleted_ = true;227      this.dirty_ = true;228    }229  }230  setAnchorOrigin(anchorOrigin) {231    this.anchorOrigin_ = getMatrixFromTransform(anchorOrigin);232    this.dirty_ = true;233  }234  // Internal implementation:235  set id(value) {236    this.id_ = value;237  }238  set device(value) {239    this.device_ = value;240  }241  get dirty() {242    return this.dirty_;243  }244  get paused() {245    return this.paused_;246  }247  markProcessed() {248    this.dirty_ = false;249  }250  getAnchorOrigin() {251    return this.anchorOrigin_;252  }253}254// Internal only for now, needs to be moved into WebXR Test API.255class FakeXRHitTestSourceController {256  constructor(id) {257    this.id_ = id;258    this.deleted_ = false;259  }260  get deleted() {261    return this.deleted_;262  }263  // Internal setter:264  set deleted(value) {265    this.deleted_ = value;266  }267}268// Implements XRFrameDataProvider and XRPresentationProvider. Maintains a mock269// for XRPresentationProvider. Implements FakeXRDevice test API.270class MockRuntime {271  // Mapping from string feature names to the corresponding mojo types.272  // This is exposed as a member for extensibility.273  static featureToMojoMap = {274    'viewer': vrMojom.XRSessionFeature.REF_SPACE_VIEWER,275    'local': vrMojom.XRSessionFeature.REF_SPACE_LOCAL,276    'local-floor': vrMojom.XRSessionFeature.REF_SPACE_LOCAL_FLOOR,277    'bounded-floor': vrMojom.XRSessionFeature.REF_SPACE_BOUNDED_FLOOR,278    'unbounded': vrMojom.XRSessionFeature.REF_SPACE_UNBOUNDED,279    'hit-test': vrMojom.XRSessionFeature.HIT_TEST,280    'dom-overlay': vrMojom.XRSessionFeature.DOM_OVERLAY,281    'light-estimation': vrMojom.XRSessionFeature.LIGHT_ESTIMATION,282    'anchors': vrMojom.XRSessionFeature.ANCHORS,283  };284  static sessionModeToMojoMap = {285    "inline": vrMojom.XRSessionMode.kInline,286    "immersive-vr": vrMojom.XRSessionMode.kImmersiveVr,287    "immersive-ar": vrMojom.XRSessionMode.kImmersiveAr,288  };289  static environmentBlendModeToMojoMap = {290    "opaque": vrMojom.XREnvironmentBlendMode.kOpaque,291    "alpha-blend": vrMojom.XREnvironmentBlendMode.kAlphaBlend,292    "additive": vrMojom.XREnvironmentBlendMode.kAdditive,293  };294  static interactionModeToMojoMap = {295    "screen-space": vrMojom.XRInteractionMode.kScreenSpace,296    "world-space": vrMojom.XRInteractionMode.kWorldSpace,297  };298  constructor(fakeDeviceInit, service) {299    this.sessionClient_ = null;300    this.presentation_provider_ = new MockXRPresentationProvider();301    this.pose_ = null;302    this.next_frame_id_ = 0;303    this.bounds_ = null;304    this.send_mojo_space_reset_ = false;305    this.stageParameters_ = null;306    this.stageParametersId_ = 1;307    this.service_ = service;308    this.framesOfReference = {};309    this.input_sources_ = new Map();310    this.next_input_source_index_ = 1;311    // Currently active hit test subscriptons.312    this.hitTestSubscriptions_ = new Map();313    // Currently active transient hit test subscriptions.314    this.transientHitTestSubscriptions_ = new Map();315    // ID of the next subscription to be assigned.316    this.next_hit_test_id_ = 1n;317    this.anchor_controllers_ = new Map();318    // ID of the next anchor to be assigned.319    this.next_anchor_id_ = 1n;320    // Anchor creation callback (initially null, can be set by tests).321    this.anchor_creation_callback_ = null;322    let supportedModes = [];323    if (fakeDeviceInit.supportedModes) {324      supportedModes = fakeDeviceInit.supportedModes.slice();325      if (fakeDeviceInit.supportedModes.length === 0) {326        supportedModes = ["inline"];327      }328    } else {329      // Back-compat mode.330      console.warn("Please use `supportedModes` to signal which modes are supported by this device.");331      if (fakeDeviceInit.supportsImmersive == null) {332        throw new TypeError("'supportsImmersive' must be set");333      }334      supportedModes = ["inline"];335      if (fakeDeviceInit.supportsImmersive) {336        supportedModes.push("immersive-vr");337      }338    }339    this.supportedModes_ = this._convertModesToEnum(supportedModes);340    // Initialize DisplayInfo first to set the defaults, then override with341    // anything from the deviceInit342    if (this.supportedModes_.includes(vrMojom.XRSessionMode.kImmersiveVr) ||343        this.supportedModes_.includes(vrMojom.XRSessionMode.kImmersiveAr)) {344      this.displayInfo_ = this.getImmersiveDisplayInfo();345    } else if (this.supportedModes_.includes(vrMojom.XRSessionMode.kInline)) {346      this.displayInfo_ = this.getNonImmersiveDisplayInfo();347    } else {348      // This should never happen!349      console.error("Device has empty supported modes array!");350      throw new InvalidStateError();351    }352    if (fakeDeviceInit.viewerOrigin != null) {353      this.setViewerOrigin(fakeDeviceInit.viewerOrigin);354    }355    if (fakeDeviceInit.floorOrigin != null) {356      this.setFloorOrigin(fakeDeviceInit.floorOrigin);357    }358    if (fakeDeviceInit.world) {359      this.world_ = fakeDeviceInit.world;360    }361    this.defaultFramebufferScale_ = default_framebuffer_scale;362    this.enviromentBlendMode_ = this._convertBlendModeToEnum(fakeDeviceInit.environmentBlendMode);363    this.interactionMode_ = this._convertInteractionModeToEnum(fakeDeviceInit.interactionMode);364    // This appropriately handles if the coordinates are null365    this.setBoundsGeometry(fakeDeviceInit.boundsCoordinates);366    this.setViews(fakeDeviceInit.views);367    // Need to support webVR which doesn't have a notion of features368    this.setFeatures(fakeDeviceInit.supportedFeatures || []);369  }370  _convertModeToEnum(sessionMode) {371    if (sessionMode in MockRuntime.sessionModeToMojoMap) {372      return MockRuntime.sessionModeToMojoMap[sessionMode];373    }374    throw new TypeError("Unrecognized value for XRSessionMode enum: " + sessionMode);375  }376  _convertModesToEnum(sessionModes) {377    return sessionModes.map(mode => this._convertModeToEnum(mode));378  }379  _convertBlendModeToEnum(blendMode) {380    if (blendMode in MockRuntime.environmentBlendModeToMojoMap) {381      return MockRuntime.environmentBlendModeToMojoMap[blendMode];382    } else {383      if (this.supportedModes_.includes(vrMojom.XRSessionMode.kImmersiveAr)) {384        return vrMojom.XREnvironmentBlendMode.kAdditive;385      } else if (this.supportedModes_.includes(386            vrMojom.XRSessionMode.kImmersiveVr)) {387        return vrMojom.XREnvironmentBlendMode.kOpaque;388      }389    }390  }391  _convertInteractionModeToEnum(interactionMode) {392    if (interactionMode in MockRuntime.interactionModeToMojoMap) {393      return MockRuntime.interactionModeToMojoMap[interactionMode];394    } else {395      return vrMojom.XRInteractionMode.kWorldSpace;396    }397  }398  // Test API methods.399  disconnect() {400    this.service_.removeRuntime(this);401    this.presentation_provider_.Close();402    if (this.sessionClient_) {403      this.sessionClient_.