Refactor VR math off of GVR types, onto gfx types where possible.

device/vr/android/gvr/gvr_delegate.cc

 // Copyright 2016 The Chromium Authors. All rights reserved.
 // Use of this source code is governed by a BSD-style license that can be
 // found in the LICENSE file.
 
 #include "device/vr/android/gvr/gvr_delegate.h"
 
 #include "base/trace_event/trace_event.h"
+#include "device/vr/vr_math.h"
 #include "third_party/gvr-android-sdk/src/libraries/headers/vr/gvr/capi/include/gvr.h"
+#include "third_party/gvr-android-sdk/src/libraries/headers/vr/gvr/capi/include/gvr_types.h"
 #include "ui/gfx/transform.h"
 #include "ui/gfx/transform_util.h"
 
 namespace device {
 
 namespace {
 // Default downscale factor for computing the recommended WebVR
 // renderWidth/Height from the 1:1 pixel mapped size. Using a rather
 // aggressive downscale due to the high overhead of copying pixels
 // twice before handing off to GVR. For comparison, the polyfill
 // uses approximately 0.55 on a Pixel XL.
 static constexpr float kWebVrRecommendedResolutionScale = 0.5;
 
 // TODO(mthiesse): If gvr::PlatformInfo().GetPosePredictionTime() is ever
 // exposed, use that instead (it defaults to 50ms on most platforms).
 static constexpr int64_t kPredictionTimeWithoutVsyncNanos = 50000000;
 
 // Time offset used for calculating angular velocity from a pair of predicted
 // poses. The precise value shouldn't matter as long as it's nonzero and much
 // less than a frame.
 static constexpr int64_t kAngularVelocityEpsilonNanos = 1000000;
 
-// Matrix math copied from vr_shell's vr_math.cc, can't use that here
-// due to dependency ordering. TODO(mthiesse): move the vr_math code
-// to this directory so that both locations can use it.
-
-// Rotation only, ignore translation components.
-gvr::Vec3f MatrixVectorRotate(const gvr::Mat4f& m, const gvr::Vec3f& v) {
-  gvr::Vec3f res;
-  res.x = m.m[0][0] * v.x + m.m[0][1] * v.y + m.m[0][2] * v.z;
-  res.y = m.m[1][0] * v.x + m.m[1][1] * v.y + m.m[1][2] * v.z;
-  res.z = m.m[2][0] * v.x + m.m[2][1] * v.y + m.m[2][2] * v.z;
-  return res;
+void GvrMatToMatf(const gvr::Mat4f& in, vr::Matf* out) {
+  // If our std::array implementation doesn't have any non-data members, we can
+  // just cast the gvr matrix to an std::array.
+  static_assert(sizeof(in) == sizeof(*out),
+                "Cannot reinterpret gvr::Mat4f as vr::Matf");
+  *out = *reinterpret_cast<vr::Matf*>(const_cast<gvr::Mat4f*>(&in));
 }
 
-gvr::Mat4f MatrixMul(const gvr::Mat4f& matrix1, const gvr::Mat4f& matrix2) {
-  gvr::Mat4f result;
-  for (int i = 0; i < 4; ++i) {
-    for (int j = 0; j < 4; ++j) {
-      result.m[i][j] = 0.0f;
-      for (int k = 0; k < 4; ++k) {
-        result.m[i][j] += matrix1.m[i][k] * matrix2.m[k][j];
-      }
-    }
-  }
-  return result;
-}
-
-gvr::Vec3f GetAngularVelocityFromPoses(gvr::Mat4f head_mat,
-                                       gvr::Mat4f head_mat_2,
-                                       double epsilon_seconds) {
+gfx::Vector3dF GetAngularVelocityFromPoses(vr::Matf head_mat,
+                                           vr::Matf head_mat_2,
+                                           double epsilon_seconds) {
   // The angular velocity is a 3-element vector pointing along the rotation
   // axis with magnitude equal to rotation speed in radians/second, expressed
   // in the seated frame of reference.
   //
   // The 1.1 spec isn't very clear on details, clarification requested in
   // https://github.com/w3c/webvr/issues/212 . For now, assuming that we
   // want a vector in the sitting reference frame.
   //
   // Assuming that pose prediction is simply based on adding a time * angular
   // velocity rotation to the pose, we can approximate the angular velocity
   // from the difference between two successive poses. This is a first order
   // estimate that assumes small enough rotations so that we can do linear
   // approximation.
   //
   // See:
   // https://en.wikipedia.org/wiki/Angular_velocity#Calculation_from_the_orientation_matrix
 
