Added Mat4 support to script

Also, hooked up MyAvatar.sensorToWorldMatrix access to script.

examples/tests/mat4test.js

@@ -0,0 +1,165 @@
+//
+//  mat4test.js
+//  examples/tests
+//
+//  Created by Anthony Thibault on 2016/3/7
+//  Copyright 2016 High Fidelity, Inc.
+//
+//  Distributed under the Apache License, Version 2.0.
+//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+//
+
+var IDENTITY = {r0c0: 1, r0c1: 0, r0c2: 0, r0c3: 0,
+                r1c0: 0, r1c1: 1, r1c2: 0, r1c3: 0,
+                r2c0: 0, r2c1: 0, r2c2: 1, r2c3: 0,
+                r3c0: 0, r3c1: 0, r3c2: 0, r3c3: 1};
+
+var ROT_ZERO = {x: 0, y: 0, z: 0, w: 1};
+var ROT_Y_180 = {x: 0, y: 1, z: 0, w: 0};
+
+var ONE = {x: 1, y: 1, z: 1};
+var ZERO = {x: 0, y: 0, z: 0};
+var ONE_TWO_THREE = {x: 1, y: 2, z: 3};
+var ONE_HALF = {x: 0.5, y: 0.5, z: 0.5};
+
+var EPSILON = 0.000001;
+
+function mat4FuzzyEqual(a, b) {
+    var r, c;
+    for (r = 0; r < 4; r++) {
+        for (c = 0; c < 4; c++) {
+            if (Math.abs(a["r" + r + "c" + c] - b["r" + r + "c" + c]) > EPSILON) {
+                return false;
+            }
+        }
+    }
+    return true;
+}
+
+function vec3FuzzyEqual(a, b) {
+    if (Math.abs(a.x - b.x) > EPSILON ||
+        Math.abs(a.y - b.y) > EPSILON ||
+        Math.abs(a.z - b.z) > EPSILON) {
+        return false;
+    }
+    return true;
+}
+
+function quatFuzzyEqual(a, b) {
+    if (Math.abs(a.x - b.x) > EPSILON ||
+        Math.abs(a.y - b.y) > EPSILON ||
+        Math.abs(a.z - b.z) > EPSILON ||
+        Math.abs(a.w - b.w) > EPSILON) {
+        return false;
+    }
+    return true;
+}
+
+var failureCount = 0;
+var testCount = 0;
+function assert(test) {
+    testCount++;
+    if (!test) {
+        print("MAT4 TEST " + testCount + " failed!");
+        failureCount++;
+    }
+}
+
+function testCreate() {
+    var test0 = Mat4.createFromScaleRotAndTrans(ONE, {x: 0, y: 0, z: 0, w: 1}, ZERO);
+    assert(mat4FuzzyEqual(test0, IDENTITY));
+
+    var test1 = Mat4.createFromRotAndTrans({x: 0, y: 0, z: 0, w: 1}, ZERO);
+    assert(mat4FuzzyEqual(test1, IDENTITY));
+
+    var test2 = Mat4.createFromRotAndTrans(ROT_Y_180, ONE_TWO_THREE);
+    assert(mat4FuzzyEqual(test2, {r0c0: -1, r0c1: 0, r0c2: 0, r0c3: 1,
+                                  r1c0: 0, r1c1: 1, r1c2: 0, r1c3: 2,
+                                  r2c0: 0, r2c1: 0, r2c2: -1, r2c3: 3,
+                                  r3c0: 0, r3c1: 0, r3c2: 0, r3c3: 1}));
+
+    var test3 = Mat4.createFromScaleRotAndTrans(ONE_HALF, ROT_Y_180, ONE_TWO_THREE);
+    assert(mat4FuzzyEqual(test3, {r0c0: -0.5, r0c1: 0, r0c2: 0, r0c3: 1,
+                                  r1c0: 0, r1c1: 0.5, r1c2: 0, r1c3: 2,
+                                  r2c0: 0, r2c1: 0, r2c2: -0.5, r2c3: 3,
+                                  r3c0: 0, r3c1: 0, r3c2: 0, r3c3: 1}));
+}
+
+function testExtractTranslation() {
+    var test0 = Mat4.extractTranslation(IDENTITY);