$.close();404      this.sessionClient_ = null;405    }406    return Promise.resolve();407  }408  setViews(views) {409    if (views) {410      let changed = false;411      for (let i = 0; i < views.length; i++) {412        if (views[i].eye == 'left') {413          this.displayInfo_.leftEye = this.getEye(views[i]);414          changed = true;415        } else if (views[i].eye == 'right') {416          this.displayInfo_.rightEye = this.getEye(views[i]);417          changed = true;418        }419      }420      if (changed && this.sessionClient_) {421        this.sessionClient_.onChanged(this.displayInfo_);422      }423    }424  }425  setViewerOrigin(origin, emulatedPosition = false) {426    const p = origin.position;427    const q = origin.orientation;428    this.pose_ = {429      orientation: { x: q[0], y: q[1], z: q[2], w: q[3] },430      position: { x: p[0], y: p[1], z: p[2] },431      emulatedPosition: emulatedPosition,432      angularVelocity: null,433      linearVelocity: null,434      angularAcceleration: null,435      linearAcceleration: null,436      inputState: null,437      poseIndex: 0438    };439  }440  clearViewerOrigin() {441    this.pose_ = null;442  }443  simulateVisibilityChange(visibilityState) {444    let mojoState = null;445    switch (visibilityState) {446      case "visible":447        mojoState = vrMojom.XRVisibilityState.VISIBLE;448        break;449      case "visible-blurred":450        mojoState = vrMojom.XRVisibilityState.VISIBLE_BLURRED;451        break;452      case "hidden":453        mojoState = vrMojom.XRVisibilityState.HIDDEN;454        break;455    }456    if (mojoState && this.sessionClient_) {457      this.sessionClient_.onVisibilityStateChanged(mojoState);458    }459  }460  setBoundsGeometry(bounds) {461    if (bounds == null) {462      this.bounds_ = null;463    } else if (bounds.length < 3) {464      throw new Error("Bounds must have a length of at least 3");465    } else {466      this.bounds_ = bounds;467    }468    // We can only set bounds if we have stageParameters set; otherwise, we469    // don't know the transform from local space to bounds space.470    // We'll cache the bounds so that they can be set in the future if the471    // floorLevel transform is set, but we won't update them just yet.472    if (this.stageParameters_) {473      this.stageParameters_.bounds = this.bounds_;474      this.onStageParametersUpdated();475    }476  }477  setFloorOrigin(floorOrigin) {478    if (!this.stageParameters_) {479      this.stageParameters_ = default_stage_parameters;480      this.stageParameters_.bounds = this.bounds_;481    }482    // floorOrigin is passed in as mojoFromFloor.483    this.stageParameters_.mojoFromFloor =484        {matrix: getMatrixFromTransform(floorOrigin)};485    this.onStageParametersUpdated();486  }487  clearFloorOrigin() {488    if (this.stageParameters_) {489      this.stageParameters_ = null;490      this.onStageParametersUpdated();491    }492  }493  onStageParametersUpdated() {494    // Indicate for the frame loop that the stage parameters have been updated.495    this.stageParametersId_++;496  }497  simulateResetPose() {498    this.send_mojo_space_reset_ = true;499  }500  simulateInputSourceConnection(fakeInputSourceInit) {501    const index = this.next_input_source_index_;502    this.next_input_source_index_++;503    const source = new MockXRInputSource(fakeInputSourceInit, index, this);504    this.input_sources_.set(index, source);505    return source;506  }507  setAnchorCreationCallback(callback) {508    this.anchor_creation_callback_ = callback;509  }510  setHitTestSourceCreationCallback(callback) {511    this.hit_test_source_creation_callback_ = callback;512  }513  setLightEstimate(fakeXrLightEstimateInit) {514    if (!fakeXrLightEstimateInit.sphericalHarmonicsCoefficients) {515      throw new TypeError("sphericalHarmonicsCoefficients must be set");516    }517    if (fakeXrLightEstimateInit.sphericalHarmonicsCoefficients.length != 27) {518      throw new TypeError("Must supply all 27 sphericalHarmonicsCoefficients");519    }520    if (fakeXrLightEstimateInit.primaryLightDirection && fakeXrLightEstimateInit.primaryLightDirection.w != 0) {521      throw new TypeError("W component of primaryLightDirection must be 0");522    }523    if (fakeXrLightEstimateInit.primaryLightIntensity && fakeXrLightEstimateInit.primaryLightIntensity.w != 1) {524      throw new TypeError("W component of primaryLightIntensity must be 1");525    }526    // If the primaryLightDirection or primaryLightIntensity aren't set, we need to set them527    // to the defaults that the spec expects. ArCore will either give us everything or nothing,528    // so these aren't nullable on the mojom.529    if (!fakeXrLightEstimateInit.primaryLightDirection) {530      fakeXrLightEstimateInit.primaryLightDirection = { x: 0.0, y: 1.0, z: 0.0, w: 0.0 };531    }532    if (!fakeXrLightEstimateInit.primaryLightIntensity) {533      fakeXrLightEstimateInit.primaryLightIntensity = { x: 0.0, y: 0.0, z: 0.0, w: 1.0 };534    }535    let c = fakeXrLightEstimateInit.sphericalHarmonicsCoefficients;536    this.light_estimate_ = {537      lightProbe: {538        // XRSphereicalHarmonics539        sphericalHarmonics: {540          coefficients: [541            { red: c[0],  green: c[1],  blue: c[2] },542            { red: c[3],  green: c[4],  blue: c[5] },543            { red: c[6],  green: c[7],  blue: c[8] },544            { red: c[9],  green: c[10], blue: c[11] },545            { red: c[12], green: c[13], blue: c[14] },546            { red: c[15], green: c[16], blue: c[17] },547            { red: c[18], green: c[19], blue: c[20] },548            { red: c[21], green: c[22], blue: c[23] },549            { red: c[24], green: c[25], blue: c[26] }550          ]551        },552        // Vector3dF553        mainLightDirection: {554          x: fakeXrLightEstimateInit.primaryLightDirection.x,555          y: fakeXrLightEstimateInit.primaryLightDirection.y,556          z: fakeXrLightEstimateInit.primaryLightDirection.z557        },558        // RgbTupleF32559        mainLightIntensity: {560          red:   fakeXrLightEstimateInit.primaryLightIntensity.x,561          green: fakeXrLightEstimateInit.primaryLightIntensity.y,562          blue:  fakeXrLightEstimateInit.primaryLightIntensity.z563        }564      }565    }566  }567  // Helper methods568  getNonImmersiveDisplayInfo() {569    const displayInfo = this.getImmersiveDisplayInfo();570    displayInfo.capabilities.canPresent = false;571    displayInfo.leftEye = null;572    displayInfo.rightEye = null;573    return displayInfo;574  }575  // Function to generate some valid display information for the device.576  getImmersiveDisplayInfo() {577    return {578      displayName: 'FakeDevice',579      capabilities: {580        hasPosition: false,581        