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Use RelativeOrientationSensor when available, falling back to
devicemotion-based FusionPoseSensor when not. Fixes #10.
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,180 @@ | ||
| /* | ||
| * Copyright 2015 Google Inc. All Rights Reserved. | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| */ | ||
|
|
||
| import FusionPoseSensor from './sensor-fusion/fusion-pose-sensor.js'; | ||
| import { Vector3, Quaternion } from './math-util.js'; | ||
|
|
||
| // Frequency which the Sensors will attempt to fire their | ||
| // `reading` functions at. Use 60hz since we generally | ||
| // can't get higher without native VR hardware. | ||
| const SENSOR_FREQUENCY = 60; | ||
|
|
||
| const X_AXIS = new Vector3(1, 0, 0); | ||
| const Z_AXIS = new Vector3(0, 0, 1); | ||
|
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||
| let orientation = {}; | ||
| if (screen.orientation) { | ||
| orientation = screen.orientation; | ||
| } else if (screen.msOrientation) { | ||
| orientation = screen.msOrientation; | ||
| } else { | ||
| Object.defineProperty(orientation, 'angle', { | ||
| get: () => { return (window.orientation || 0); } | ||
| }); | ||
| } | ||
|
|
||
| // Quaternion to rotate from sensor coordinates to WebVR coordinates | ||
| const SENSOR_TO_VR = new Quaternion(); | ||
| SENSOR_TO_VR.setFromAxisAngle(X_AXIS, -Math.PI / 2); | ||
| SENSOR_TO_VR.multiply(new Quaternion().setFromAxisAngle(Z_AXIS, Math.PI / 2)); | ||
|
|
||
| /** | ||
| * An abstraction class around either using the new RelativeOrientationSensor, | ||
| * or `devicemotion` events with complimentary filter via fusion-pose-sensor.js. | ||
| */ | ||
| export default class PoseSensor { | ||
| constructor(config) { | ||
| this.config = config; | ||
| this.sensor = null; | ||
| this.fusionSensor = null; | ||
| this._out = new Float32Array(4); | ||
|
|
||
| // Can be 'sensor' (using RelativeOrientationSensor) or | ||
| // 'devicemotion' (using devicemotion events via FusionPoseSensor), | ||
| // or `null` if not yet set. | ||
| this.api = null; | ||
|
|
||
| // Store any errors from Sensors for debugging purposes | ||
| this.errors = []; | ||
|
|
||
| // Quaternions for caching transforms | ||
| this._sensorQ = new Quaternion(); | ||
| this._worldToScreenQ = new Quaternion(); | ||
| this._outQ = new Quaternion(); | ||
|
|
||
| this._onSensorRead = this._onSensorRead.bind(this); | ||
| this._onSensorError = this._onSensorError.bind(this); | ||
| this._onOrientationChange = this._onOrientationChange.bind(this); | ||
|
|
||
| this._onOrientationChange(); | ||
| this.init(); | ||
| } | ||
|
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||
| init() { | ||
| // Attempt to use the RelativeOrientationSensor from Generic Sensor APIs. | ||
| // First available in Chrome M63, this can fail for several reasons, and attempt | ||
| // to fallback to devicemotion. Failure scenarios include: | ||
| // | ||
| // * Generic Sensor APIs do not exist; fallback to devicemotion. | ||
| // * Underlying sensor does not exist; no fallback possible. | ||
| // * Feature Policy failure (in an iframe); no fallback. | ||
| // https://github.com/immersive-web/webxr/issues/86 | ||
| // * Permission to sensor data denied; respect user agent; no fallback to devicemotion. | ||
| // Browsers are heading towards disabling devicemotion when sensors are denied as well. | ||
| // https://www.chromestatus.com/feature/5023919287304192 | ||
| let sensor = null; | ||
| try { | ||
| sensor = new RelativeOrientationSensor({ frequency: SENSOR_FREQUENCY }); | ||
| sensor.addEventListener('error', this._onSensorError); | ||
| } catch (error) { | ||
| this.errors.push(error); | ||
|
|
||
| // Sensors are available in Chrome M63, however the Feature Policy | ||
| // integration is not available until Chrome M65, resulting in Sensors | ||
| // only being available in main frames. | ||
| // https://developers.google.com/web/updates/2017/09/sensors-for-the-web#feature_policy_integration | ||
| if (error.name === 'SecurityError') { | ||
| console.error('Cannot construct sensors due to the Feature Policy'); | ||
| console.warn('Attempting to fall back using "devicemotion"; however this will ' + | ||
| 'fail in the future without correct permissions.'); | ||
| this.useDeviceMotion(); | ||
| } else if (error.name === 'ReferenceError') { | ||
| // Fall back to devicemotion. | ||
| this.useDeviceMotion(); | ||
| } else { | ||
| console.error(error); | ||
| } | ||
| } | ||
|
|
||
| if (sensor) { | ||
| this.api = 'sensor'; | ||
| this.sensor = sensor; | ||
| this.sensor.addEventListener('reading', this._onSensorRead); | ||
| this.sensor.start(); | ||
| } | ||
|
|
||
| window.addEventListener('orientationchange', this._onOrientationChange); | ||
| } | ||
|
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||
| useDeviceMotion() { | ||
| this.api = 'devicemotion'; | ||
| this.fusionSensor = new FusionPoseSensor(this.config.K_FILTER, | ||
| this.config.PREDICTION_TIME_S, | ||
| this.config.YAW_ONLY, | ||
| this.config.DEBUG); | ||
| } | ||
|
|
||
| getOrientation() { | ||
| if (this.fusionSensor) { | ||
| return this.fusionSensor.getOrientation(); | ||
| } | ||
|
|
||
| if (!this.sensor || !this.sensor.quaternion) { | ||
| this._out[0] = this._out[1] = this._out[2] = 0; | ||
| this._out[3] = 1; | ||
| return this._out; | ||
| } | ||
|
|
||
| // Convert to THREE coordinate system: -Z forward, Y up, X right. | ||
| const q = this.sensor.quaternion; | ||
| this._sensorQ.set(q[0], q[1], q[2], q[3]); | ||
|
|
||
| const out = this._outQ; | ||
| out.copy(SENSOR_TO_VR); | ||
| out.multiply(this._sensorQ); | ||
| out.multiply(this._worldToScreenQ); | ||
|
|
||
| // Handle the yaw-only case. | ||
| if (this.config.YAW_ONLY) { | ||
| // Make a quaternion that only turns around the Y-axis. | ||
| out.x = out.z = 0; | ||
| out.normalize(); | ||
| } | ||
|
|
||
| this._out[0] = out.x; | ||
| this._out[1] = out.y; | ||
| this._out[2] = out.z; | ||
| this._out[3] = out.w; | ||
| return this._out; | ||
| } | ||
|
|
||
| _onSensorError(event) { | ||
| this.errors.push(event.error); | ||
| if (event.error.name === 'NotAllowedError') { | ||
| console.error('Permission to access sensor was denied'); | ||
| } else if (event.error.name === 'NotReadableError') { | ||
| console.error('Sensor could not be read'); | ||
| } else { | ||
| console.error(event.error); | ||
| } | ||
| } | ||
|
|
||
| _onSensorRead() {} | ||
|
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| _onOrientationChange() { | ||
| const angle = -orientation.angle * Math.PI / 180; | ||
| this._worldToScreenQ.setFromAxisAngle(Z_AXIS, angle); | ||
| } | ||
| } |