+    assert(vec3FuzzyEqual(ZERO, test0));
+
+    var test1 = Mat4.extractTranslation(Mat4.createFromRotAndTrans(ROT_Y_180, ONE_TWO_THREE));
+    assert(vec3FuzzyEqual(ONE_TWO_THREE, test1));
+}
+
+function testExtractRotation() {
+    var test0 = Mat4.extractRotation(IDENTITY);
+    assert(quatFuzzyEqual(ROT_ZERO, test0));
+
+    var test1 = Mat4.extractRotation(Mat4.createFromRotAndTrans(ROT_Y_180, ONE_TWO_THREE));
+    assert(quatFuzzyEqual(ROT_Y_180, test1));
+}
+
+function testExtractScale() {
+    var test0 = Mat4.extractScale(IDENTITY);
+    assert(vec3FuzzyEqual(ONE, test0));
+
+    var test1 = Mat4.extractScale(Mat4.createFromScaleRotAndTrans(ONE_HALF, ROT_Y_180, ONE_TWO_THREE));
+    assert(vec3FuzzyEqual(ONE_HALF, test1));
+
+    var test2 = Mat4.extractScale(Mat4.createFromScaleRotAndTrans(ONE_TWO_THREE, ROT_ZERO, ONE_TWO_THREE));
+    assert(vec3FuzzyEqual(ONE_TWO_THREE, test2));
+}
+
+function testTransformPoint() {
+    var test0 = Mat4.transformPoint(IDENTITY, ONE);
+    assert(vec3FuzzyEqual(ONE, test0));
+
+    var m = Mat4.createFromScaleRotAndTrans(ONE_HALF, ROT_Y_180, ONE_TWO_THREE);
+    var test1 = Mat4.transformPoint(m, ONE);
+    assert(vec3FuzzyEqual({x: 0.5, y: 2.5, z: 2.5}, test1));
+}
+
+function testTransformVector() {
+    var test0 = Mat4.transformVector(IDENTITY, ONE);
+    assert(vec3FuzzyEqual(ONE, test0));
+
+    var m = Mat4.createFromScaleRotAndTrans(ONE_HALF, ROT_Y_180, ONE_TWO_THREE);
+    var test1 = Mat4.transformVector(m, ONE);
+    assert(vec3FuzzyEqual({x: -0.5, y: 0.5, z: -0.5}, test1));
+}
+
+function testInverse() {
+    var test0 = IDENTITY;
+    assert(mat4FuzzyEqual(IDENTITY, Mat4.multiply(test0, Mat4.inverse(test0))));
+
+    var test1 = Mat4.createFromScaleRotAndTrans(ONE_HALF, ROT_Y_180, ONE_TWO_THREE);
+    assert(mat4FuzzyEqual(IDENTITY, Mat4.multiply(test1, Mat4.inverse(test1))));
+
+    var test2 = Mat4.extractScale(Mat4.createFromScaleRotAndTrans(ONE_TWO_THREE, ROT_ZERO, ONE_TWO_THREE));
+    assert(mat4FuzzyEqual(IDENTITY, Mat4.multiply(test2, Mat4.inverse(test2))));
+}
+
+function testFront() {
+    var test0 = IDENTITY;
+    assert(mat4FuzzyEqual({x: 0, y: 0, z: -1}, Mat4.getFront(test0)));
+
+    var test1 = Mat4.createFromScaleRotAndTrans(ONE_HALF, ROT_Y_180, ONE_TWO_THREE);
+    assert(mat4FuzzyEqual({x: 0, y: 0, z: 1}, Mat4.getFront(test1)));
+}
+
+function testMat4() {
+    testCreate();
+    testExtractTranslation();
+    testExtractRotation();
+    testExtractScale();
+    testTransformPoint();
+    testTransformVector();
+    testInverse();
+    testFront();
+
+    print("MAT4 TEST complete! (" + (testCount - failureCount) + "/" + testCount + ") tests passed!");
+}
+
+testMat4();

interface/src/avatar/MyAvatar.cpp

@@ -416,8 +416,9 @@ void MyAvatar::simulate(float deltaTime) {
     }
 }
 
+// thread-safe
 glm::mat4 MyAvatar::getSensorToWorldMatrix() const {
-    return _sensorToWorldMatrix;
+    return _sensorToWorldMatrixCache.get();
 }
 