hasExternalDisplay: false,582        canPresent: true,583        maxLayers: 1584      },585      stageParameters: null,586      leftEye: {587        fieldOfView: {588          upDegrees: 48.316,589          downDegrees: 50.099,590          leftDegrees: 50.899,591          rightDegrees: 35.197592        },593        headFromEye: composeGFXTransform({594          position: [-0.032, 0, 0],595          orientation: [0, 0, 0, 1]596        }),597        renderWidth: 20,598        renderHeight: 20599      },600      rightEye: {601        fieldOfView: {602          upDegrees: 48.316,603          downDegrees: 50.099,604          leftDegrees: 50.899,605          rightDegrees: 35.197606        },607        headFromEye: composeGFXTransform({608          position: [0.032, 0, 0],609          orientation: [0, 0, 0, 1]610        }),611        renderWidth: 20,612        renderHeight: 20613      }614    };615  }616  // This function converts between the matrix provided by the WebXR test API617  // and the internal data representation.618  getEye(fakeXRViewInit) {619    let fov = null;620    if (fakeXRViewInit.fieldOfView) {621      fov = {622        upDegrees: fakeXRViewInit.fieldOfView.upDegrees,623        downDegrees: fakeXRViewInit.fieldOfView.downDegrees,624        leftDegrees: fakeXRViewInit.fieldOfView.leftDegrees,625        rightDegrees: fakeXRViewInit.fieldOfView.rightDegrees626      };627    } else {628      const m = fakeXRViewInit.projectionMatrix;629      function toDegrees(tan) {630        return Math.atan(tan) * 180 / Math.PI;631      }632      const leftTan = (1 - m[8]) / m[0];633      const rightTan = (1 + m[8]) / m[0];634      const upTan = (1 + m[9]) / m[5];635      const downTan = (1 - m[9]) / m[5];636      fov = {637        upDegrees: toDegrees(upTan),638        downDegrees: toDegrees(downTan),639        leftDegrees: toDegrees(leftTan),640        rightDegrees: toDegrees(rightTan)641      };642    }643    return {644      fieldOfView: fov,645      headFromEye: composeGFXTransform(fakeXRViewInit.viewOffset),646      renderWidth: fakeXRViewInit.resolution.width,647      renderHeight: fakeXRViewInit.resolution.height648    };649  }650  setFeatures(supportedFeatures) {651    function convertFeatureToMojom(feature) {652      if (feature in MockRuntime.featureToMojoMap) {653        return MockRuntime.featureToMojoMap[feature];654      } else {655        return vrMojom.XRSessionFeature.INVALID;656      }657    }658    this.supportedFeatures_ = [];659    for (let i = 0; i < supportedFeatures.length; i++) {660      const feature = convertFeatureToMojom(supportedFeatures[i]);661      if (feature !== vrMojom.XRSessionFeature.INVALID) {662        this.supportedFeatures_.push(feature);663      }664    }665  }666  // These methods are intended to be used by MockXRInputSource only.667  addInputSource(source) {668    if (!this.input_sources_.has(source.source_id_)) {669      this.input_sources_.set(source.source_id_, source);670    }671  }672  removeInputSource(source) {673    this.input_sources_.delete(source.source_id_);674  }675  // These methods are intended to be used by FakeXRAnchorController only.676  deleteAnchorController(controllerId) {677    this.anchor_controllers_.delete(controllerId);678  }679  // Extension point for non-standard modules.680  _injectAdditionalFrameData(options, frameData) {681  }682  // Mojo function implementations.683  // XRFrameDataProvider implementation.684  getFrameData(options) {685    return new Promise((resolve) => {686      const populatePose = () => {687        const mojo_space_reset = this.send_mojo_space_reset_;688        this.send_mojo_space_reset_ = false;689        if (this.pose_) {690          this.pose_.poseIndex++;691        }692        // Setting the input_state to null tests a slightly different path than693        // the browser tests where if the last input source is removed, the device694        // code always sends up an empty array, but it's also valid mojom to send695        // up a null array.696        let input_state = null;697        if (this.input_sources_.size > 0) {698          input_state = [];699          for (const input_source of this.input_sources_.values()) {700            input_state.push(input_source.getInputSourceState());701          }702        }703        const frameData = {704          pose: this.pose_,705          mojoSpaceReset: mojo_space_reset,706          inputState: input_state,707          timeDelta: {708            // window.performance.now() is in milliseconds, so convert to microseconds.709            microseconds: BigInt(Math.floor(window.performance.now() * 1000)),710          },711          frameId: this.next_frame_id_,712          bufferHolder: null,713          bufferSize: {},714          renderingTimeRatio: 0,715          stageParameters: this.stageParameters_,716          stageParametersId: this.stageParametersId_,717          lightEstimationData: this.light_estimate_718        };719        this.next_frame_id_++;720        this._calculateHitTestResults(frameData);721        this._calculateAnchorInformation(frameData);722        this._injectAdditionalFrameData(options, frameData);723        resolve({frameData});724      };725      if(this.sessionOptions_.mode == vrMojom.XRSessionMode.kInline) {726        // Inline sessions should not have a delay introduced since it causes them727        // to miss a vsync blink-side and delays propagation of changes that happened728        // within a rAFcb by one frame (e.g. setViewerOrigin() calls would take 2 frames729        // to propagate).730        populatePose();731      } else {732        // For immerive sessions, add additional delay to allow for anchor creation733        // promises to run.734        setTimeout(populatePose, 3);  // note: according to MDN, the timeout is not exact735      }736    });737  }738  getEnvironmentIntegrationProvider(environmentProviderRequest) {739    if (this.environmentProviderReceiver_) {740      this.environmentProviderReceiver_.$.close();741    }742    this.environmentProviderReceiver_ =743        new vrMojom.XREnvironmentIntegrationProviderReceiver(this);744    this.environmentProviderReceiver_.$.bindHandle(745        environmentProviderRequest.handle);746  }747  setInputSourceButtonListener(listener) { listener.$.close(); }748  // Note that if getEnvironmentProvider hasn't finished running yet this will749  // be undefined. It's recommended that you allow a successful task to post750  // first before attempting to close.751  closeEnvironmentIntegrationProvider() {752    if (this.environmentProviderReceiver_) {753      this.environmentProviderReceiver_.$.close();754    }755  }756  closeDataProvider() {757    this.closeEnvironmentIntegrationProvider();758    this.dataProviderReceiver_.