-  gvr::Mat4f delta_mat;
-  gvr::Mat4f inverse_head_mat;
+  vr::Matf delta_mat;
+  vr::Matf inverse_head_mat;
   // Calculate difference matrix, and inverse head matrix rotation.
   // For the inverse rotation, just transpose the 3x3 subsection.
   //
   // Assume that epsilon is nonzero since it's based on a compile-time constant
   // provided by the caller.
   for (int j = 0; j < 3; ++j) {
     for (int i = 0; i < 3; ++i) {
-      delta_mat.m[j][i] =
-          (head_mat_2.m[j][i] - head_mat.m[j][i]) / epsilon_seconds;
-      inverse_head_mat.m[j][i] = head_mat.m[i][j];
+      delta_mat[j][i] = (head_mat_2[j][i] - head_mat[j][i]) / epsilon_seconds;
+      inverse_head_mat[j][i] = head_mat[i][j];
     }
-    delta_mat.m[j][3] = delta_mat.m[3][j] = 0.0;
-    inverse_head_mat.m[j][3] = inverse_head_mat.m[3][j] = 0.0;
+    delta_mat[j][3] = delta_mat[3][j] = 0.0;
+    inverse_head_mat[j][3] = inverse_head_mat[3][j] = 0.0;
   }
-  delta_mat.m[3][3] = 1.0;
-  inverse_head_mat.m[3][3] = 1.0;
-  gvr::Mat4f omega_mat = device::MatrixMul(delta_mat, inverse_head_mat);
-  gvr::Vec3f omega_vec;
-  omega_vec.x = -omega_mat.m[2][1];
-  omega_vec.y = omega_mat.m[2][0];
-  omega_vec.z = -omega_mat.m[1][0];
+  delta_mat[3][3] = 1.0;
+  inverse_head_mat[3][3] = 1.0;
+  vr::Matf omega_mat;
+  vr::MatrixMul(delta_mat, inverse_head_mat, &omega_mat);
+  gfx::Vector3dF omega_vec(-omega_mat[2][1], omega_mat[2][0], -omega_mat[1][0]);
 
   // Rotate by inverse head matrix to bring into seated space.
-  gvr::Vec3f angular_velocity =
-      device::MatrixVectorRotate(inverse_head_mat, omega_vec);
-
-  return angular_velocity;
+  return vr::MatrixVectorRotate(inverse_head_mat, omega_vec);
 }
 
 }  // namespace
 
 /* static */
-mojom::VRPosePtr GvrDelegate::VRPosePtrFromGvrPose(gvr::Mat4f head_mat) {
+mojom::VRPosePtr GvrDelegate::VRPosePtrFromGvrPose(const vr::Matf& head_mat) {
   mojom::VRPosePtr pose = mojom::VRPose::New();
 
   pose->orientation.emplace(4);
 
   gfx::Transform inv_transform(
-      head_mat.m[0][0], head_mat.m[0][1], head_mat.m[0][2], head_mat.m[0][3],
-      head_mat.m[1][0], head_mat.m[1][1], head_mat.m[1][2], head_mat.m[1][3],
-      head_mat.m[2][0], head_mat.m[2][1], head_mat.m[2][2], head_mat.m[2][3],
-      head_mat.m[3][0], head_mat.m[3][1], head_mat.m[3][2], head_mat.m[3][3]);
+      head_mat[0][0], head_mat[0][1], head_mat[0][2], head_mat[0][3],
+      head_mat[1][0], head_mat[1][1], head_mat[1][2], head_mat[1][3],
+      head_mat[2][0], head_mat[2][1], head_mat[2][2], head_mat[2][3],
+      head_mat[3][0], head_mat[3][1], head_mat[3][2], head_mat[3][3]);
 
   gfx::Transform transform;
   if (inv_transform.GetInverse(&transform)) {
     gfx::DecomposedTransform decomposed_transform;
     gfx::DecomposeTransform(&decomposed_transform, transform);
 