 // Pass a recent sample of the HMD to the avatar.
@@ -442,6 +443,8 @@ void MyAvatar::updateSensorToWorldMatrix() {
     _sensorToWorldMatrix = desiredMat * glm::inverse(_bodySensorMatrix);
 
     lateUpdatePalms();
+
+    _sensorToWorldMatrixCache.set(_sensorToWorldMatrix);
 }
 
 //  Update avatar head rotation with sensor data

interface/src/avatar/MyAvatar.h

@@ -22,7 +22,7 @@
 #include "Avatar.h"
 #include "AtRestDetector.h"
 #include "MyCharacterController.h"
-
+#include <ThreadSafeValueCache.h>
 
 class ModelItemID;
 
@@ -78,6 +78,9 @@ class MyAvatar : public Avatar {
     Q_PROPERTY(controller::Pose rightHandPose READ getRightHandPose)
     Q_PROPERTY(controller::Pose leftHandTipPose READ getLeftHandTipPose)
     Q_PROPERTY(controller::Pose rightHandTipPose READ getRightHandTipPose)
+
+    Q_PROPERTY(glm::mat4 sensorToWorldMatrix READ getSensorToWorldMatrix)
+
     Q_PROPERTY(float energy READ getEnergy WRITE setEnergy)
 
 public:
@@ -98,8 +101,9 @@ public:
     const glm::vec3& getHMDSensorPosition() const { return _hmdSensorPosition; }
     const glm::quat& getHMDSensorOrientation() const { return _hmdSensorOrientation; }
     const glm::vec2& getHMDSensorFacingMovingAverage() const { return _hmdSensorFacingMovingAverage; }
-    glm::mat4 getSensorToWorldMatrix() const;
 
+    // thread safe
+    Q_INVOKABLE glm::mat4 getSensorToWorldMatrix() const;
 
     // Pass a recent sample of the HMD to the avatar.
     // This can also update the avatar's position to follow the HMD
@@ -390,6 +394,7 @@ private:
 
     // used to transform any sensor into world space, including the _hmdSensorMat, or hand controllers.
     glm::mat4 _sensorToWorldMatrix;
+    ThreadSafeValueCache<glm::mat4> _sensorToWorldMatrixCache { glm::mat4() };
 
     struct FollowHelper {
         FollowHelper();