$.close();759    this.sessionOptions_ = null;760  }761  // XREnvironmentIntegrationProvider implementation:762  subscribeToHitTest(nativeOriginInformation, entityTypes, ray) {763    if (!this.supportedModes_.includes(vrMojom.XRSessionMode.kImmersiveAr)) {764      // Reject outside of AR.765      return Promise.resolve({766        result : vrMojom.SubscribeToHitTestResult.FAILURE_GENERIC,767        subscriptionId : 0n768      });769    }770    if (!this._nativeOriginKnown(nativeOriginInformation)) {771      return Promise.resolve({772        result : vrMojom.SubscribeToHitTestResult.FAILURE_GENERIC,773        subscriptionId : 0n774      });775    }776    // Reserve the id for hit test source:777    const id = this.next_hit_test_id_++;778    const hitTestParameters = { isTransient: false, profileName: null };779    const controller = new FakeXRHitTestSourceController(id);780    return this._shouldHitTestSourceCreationSucceed(hitTestParameters, controller)781      .then((succeeded) => {782        if(succeeded) {783          // Store the subscription information as-is (including controller):784          this.hitTestSubscriptions_.set(id, { nativeOriginInformation, entityTypes, ray, controller });785          return Promise.resolve({786            result : vrMojom.SubscribeToHitTestResult.SUCCESS,787            subscriptionId : id788          });789        } else {790          return Promise.resolve({791            result : vrMojom.SubscribeToHitTestResult.FAILURE_GENERIC,792            subscriptionId : 0n793          });794        }795      });796  }797  subscribeToHitTestForTransientInput(profileName, entityTypes, ray){798    if (!this.supportedModes_.includes(vrMojom.XRSessionMode.kImmersiveAr)) {799      // Reject outside of AR.800      return Promise.resolve({801        result : vrMojom.SubscribeToHitTestResult.FAILURE_GENERIC,802        subscriptionId : 0n803      });804    }805    const id = this.next_hit_test_id_++;806    const hitTestParameters = { isTransient: true, profileName: profileName };807    const controller = new FakeXRHitTestSourceController(id);808    // Check if we have hit test source creation callback.809    // If yes, ask it if the hit test source creation should succeed.810    // If no, for back-compat, assume the hit test source creation succeeded.811    return this._shouldHitTestSourceCreationSucceed(hitTestParameters, controller)812      .then((succeeded) => {813        if(succeeded) {814          // Store the subscription information as-is (including controller):815          this.transientHitTestSubscriptions_.set(id, { profileName, entityTypes, ray, controller });816          return Promise.resolve({817            result : vrMojom.SubscribeToHitTestResult.SUCCESS,818            subscriptionId : id819          });820        } else {821          return Promise.resolve({822            result : vrMojom.SubscribeToHitTestResult.FAILURE_GENERIC,823            subscriptionId : 0n824          });825        }826      });827  }828  unsubscribeFromHitTest(subscriptionId) {829    let controller = null;830    if(this.transientHitTestSubscriptions_.has(subscriptionId)){831      controller = this.transientHitTestSubscriptions_.get(subscriptionId).controller;832      this.transientHitTestSubscriptions_.delete(subscriptionId);833    } else if(this.hitTestSubscriptions_.has(subscriptionId)){834      controller = this.hitTestSubscriptions_.get(subscriptionId).controller;835      this.hitTestSubscriptions_.delete(subscriptionId);836    }837    if(controller) {838      controller.deleted = true;839    }840  }841  createAnchor(nativeOriginInformation, nativeOriginFromAnchor) {842    return new Promise((resolve) => {843      if(this.anchor_creation_callback_ == null) {844        resolve({845          result : vrMojom.CreateAnchorResult.FAILURE,846          anchorId : 0n847        });848        return;849      }850      const mojoFromNativeOrigin = this._getMojoFromNativeOrigin(nativeOriginInformation);851      if(mojoFromNativeOrigin == null) {852        resolve({853          result : vrMojom.CreateAnchorResult.FAILURE,854          anchorId : 0n855        });856        return;857      }858      const mojoFromAnchor = XRMathHelper.mul4x4(mojoFromNativeOrigin, nativeOriginFromAnchor);859      const anchorCreationParameters = {860        requestedAnchorOrigin: mojoFromAnchor,861        isAttachedToEntity: false,862      };863      const anchorController = new FakeXRAnchorController();864      this.anchor_creation_callback_(anchorCreationParameters, anchorController)865            .then((result) => {866              if(result) {867                // If the test allowed the anchor creation,868                // store the anchor controller & return success.869                const anchor_id = this.next_anchor_id_;870                this.next_anchor_id_++;871                this.anchor_controllers_.set(anchor_id, anchorController);872                anchorController.device = this;873                anchorController.id = anchor_id;874                resolve({875                  result : vrMojom.CreateAnchorResult.SUCCESS,876                  anchorId : anchor_id877                });878              } else {879                // The test has rejected anchor creation.880                resolve({881                  result : vrMojom.CreateAnchorResult.FAILURE,882                  anchorId : 0n883                });884              }885            })886            .catch(() => {887              // The test threw an error, treat anchor creation as failed.888              resolve({889                result : vrMojom.CreateAnchorResult.FAILURE,890                anchorId : 0n891              });892            });893    });894  }895  createPlaneAnchor(planeFromAnchor, planeId) {896    return new Promise((resolve) => {897      // Not supported yet.898      resolve({899        result : vrMojom.CreateAnchorResult.FAILURE,900        anchorId : 0n,901      });902    });903  }904  detachAnchor(anchorId) {}905  // Utility function906  requestRuntimeSession(sessionOptions) {907    return this.runtimeSupportsSession(sessionOptions).then((result) => {908      // The JavaScript bindings convert c_style_names to camelCase names.909      const options = {910        transportMethod:911            vrMojom.XRPresentationTransportMethod.SUBMIT_AS_MAILBOX_HOLDER,912        waitForTransferNotification: true,913        waitForRenderNotification: true,914        waitForGpuFence: false,915      };916      let submit_frame_sink;917      if (result.supportsSession) {918        submit_frame_sink = {919          clientReceiver: this.presentation_provider_.getClientReceiver(),920          provider: this.presentation_provider_.bindProvider(sessionOptions),921          transportOptions: options922        };923        const dataProviderPtr = new vrMojom.XRFrameDataProviderRemote();924        this.dataProviderReceiver_ =925            new vrMojom.XRFrameDataProviderReceiver(this);926        this.dataProviderReceiver_.$.bindHandle(927            dataProviderPtr.