     pose->orientation.value()[0] = decomposed_transform.quaternion[0];
     pose->orientation.value()[1] = decomposed_transform.quaternion[1];
     pose->orientation.value()[2] = decomposed_transform.quaternion[2];
     pose->orientation.value()[3] = decomposed_transform.quaternion[3];
 
     pose->position.emplace(3);
     pose->position.value()[0] = decomposed_transform.translate[0];
     pose->position.value()[1] = decomposed_transform.translate[1];
     pose->position.value()[2] = decomposed_transform.translate[2];
   }
 
   return pose;
 }
 
 /* static */
-gvr::Mat4f GvrDelegate::GetGvrPoseWithNeckModel(gvr::GvrApi* gvr_api) {
+void GvrDelegate::GetGvrPoseWithNeckModel(gvr::GvrApi* gvr_api, vr::Matf* out) {
   gvr::ClockTimePoint target_time = gvr::GvrApi::GetTimePointNow();
   target_time.monotonic_system_time_nanos += kPredictionTimeWithoutVsyncNanos;
 
   gvr::Mat4f head_mat = gvr_api->ApplyNeckModel(
       gvr_api->GetHeadSpaceFromStartSpaceRotation(target_time), 1.0f);
 
-  return head_mat;
+  GvrMatToMatf(head_mat, out);
 }
 
 /* static */
 mojom::VRPosePtr GvrDelegate::GetVRPosePtrWithNeckModel(
     gvr::GvrApi* gvr_api,
-    gvr::Mat4f* head_mat_out) {
+    vr::Matf* head_mat_out) {
   gvr::ClockTimePoint target_time = gvr::GvrApi::GetTimePointNow();
   target_time.monotonic_system_time_nanos += kPredictionTimeWithoutVsyncNanos;
 
-  gvr::Mat4f head_mat = gvr_api->ApplyNeckModel(
+  gvr::Mat4f gvr_head_mat = gvr_api->ApplyNeckModel(
       gvr_api->GetHeadSpaceFromStartSpaceRotation(target_time), 1.0f);
 
-  if (head_mat_out)
-    *head_mat_out = head_mat;
+  vr::Matf* head_mat_ptr = head_mat_out;
+  vr::Matf head_mat;
+  if (!head_mat_ptr)
+    head_mat_ptr = &head_mat;
+  GvrMatToMatf(gvr_head_mat, head_mat_ptr);
 
-  mojom::VRPosePtr pose = GvrDelegate::VRPosePtrFromGvrPose(head_mat);
+  mojom::VRPosePtr pose = GvrDelegate::VRPosePtrFromGvrPose(*head_mat_ptr);
 
   // Get a second pose a bit later to calculate angular velocity.
   target_time.monotonic_system_time_nanos += kAngularVelocityEpsilonNanos;
-  gvr::Mat4f head_mat_2 =
+  gvr::Mat4f gvr_head_mat_2 =
       gvr_api->GetHeadSpaceFromStartSpaceRotation(target_time);
+  vr::Matf head_mat_2;
+  GvrMatToMatf(gvr_head_mat_2, &head_mat_2);
 
   // Add headset angular velocity to the pose.
   pose->angularVelocity.emplace(3);
   double epsilon_seconds = kAngularVelocityEpsilonNanos * 1e-9;
-  gvr::Vec3f angular_velocity =
-      GetAngularVelocityFromPoses(head_mat, head_mat_2, epsilon_seconds);
-  pose->angularVelocity.value()[0] = angular_velocity.x;
-  pose->angularVelocity.value()[1] = angular_velocity.y;
-  pose->angularVelocity.value()[2] = angular_velocity.z;
+  gfx::Vector3dF angular_velocity =
+      GetAngularVelocityFromPoses(*head_mat_ptr, head_mat_2, epsilon_seconds);
+  pose->angularVelocity.value()[0] = angular_velocity.x();
+  pose->angularVelocity.value()[1] = angular_velocity.y();
+  pose->angularVelocity.value()[2] = angular_velocity.z();
 