libraries/script-engine/src/Mat4.cpp

@@ -0,0 +1,71 @@
+//
+//  Mat4.cpp
+//  libraries/script-engine/src
+//
+//  Created by Anthony Thibault on 3/7/16.
+//  Copyright 2016 High Fidelity, Inc.
+//
+//  Distributed under the Apache License, Version 2.0.
+//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+//
+
+#include <QDebug>
+#include <GLMHelpers.h>
+#include "ScriptEngineLogging.h"
+#include "Mat4.h"
+
+glm::mat4 Mat4::multiply(const glm::mat4& m1, const glm::mat4& m2) const {
+    return m1 * m2;
+}
+
+glm::mat4 Mat4::createFromRotAndTrans(const glm::quat& rot, const glm::vec3& trans) const {
+    return ::createMatFromQuatAndPos(rot, trans);
+}
+
+glm::mat4 Mat4::createFromScaleRotAndTrans(const glm::vec3& scale, const glm::quat& rot, const glm::vec3& trans) const {
+    return createMatFromScaleQuatAndPos(scale, rot, trans);
+}
+
+glm::vec3 Mat4::extractTranslation(const glm::mat4& m) const {
+    return ::extractTranslation(m);
+}
+
+glm::quat Mat4::extractRotation(const glm::mat4& m) const {
+    return ::glmExtractRotation(m);
+}
+
+glm::vec3 Mat4::extractScale(const glm::mat4& m) const {
+    return ::extractScale(m);
+}
+
+glm::vec3 Mat4::transformPoint(const glm::mat4& m, const glm::vec3& point) const {
+    return ::transformPoint(m, point);
+}
+
+glm::vec3 Mat4::transformVector(const glm::mat4& m, const glm::vec3& vector) const {
+    return ::transformVectorFast(m, vector);
+}
+
+glm::mat4 Mat4::inverse(const glm::mat4& m) const {
+    return glm::inverse(m);
+}
+
+glm::vec3 Mat4::getFront(const glm::mat4& m) const {
+    return glm::vec3(-m[0][2], -m[1][2], -m[2][2]);
+}
+
+glm::vec3 Mat4::getRight(const glm::mat4& m) const {
+    return glm::vec3(m[0][0], m[1][0], m[2][0]);
+}
+
+glm::vec3 Mat4::getUp(const glm::mat4& m) const {
+    return glm::vec3(m[0][1], m[1][1], m[2][1]);
+}
+
+void Mat4::print(const QString& label, const glm::mat4& m) const {
+    qCDebug(scriptengine) << qPrintable(label) <<
+        "row0 =" << m[0][0] << "," << m[1][0] << "," << m[2][0] << "," << m[3][0] <<
+        "row1 =" << m[0][1] << "," << m[1][1] << "," << m[2][1] << "," << m[3][1] <<
+        "row2 =" << m[0][2] << "," << m[1][2] << "," << m[2][2] << "," << m[3][2] <<
+        "row3 =" << m[0][3] << "," << m[1][3] << "," << m[2][3] << "," << m[3][3];
+}

libraries/script-engine/src/Mat4.h

@@ -0,0 +1,45 @@
+//
+//  Mat4.h
+//  libraries/script-engine/src
+//
+//  Created by Anthony Thibault on 3/7/16.
+//  Copyright 2016 High Fidelity, Inc.
+//
+//  Scriptable 4x4 Matrix class library.
+//
+//  Distributed under the Apache License, Version 2.0.
+//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+//
+
+#ifndef hifi_Mat4_h
+#define hifi_Mat4_h
+
+#include <QObject>
+#include <QString>
+
+/// Scriptable Mat4 object.  Used exclusively in the JavaScript API
+class Mat4 : public QObject {
+    Q_OBJECT
+
+public slots:
+    glm::mat4 multiply(const glm::mat4& m1, const glm::mat4& m2) const;
+    glm::mat4 createFromRotAndTrans(const glm::quat& rot, const glm::vec3& trans) const;
+    glm::mat4 createFromScaleRotAndTrans(const glm::vec3& scale, const glm::quat& rot, const glm::vec3& trans) const;
+
+    glm::vec3 extractTranslation(const glm::mat4& m) const;
+    glm::quat extractRotation(const glm::mat4& m) const;
+    glm::vec3 extractScale(const glm::mat4& m) const;
+
+    glm::vec3 transformPoint(const glm::mat4& m, const glm::vec3& point) const;
+    glm::vec3 transformVector(const glm::mat4& m, const glm::vec3& vector) const;
+
+    glm::mat4 inverse(const glm::mat4& m) const;
+
+    glm::vec3 getFront(const glm::mat4& m) const;
+    glm::vec3 getRight(const glm::mat4& m) const;
+    glm::vec3 getUp(const glm::mat4& m) const;
+
+    void print(const QString& label, const glm::mat4& m) const;
+};
+
+#endif // hifi_Mat4_h