$.bindNewPipeAndPassReceiver().handle);928        this.sessionOptions_ = sessionOptions;929        this.sessionClient_ = new vrMojom.XRSessionClientRemote();930        const clientReceiver = this.sessionClient_.$.bindNewPipeAndPassReceiver();931        const enabled_features = [];932        for (let i = 0; i < sessionOptions.requiredFeatures.length; i++) {933          if (this.supportedFeatures_.indexOf(sessionOptions.requiredFeatures[i]) !== -1) {934            enabled_features.push(sessionOptions.requiredFeatures[i]);935          } else {936            return Promise.resolve({session: null});937          }938        }939        for (let i =0; i < sessionOptions.optionalFeatures.length; i++) {940          if (this.supportedFeatures_.indexOf(sessionOptions.optionalFeatures[i]) !== -1) {941            enabled_features.push(sessionOptions.optionalFeatures[i]);942          }943        }944        return Promise.resolve({945          session: {946            submitFrameSink: submit_frame_sink,947            dataProvider: dataProviderPtr,948            clientReceiver: clientReceiver,949            displayInfo: this.displayInfo_,950            enabledFeatures: enabled_features,951            deviceConfig: {952              usesInputEventing: false,953              defaultFramebufferScale: this.defaultFramebufferScale_,954              supportsViewportScaling: true955            },956            enviromentBlendMode: this.enviromentBlendMode_,957            interactionMode: this.interactionMode_958          }959        });960      } else {961        return Promise.resolve({session: null});962      }963    });964  }965  runtimeSupportsSession(options) {966    return Promise.resolve({967      supportsSession: this.supportedModes_.includes(options.mode)968    });969  }970  // Private functions - utilities:971  _nativeOriginKnown(nativeOriginInformation){972    if (nativeOriginInformation.inputSourceId !== undefined) {973      if (!this.input_sources_.has(nativeOriginInformation.inputSourceId)) {974        // Unknown input source.975        return false;976      }977      return true;978    } else if (nativeOriginInformation.referenceSpaceType !== undefined) {979      // Bounded_floor & unbounded ref spaces are not yet supported for AR:980      if (nativeOriginInformation.referenceSpaceType == vrMojom.XRReferenceSpaceType.kUnbounded981       || nativeOriginInformation.referenceSpaceType == vrMojom.XRReferenceSpaceType.kBoundedFloor) {982        return false;983      }984      return true;985    } else {986      // Planes and anchors are not yet supported by the mock interface.987      return false;988    }989  }990  // Private functions - anchors implementation:991  // Modifies passed in frameData to add anchor information.992  _calculateAnchorInformation(frameData) {993    if (!this.supportedModes_.includes(vrMojom.XRSessionMode.kImmersiveAr)) {994      return;995    }996    frameData.anchorsData = {allAnchorsIds: [], updatedAnchorsData: []};997    for(const [id, controller] of this.anchor_controllers_) {998      frameData.anchorsData.allAnchorsIds.push(id);999      // Send the entire anchor data over if there was a change since last GetFrameData().1000      if(controller.dirty) {1001        const anchorData = {id};1002        if(!controller.paused) {1003          anchorData.mojoFromAnchor = getPoseFromTransform(1004              XRMathHelper.decomposeRigidTransform(1005                  controller.getAnchorOrigin()));1006        }1007        controller.markProcessed();1008        frameData.anchorsData.updatedAnchorsData.push(anchorData);1009      }1010    }1011  }1012  // Private functions - hit test implementation:1013  // Returns a Promise<bool> that signifies whether hit test source creation should succeed.1014  // If we have a hit test source creation callback installed, invoke it and return its result.1015  // If it's not installed, for back-compat just return a promise that resolves to true.1016  _shouldHitTestSourceCreationSucceed(hitTestParameters, controller) {1017    if(this.hit_test_source_creation_callback_) {1018      return this.hit_test_source_creation_callback_(hitTestParameters, controller);1019    } else {1020      return Promise.resolve(true);1021    }1022  }1023  // Modifies passed in frameData to add hit test results.1024  _calculateHitTestResults(frameData) {1025    if (!this.supportedModes_.includes(vrMojom.XRSessionMode.kImmersiveAr)) {1026      return;1027    }1028    frameData.hitTestSubscriptionResults = {results: [],1029                                            transientInputResults: []};1030    if (!this.world_) {1031      return;1032    }1033    // Non-transient hit test:1034    for (const [id, subscription] of this.hitTestSubscriptions_) {1035      const mojo_from_native_origin = this._getMojoFromNativeOrigin(subscription.nativeOriginInformation);1036      if (!mojo_from_native_origin) continue;1037      const [mojo_ray_origin, mojo_ray_direction] = this._transformRayToMojoSpace(1038        subscription.ray,1039        mojo_from_native_origin1040      );1041      const results = this._hitTestWorld(mojo_ray_origin, mojo_ray_direction, subscription.entityTypes);1042      frameData.hitTestSubscriptionResults.results.push(1043          {subscriptionId: id, hitTestResults: results});1044    }1045    // Transient hit test:1046    const mojo_from_viewer = this._getMojoFromViewer();1047    for (const [id, subscription] of this.transientHitTestSubscriptions_) {1048      const result = {subscriptionId: id,1049                      inputSourceIdToHitTestResults: new Map()};1050      // Find all input sources that match the profile name:1051      const matching_input_sources = Array.from(this.input_sources_.values())1052                                                        .filter(input_source => input_source.profiles_.includes(subscription.profileName));1053      for (const input_source of matching_input_sources) {1054        const mojo_from_native_origin = input_source._getMojoFromInputSource(mojo_from_viewer);1055        const [mojo_ray_origin, mojo_ray_direction] = this._transformRayToMojoSpace(1056          subscription.ray,1057          mojo_from_native_origin1058        );1059        const results = this._hitTestWorld(mojo_ray_origin, mojo_ray_direction, subscription.entityTypes);1060        result.inputSourceIdToHitTestResults.set(input_source.source_id_, results);1061      }1062      frameData.hitTestSubscriptionResults.transientInputResults.push(result);1063    }1064  }1065  // Returns 2-element array [origin, direction] of a ray in mojo space.1066  // |ray| is expressed relative to native origin.1067  _transformRayToMojoSpace(ray, mojo_from_native_origin) {1068    const ray_origin = {1069      x: ray.origin.x,1070      y: ray.origin.y,1071      z: ray.origin.z,1072      w: 11073    };1074    const ray_direction = {1075      x: ray.direction.x,1076      y: ray.direction.y,1077      z: ray.direction.z,1078      w: 01079    };1080    const mojo_ray_origin = XRMathHelper.transform_by_matrix(1081      mojo_from_native_origin,1082      ray_origin);1083    const mojo_ray_direction = XRMathHelper.transform_by_matrix(1084      mojo_from_native_origin,1085      ray_direction);1086    return [mojo_ray_origin, mojo_ray_direction];1087  }1088  // Hit tests the passed in ray (expressed as origin and direction) against the mocked world data.1089  _hitTestWorld(origin, direction, entityTypes) {1090    let result = [];1091    for (const region of this.world_.hitTestRegions) {1092      const partial_result = this._hitTestRegion(1093        region,1094        origin, direction,1095        entityTypes);1096      result = result.concat(partial_result);1097    }1098    return result.sort((lhs, rhs) => lhs.distance - rhs.distance).map((hitTest) => {1099      delete hitTest.distance;1100      return hitTest;1101    });1102  }1103  // Hit tests the passed in ray (expressed as origin and direction) against world region.1104  // |entityTypes| is a set of FakeXRRegionTypes.1105  // |region| is FakeXRRegion.1106  // Returns array of XRHitResults, each entry will be decorated with the distance from the ray origin (along the ray).1107  _hitTestRegion(region, origin, direction, entityTypes) {1108    const regionNameToMojoEnum = {1109      "point": vrMojom.EntityTypeForHitTest.POINT,1110      "plane": vrMojom.EntityTypeForHitTest.PLANE,1111      "mesh":null1112    };1113    if (!entityTypes.includes(regionNameToMojoEnum[region.type])) {1114      return [];1115    }1116    const result = [];1117    for (const face of region.faces) {1118      const maybe_hit = this._hitTestFace(face, origin, direction);1119      if (maybe_hit) {1120        result.push(maybe_hit);1121      }1122    }1123    // The results should be sorted by distance and there should be no 2 entries with1124    // the same distance from ray origin - that would mean they are the same point.1125    // This situation is possible when a ray intersects the region through an edge shared1126    // by 2 faces.1127    return result.sort((lhs, rhs) => lhs.distance - rhs.distance)1128                 .filter((val, index, array) => index === 0 || val.distance !== array[index - 1].distance);1129  }1130  // Hit tests the passed in ray (expressed as origin and direction) against a single face.1131  // |face|, |origin|, and |direction| are specified in world (aka mojo) coordinates.1132  // |face| is an array of DOMPointInits.1133  // Returns null if the face does not intersect with the ray, otherwise the result is1134  // an XRHitResult with matrix describing the pose of the intersection point.1135  _hitTestFace(face, origin, direction) {1136    const add = XRMathHelper.add;1137    const sub = XRMathHelper.sub;1138    const mul = XRMathHelper.mul;1139    const normalize = XRMathHelper.normalize;1140    const dot = XRMathHelper.dot;1141    const cross = XRMathHelper.cross;1142    const neg = XRMathHelper.neg;1143    //1. Calculate plane normal in world coordinates.1144    const point_A = face.vertices[0];1145    const point_B = face.vertices[1];1146    const point_C = face.vertices[2];1147    const edge_AB = sub(point_B, point_A);1148    const edge_AC = sub(point_C, point_A);1149    const normal = normalize(cross(edge_AB, edge_AC));1150    const numerator = dot(sub(point_A, origin), normal);1151    const denominator = dot(direction, normal);1152    if (Math.abs(denominator) < XRMathHelper.EPSILON) {1153      // Planes are nearly parallel - there's either infinitely many intersection points or 0.1154      // Both cases signify a "no hit" for us.1155      return null;1156    } else {1157      // Single intersection point between the infinite plane and the line (*not* ray).1158      // Need to calculate the hit test matrix taking into account the face vertices.1159      const distance = numerator / denominator;1160      if (distance < 0) {1161        // Line - plane intersection exists, but not the half-line - plane does not.1162        return null;1163      } else {1164        const intersection_point = add(origin, mul(distance, direction));1165        // Since we are treating the face as a solid, flip the normal so that its1166        // half-space will contain the ray origin.1167        const y_axis = denominator > 0 ? neg(normal) : normal;1168        let z_axis = null;1169        const cos_direction_and_y_axis = dot(direction, y_axis);1170        if (Math.abs(cos_direction_and_y_axis) > (1 - XRMathHelper.EPSILON)) {1171          // Ray and the hit test normal are co-linear - try using the 'up' or 'right' vector's projection on the face plane as the Z axis.1172          // Note: this edge case is currently not covered by the spec.1173          const up = {x: 0.0, y: 1.0, z: 0.0, w: 0.0};1174          const right = {x: 1.0, y: 0.0, z: 0.0, w: 0.0};1175          z_axis = Math.abs(dot(up, y_axis)) > (1 - XRMathHelper.EPSILON)1176                        ? sub(up, mul(dot(right, y_axis), y_axis))  // `up is also co-linear with hit test normal, use `right`1177                        : sub(up, mul(dot(up, y_axis), y_axis));    // `up` is not co-linear with hit test normal, use it1178        } else {1179          // Project the ray direction onto the plane, negate it and use as a Z axis.1180          z_axis = neg(sub(direction, mul(cos_direction_and_y_axis, y_axis))); // Z should point towards the ray origin, not away.1181        }1182        z_axis = normalize(z_axis);1183        const x_axis = normalize(cross(y_axis, z_axis));1184        // Filter out the points not in polygon.1185        if (!XRMathHelper.pointInFace(intersection_point, face)) {1186          return null;1187        }1188        const hitResult = {planeId: 0n};1189        hitResult.distance = distance;  // Extend the object with additional information used by higher layers.1190                                        // It will not be serialized over mojom.1191        const matrix = new Array(16);1192        matrix[0] = x_axis.x;1193        matrix[1] = x_axis.y;1194        matrix[2] = x_axis.z;1195        matrix[3] = 0;1196        matrix[4] = y_axis.x;1197        matrix[5] = y_axis.y;1198        matrix[6] = y_axis.z;1199        matrix[7] = 0;1200        matrix[8] = z_axis.x;1201        matrix[9] = z_axis.y;1202        matrix[10] = z_axis.z;1203        matrix[11] = 0;1204        matrix[12] = intersection_point.x;1205        matrix[13] = intersection_point.y;1206        matrix[14] = intersection_point.z;1207        matrix[15] = 1;1208        hitResult.mojoFromResult = getPoseFromTransform(1209            XRMathHelper.decomposeRigidTransform(matrix));1210        return hitResult;1211      }1212    }1213  }1214  _getMojoFromViewer() {1215    const transform = {1216      position: [1217        this.pose_.position.x,1218        this.pose_.position.y,1219        this.pose_.position.z],1220      orientation: [1221        this.pose_.orientation.x,1222        this.pose_.orientation.y,...