   return pose;
 }
 
 /* static */
-gvr::Sizei GvrDelegate::GetRecommendedWebVrSize(gvr::GvrApi* gvr_api) {
+gfx::Size GvrDelegate::GetRecommendedWebVrSize(gvr::GvrApi* gvr_api) {
   // Pick a reasonable default size for the WebVR transfer surface
   // based on a downscaled 1:1 render resolution. This size will also
   // be reported to the client via CreateVRDisplayInfo as the
   // client-recommended renderWidth/renderHeight and for the GVR
   // framebuffer. If the client chooses a different size or resizes it
   // while presenting, we'll resize the transfer surface and GVR
   // framebuffer to match.
   gvr::Sizei render_target_size =
       gvr_api->GetMaximumEffectiveRenderTargetSize();
-  gvr::Sizei webvr_size = {static_cast<int>(render_target_size.width *
-                                            kWebVrRecommendedResolutionScale),
-                           static_cast<int>(render_target_size.height *
-                                            kWebVrRecommendedResolutionScale)};
+
+  gfx::Size webvr_size(
+      render_target_size.width * kWebVrRecommendedResolutionScale,
+      render_target_size.height * kWebVrRecommendedResolutionScale);
+
   // Ensure that the width is an even number so that the eyes each
   // get the same size, the recommended renderWidth is per eye
   // and the client will use the sum of the left and right width.
   //
   // TODO(klausw,crbug.com/699350): should we round the recommended
   // size to a multiple of 2^N pixels to be friendlier to the GPU? The
   // exact size doesn't matter, and it might be more efficient.
-  webvr_size.width &= ~1;
-
+  webvr_size.set_width(webvr_size.width() & ~1);
   return webvr_size;
 }
 
 /* static */
 mojom::VRDisplayInfoPtr GvrDelegate::CreateVRDisplayInfo(
     gvr::GvrApi* gvr_api,
-    gvr::Sizei recommended_size,
+    gfx::Size recommended_size,
     uint32_t device_id) {
   TRACE_EVENT0("input", "GvrDelegate::CreateVRDisplayInfo");
 
   mojom::VRDisplayInfoPtr device = mojom::VRDisplayInfo::New();
 
   device->index = device_id;
 
   device->capabilities = mojom::VRDisplayCapabilities::New();
   device->capabilities->hasPosition = false;
   device->capabilities->hasExternalDisplay = false;
   device->capabilities->canPresent = true;
 
   std::string vendor = gvr_api->GetViewerVendor();
   std::string model = gvr_api->GetViewerModel();
   device->displayName = vendor + " " + model;
 
   gvr::BufferViewportList gvr_buffer_viewports =
       gvr_api->CreateEmptyBufferViewportList();
   gvr_buffer_viewports.SetToRecommendedBufferViewports();
 
   device->leftEye = mojom::VREyeParameters::New();
   device->rightEye = mojom::VREyeParameters::New();
   for (auto eye : {GVR_LEFT_EYE, GVR_RIGHT_EYE}) {
     mojom::VREyeParametersPtr& eye_params =
         (eye == GVR_LEFT_EYE) ? device->leftEye : device->rightEye;
     eye_params->fieldOfView = mojom::VRFieldOfView::New();
     eye_params->offset.resize(3);
-    eye_params->renderWidth = recommended_size.width / 2;
-    eye_params->renderHeight = recommended_size.height;
+    eye_params->renderWidth = recommended_size.width() / 2;
+    eye_params->renderHeight = recommended_size.height();
 
     gvr::BufferViewport eye_viewport = gvr_api->CreateBufferViewport();
     gvr_buffer_viewports.GetBufferViewport(eye, &eye_viewport);
     gvr::Rectf eye_fov = eye_viewport.GetSourceFov();
     eye_params->fieldOfView->upDegrees = eye_fov.top;
     eye_params->fieldOfView->downDegrees = eye_fov.bottom;
     eye_params->fieldOfView->leftDegrees = eye_fov.left;
     eye_params->fieldOfView->rightDegrees = eye_fov.right;
 
     gvr::Mat4f eye_mat = gvr_api->GetEyeFromHeadMatrix(eye);
     eye_params->offset[0] = -eye_mat.m[0][3];
     eye_params->offset[1] = -eye_mat.m[1][3];
     eye_params->offset[2] = -eye_mat.m[2][3];
   }
 
   return device;
 }
 
 }  // namespace device