libraries/script-engine/src/ScriptEngine.cpp

@@ -315,6 +315,7 @@ void ScriptEngine::init() {
     registerGlobalObject("Entities", entityScriptingInterface.data());
     registerGlobalObject("Quat", &_quatLibrary);
     registerGlobalObject("Vec3", &_vec3Library);
+    registerGlobalObject("Mat4", &_mat4Library);
     registerGlobalObject("Uuid", &_uuidLibrary);
     registerGlobalObject("AnimationCache", DependencyManager::get<AnimationCache>().data());
     registerGlobalObject("Messages", DependencyManager::get<MessagesClient>().data());

libraries/script-engine/src/ScriptEngine.h

@@ -34,6 +34,7 @@
 #include "ArrayBufferClass.h"
 #include "AudioScriptingInterface.h"
 #include "Quat.h"
+#include "Mat4.h"
 #include "ScriptCache.h"
 #include "ScriptUUID.h"
 #include "Vec3.h"
@@ -199,6 +200,7 @@ protected:
     QString _fileNameString;
     Quat _quatLibrary;
     Vec3 _vec3Library;
+    Mat4 _mat4Library;
     ScriptUUID _uuidLibrary;
     std::atomic<bool> _isUserLoaded { false };
     bool _isReloading { false };
@@ -219,4 +221,4 @@ protected:
     static std::atomic<bool> _stoppingAllScripts;
 };
 
-#endif // hifi_ScriptEngine_h
+#endif // hifi_ScriptEngine_h

libraries/shared/src/GLMHelpers.cpp

@@ -376,6 +376,15 @@ glm::mat4 createMatFromQuatAndPos(const glm::quat& q, const glm::vec3& p) {
     return m;
 }
 
+// create matrix from a non-uniform scale, orientation and position
+glm::mat4 createMatFromScaleQuatAndPos(const glm::vec3& scale, const glm::quat& rot, const glm::vec3& trans) {
+    glm::vec3 xAxis = rot * glm::vec3(scale.x, 0.0f, 0.0f);
+    glm::vec3 yAxis = rot * glm::vec3(0.0f, scale.y, 0.0f);
+    glm::vec3 zAxis = rot * glm::vec3(0.0f, 0.0f, scale.z);
+    return glm::mat4(glm::vec4(xAxis, 0.0f), glm::vec4(yAxis, 0.0f),
+                     glm::vec4(zAxis, 0.0f), glm::vec4(trans, 1.0f));
+}
+
 // cancel out roll and pitch
 glm::quat cancelOutRollAndPitch(const glm::quat& q) {
     glm::vec3 zAxis = q * glm::vec3(0.0f, 0.0f, 1.0f);

libraries/shared/src/GLMHelpers.h

@@ -212,6 +212,7 @@ glm::detail::tvec4<T, P> lerp(const glm::detail::tvec4<T, P>& x, const glm::deta
 }
 
 glm::mat4 createMatFromQuatAndPos(const glm::quat& q, const glm::vec3& p);
+glm::mat4 createMatFromScaleQuatAndPos(const glm::vec3& scale, const glm::quat& rot, const glm::vec3& trans);
 glm::quat cancelOutRollAndPitch(const glm::quat& q);
 glm::mat4 cancelOutRollAndPitch(const glm::mat4& m);
 glm::vec3 transformPoint(const glm::mat4& m, const glm::vec3& p);

libraries/shared/src/RegisteredMetaTypes.cpp

@@ -34,6 +34,7 @@ static int collisionMetaTypeId = qRegisterMetaType<Collision>();
 static int qMapURLStringMetaTypeId = qRegisterMetaType<QMap<QUrl,QString>>();
 
 void registerMetaTypes(QScriptEngine* engine) {
+    qScriptRegisterMetaType(engine, mat4toScriptValue, mat4FromScriptValue);
     qScriptRegisterMetaType(engine, vec4toScriptValue, vec4FromScriptValue);
     qScriptRegisterMetaType(engine, vec3toScriptValue, vec3FromScriptValue);
     qScriptRegisterMetaType(engine, qVectorVec3ToScriptValue, qVectorVec3FromScriptValue);
@@ -53,6 +54,46 @@ void registerMetaTypes(QScriptEngine* engine) {
     qScriptRegisterMetaType(engine, aaCubeToScriptValue, aaCubeFromScriptValue);
 }
 