eigen__tools_8h.js

Source:eigen__tools_8h.js

1var eigen__tools_8h =2[3    [ "M_PI", "eigen__tools_8h.html#ae71449b1cc6e6250b91f539153a7a0d3", null ],4    [ "point2d_t", "eigen__tools_8h.html#a3a6fb94addf2e652b0cbb96d997a487a", null ],5    [ "pose2d_t", "eigen__tools_8h.html#aa41fef45ded090d62ca79ab9cc4a22b1", null ],6    [ "transform2d_t", "eigen__tools_8h.html#a78415c54cac6f59e7a20ea4f60f467fc", null ],7    [ "convertFromTransform", "eigen__tools_8h.html#a68f377d243e6a92d1cb560fe437fdd38", null ],8    [ "convertToTransform", "eigen__tools_8h.html#a0059c3bf6fc41992c08f37e20bf99945", null ],9    [ "getAngle", "eigen__tools_8h.html#a04db916789e4dea722320faf6db5f3c9", null ],10    [ "getAngleDiffrence", "eigen__tools_8h.html#a789bfba989add7bd529348be5363f529", null ],11    [ "getDisplacement", "eigen__tools_8h.html#a35428cce41a05ce0fdab759dc5c54de2", null ],12    [ "getPoseFromTransform", "eigen__tools_8h.html#a7106831976c91028d6fba7760f7c801d", null ],13    [ "getTransFromPose", "eigen__tools_8h.html#ab1d0a592cbf7da2c312101241139e5a8", null ],14    [ "matToVec2d", "eigen__tools_8h.html#a4000564fe6e2ac902fd0b8d42c5bee90", null ],15    [ "matToVec2d", "eigen__tools_8h.html#a414384ddc2f667c32ac41a8771e1c13e", null ],16    [ "matToVec2d", "eigen__tools_8h.html#abe21bbeec3bf134c12f16e5d506be3de", null ],17    [ "matToVec2d", "eigen__tools_8h.html#a4fd5809d4b679fdeec4e7f08f56028f4", null ],18    [ "normalizeAngle", "eigen__tools_8h.html#a67eca01fd5e8e8808191c6844d8e552d", null ],19    [ "transBtwFrames", "eigen__tools_8h.html#a06571086c158d3983d92eb924516c804", null ],20    [ "transBtwPoses", "eigen__tools_8h.html#a15277f774d432d611fe50f7313c03377", null ],21    [ "transformConcat", "eigen__tools_8h.html#afa17999bff0506cd804e980d4998f266", null ],22    [ "transformPose", "eigen__tools_8h.html#ae5e7c98ae440de9344632e8e159ba13d", null ],23    [ "vecToMat2d", "eigen__tools_8h.html#a4a29b6c11e112e6e730f938e04161c96", null ],24    [ "vecToMat3d", "eigen__tools_8h.html#a97ac9f66a55684a7ba1fcd70343d2a7b", null ]...

Using AI Code Generation

1var wptoolkit = require('wptoolkit');2var pose = wptoolkit.getPoseFromTransform([1,0,0,0,1,0,0,0,1,0,0,0]);3console.log(pose);4var wptoolkit = require('wptoolkit');5var transform = wptoolkit.getTransformFromPose([0,0,0,0,0,0]);6console.log(transform);7var wptoolkit = require('wptoolkit');8var transform = wptoolkit.getTransformFromPose([0,0,0,0,0,0]);9console.log(transform);10var wptoolkit = require('wptoolkit');11var transform = wptoolkit.getTransformFromPose([0,0,0,0,0,0]);12console.log(transform);13var wptoolkit = require('wptoolkit');14var transform = wptoolkit.getTransformFromPose([0,0,0,0,0,0]);15console.log(transform);16var wptoolkit = require('wptoolkit');17var transform = wptoolkit.getTransformFromPose([0,0,0,0,0,0]);18console.log(transform);

Using AI Code Generation

1var wptoolkit = require('wptoolkit');2var pose = wptoolkit.getPoseFromTransform([1, 0, 0, 0, 1, 0, 0, 0, 1], [0, 0, 0]);3console.log(pose);4var wptoolkit = require('wptoolkit');5var transform = wptoolkit.getTransformFromPose([0, 0, 0], [0, 0, 0, 1]);6console.log(transform);7var wptoolkit = require('wptoolkit');8var pose = wptoolkit.getPoseFromTransform([1, 0, 0, 0, 1, 0, 0, 0, 1], [0, 0, 0]);9console.log(pose);10var wptoolkit = require('wptoolkit');11var transform = wptoolkit.getTransformFromPose([0, 0, 0], [0, 0, 0, 1]);12console.log(transform);13var wptoolkit = require('wptoolkit');14var pose = wptoolkit.getPoseFromTransform([1, 0, 0, 0, 1, 0, 0, 0, 1], [0, 0, 0]);15console.log(pose);16var wptoolkit = require('wptoolkit');17var transform = wptoolkit.getTransformFromPose([0, 0, 0], [0, 0, 0, 1]);18console.log(transform);19var wptoolkit = require('wptoolkit');20var pose = wptoolkit.getPoseFromTransform([1,

Using AI Code Generation

1var wptools = require('wptools');2var pose = wptools.getPoseFromTransform([1,0,0,0,0,1,0,-1,0,1,0,0,0,0,0,1]);3console.log(pose);4var wptools = require('wptools');5var transform = wptools.getTransformFromPose([1,0,0,0,0,1,0,-1,0,1,0,0,0,0,0,1]);6console.log(transform);7var wptools = require('wptools');8var transform = wptools.getTransformFromPose([1,0,0,0,0,1,0,-1,0,1,0,0,0,0,0,1]);9console.log(transform);10var wptools = require('wptools');11var transform = wptools.getTransformFromPose([1,0,0,0,0,1,0,-1,0,1,0,0,0,0,0,1]);12console.log(transform);

Using AI Code Generation

1var wptf = require('wptf');2var pose = wptf.getPoseFromTransform([1,0,0,0,0,1,0,0,0,0,1,0]);3console.log(pose);4var wptf = require('wptf');5var transform = wptf.getTransformFromPose({position:{x:1,y:2,z:3},orientation:{x:0,y:0,z:0,w:1}});6console.log(transform);7var wptf = require('wptf');8var transform = wptf.getTransformFromPose({position:{x:1,y:2,z:3},orientation:{x:0,y:0,z:0,w:1}});9console.log(transform);10var wptf = require('wptf');11var transform = wptf.getTransformFromPose({position:{x:1,y:2,z:3},orientation:{x:0,y:0,z:0,w:1}});12console.log(transform);13var wptf = require('wptf');14var transform = wptf.getTransformFromPose({position:{x:1,y:2,z:3},orientation

Using AI Code Generation

1var wpt = require('web-platform-tests');2var assert = require('assert');3var pose = wpt.getPoseFromTransform(1, 2, 3, 4, 5, 6);4assert(pose.position.x == 1);5assert(pose.position.y == 2);6assert(pose.position.z == 3);7assert(pose.orientation.x == 4);8assert(pose.orientation.y == 5);9assert(pose.orientation.z == 6);10assert(pose.orientation.w == 1);

Using AI Code Generation

1var wpt = require('webpagetest');2var options = {3};4wpt.getPoseFromTransform(options, function(err, data) {5    if (err) {6        console.log(err);7    } else {8        console.log(data);9    }10});11var wpt = require('webpagetest');12var options = {13};14wpt.getPoseFromTransform(options, function(err, data) {15    if (err) {16        console.log(err);17    } else {18        console.log(data);19    }20});21var wpt = require('webpagetest');22var options = {23};24wpt.getPoseFromTransform(options, function(err, data) {25    if (err) {26        console.log(err);27    } else {28        console.log(data);29    }30});31var wpt = require('webpagetest');32var options = {33};34wpt.getPoseFromTransform(options, function(err, data) {35    if (err) {36        console.log(err);37    } else {38        console.log(data);39    }40});41var wpt = require('webpagetest');42var options = {43};44wpt.getPoseFromTransform(options, function(err, data) {45    if (err) {46        console.log(err);47    } else {48        console.log(data);49    }50});51var wpt = require('webpagetest');52var options = {

Using AI Code Generation

1const wptoolkit = require('wptoolkit');2const fs = require('fs');3const data = fs.readFileSync('test.json');4const dataJson = JSON.parse(data);5var pose = wptoolkit.getPoseFromTransform(dataJson);6console.log(pose);7console.log(pose.position);8console.log(pose.orientation);9console.log(pose.rotation);10console.log(pose.scale);11console.log(pose.euler);12console.log(pose.quaternion);13console.log(pose.matrix);14console.log(pose.up);15console.log(pose.right);16console.log(pose.forward);17console.log(pose.worldUp);18console.log(pose.worldRight);19console.log(pose.worldForward);20console.log(pose.fov);21console.log(pose.near);22console.log(pose.far);23console.log(pose.aspect);24console.log(pose.projectionMatrix);25console.log(pose.viewMatrix);26console.log(pose.viewProjectionMatrix);27console.log(pose.worldMatrix);28console.log(pose.worldViewMatrix);

Automation Testing Tutorials

Learn to execute automation testing from scratch with LambdaTest Learning Hub. Right from setting up the prerequisites to run your first automation test, to following best practices and diving deeper into advanced test scenarios. LambdaTest Learning Hubs compile a list of step-by-step guides to help you be proficient with different test automation frameworks i.e. Selenium, Cypress, TestNG etc.