+QScriptValue mat4toScriptValue(QScriptEngine* engine, const glm::mat4& mat4) {
+    QScriptValue obj = engine->newObject();
+    obj.setProperty("r0c0", mat4[0][0]);
+    obj.setProperty("r1c0", mat4[0][1]);
+    obj.setProperty("r2c0", mat4[0][2]);
+    obj.setProperty("r3c0", mat4[0][3]);
+    obj.setProperty("r0c1", mat4[1][0]);
+    obj.setProperty("r1c1", mat4[1][1]);
+    obj.setProperty("r2c1", mat4[1][2]);
+    obj.setProperty("r3c1", mat4[1][3]);
+    obj.setProperty("r0c2", mat4[2][0]);
+    obj.setProperty("r1c2", mat4[2][1]);
+    obj.setProperty("r2c2", mat4[2][2]);
+    obj.setProperty("r3c2", mat4[2][3]);
+    obj.setProperty("r0c3", mat4[3][0]);
+    obj.setProperty("r1c3", mat4[3][1]);
+    obj.setProperty("r2c3", mat4[3][2]);
+    obj.setProperty("r3c3", mat4[3][3]);
+    return obj;
+}
+
+void mat4FromScriptValue(const QScriptValue& object, glm::mat4& mat4) {
+    mat4[0][0] = object.property("r0c0").toVariant().toFloat();
+    mat4[0][1] = object.property("r1c0").toVariant().toFloat();
+    mat4[0][2] = object.property("r2c0").toVariant().toFloat();
+    mat4[0][3] = object.property("r3c0").toVariant().toFloat();
+    mat4[1][0] = object.property("r0c1").toVariant().toFloat();
+    mat4[1][1] = object.property("r1c1").toVariant().toFloat();
+    mat4[1][2] = object.property("r2c1").toVariant().toFloat();
+    mat4[1][3] = object.property("r3c1").toVariant().toFloat();
+    mat4[2][0] = object.property("r0c2").toVariant().toFloat();
+    mat4[2][1] = object.property("r1c2").toVariant().toFloat();
+    mat4[2][2] = object.property("r2c2").toVariant().toFloat();
+    mat4[2][3] = object.property("r3c2").toVariant().toFloat();
+    mat4[3][0] = object.property("r0c3").toVariant().toFloat();
+    mat4[3][1] = object.property("r1c3").toVariant().toFloat();
+    mat4[3][2] = object.property("r2c3").toVariant().toFloat();
+    mat4[3][3] = object.property("r3c3").toVariant().toFloat();
+}
+
 QScriptValue vec4toScriptValue(QScriptEngine* engine, const glm::vec4& vec4) {
     QScriptValue obj = engine->newObject();
     obj.setProperty("x", vec4.x);

libraries/shared/src/RegisteredMetaTypes.h

@@ -28,6 +28,7 @@ Q_DECLARE_METATYPE(glm::vec4)
 Q_DECLARE_METATYPE(glm::vec3)
 Q_DECLARE_METATYPE(glm::vec2)
 Q_DECLARE_METATYPE(glm::quat)
+Q_DECLARE_METATYPE(glm::mat4)
 Q_DECLARE_METATYPE(xColor)
 Q_DECLARE_METATYPE(QVector<glm::vec3>)
 Q_DECLARE_METATYPE(QVector<float>)
@@ -35,6 +36,10 @@ Q_DECLARE_METATYPE(AACube)
 
 void registerMetaTypes(QScriptEngine* engine);
 
+// Mat4
+QScriptValue mat4toScriptValue(QScriptEngine* engine, const glm::mat4& mat4);
+void mat4FromScriptValue(const QScriptValue& object, glm::mat4& mat4);
+
 // Vec4
 QScriptValue vec4toScriptValue(QScriptEngine* engine, const glm::vec4& vec4);
 void vec4FromScriptValue(const QScriptValue& object, glm::vec4& vec4);