1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
use crate::error::SpatialError;
use crate::types::*;
use bytes::BufMut;
pub fn encode_spatial(value: &SpatialValue, buf: &mut Vec<u8>) -> Result<(), SpatialError> {
// Flag for Spatial Mode (0x07) - This might be handled at a higher level,
// but per spec: [SPATIAL_FLAG][TYPE_ID][FLOAT32]...
// Assuming SPATIAL_FLAG is the mode byte 0x07, which is likely written by the container.
// Here we write [TYPE_ID][DATA]
match value {
SpatialValue::S1(v) => {
buf.put_u8(SpatialType::Position2D as u8);
buf.put_f32(v.x);
buf.put_f32(v.y);
}
SpatialValue::S2(v) => {
buf.put_u8(SpatialType::Position3D as u8);
buf.put_f32(v.x);
buf.put_f32(v.y);
buf.put_f32(v.z);
}
SpatialValue::S3(v) => {
buf.put_u8(SpatialType::Rotation as u8);
buf.put_f32(v.pitch);
buf.put_f32(v.yaw);
buf.put_f32(v.roll);
}
SpatialValue::S4(v) => {
buf.put_u8(SpatialType::Velocity as u8);
buf.put_f32(v.vx);
buf.put_f32(v.vy);
buf.put_f32(v.vz);
}
SpatialValue::S5(v) => {
buf.put_u8(SpatialType::Acceleration as u8);
buf.put_f32(v.ax);
buf.put_f32(v.ay);
buf.put_f32(v.az);
}
SpatialValue::S6(v) => {
buf.put_u8(SpatialType::BoundingBox as u8);
buf.put_f32(v.min_x);
buf.put_f32(v.min_y);
buf.put_f32(v.min_z);
buf.put_f32(v.max_x);
buf.put_f32(v.max_y);
buf.put_f32(v.max_z);
}
SpatialValue::S7(v) => {
buf.put_u8(SpatialType::Quaternion as u8);
buf.put_f32(v.qx);
buf.put_f32(v.qy);
buf.put_f32(v.qz);
buf.put_f32(v.qw);
}
SpatialValue::S8(v) => {
buf.put_u8(SpatialType::Path as u8);
buf.put_u32(v.points.len() as u32);
for point in &v.points {
buf.put_f32(point.x);
buf.put_f32(point.y);
buf.put_f32(point.z);
}
}
SpatialValue::S9(v) => {
buf.put_u8(SpatialType::Transform as u8);
buf.put_f32(v.position.x);
buf.put_f32(v.position.y);
buf.put_f32(v.position.z);
buf.put_f32(v.rotation.pitch);
buf.put_f32(v.rotation.yaw);
buf.put_f32(v.rotation.roll);
buf.put_f32(v.scale.x);
buf.put_f32(v.scale.y);
buf.put_f32(v.scale.z);
}
SpatialValue::S10(v) => {
buf.put_u8(SpatialType::SpatialState as u8);
// Bitmask for presence: [Pos][Rot][Vel][Acc]
let mut mask: u8 = 0;
if v.position.is_some() {
mask |= 0x01;
}
if v.rotation.is_some() {
mask |= 0x02;
}
if v.velocity.is_some() {
mask |= 0x04;
}
if v.acceleration.is_some() {
mask |= 0x08;
}
buf.put_u8(mask);
if let Some(p) = v.position {
buf.put_f32(p.x);
buf.put_f32(p.y);
buf.put_f32(p.z);
}
if let Some(r) = v.rotation {
buf.put_f32(r.pitch);
buf.put_f32(r.yaw);
buf.put_f32(r.roll);
}
if let Some(vel) = v.velocity {
buf.put_f32(vel.vx);
buf.put_f32(vel.vy);
buf.put_f32(vel.vz);
}
if let Some(acc) = v.acceleration {
buf.put_f32(acc.ax);
buf.put_f32(acc.ay);
buf.put_f32(acc.az);
}
}
SpatialValue::S11(v) => {
buf.put_u8(SpatialType::PositionDelta as u8);
buf.put_f32(v.dx);
buf.put_f32(v.dy);
buf.put_f32(v.dz);
}
SpatialValue::S12(v) => {
buf.put_u8(SpatialType::RotationDelta as u8);
buf.put_f32(v.d_pitch);
buf.put_f32(v.d_yaw);
buf.put_f32(v.d_roll);
}
SpatialValue::S13(v) => {
buf.put_u8(SpatialType::SpatialDelta as u8);
match v {
SpatialDelta::Position(p) => {
buf.put_u8(0x01); // Type: Position
buf.put_f32(p.dx);
buf.put_f32(p.dy);
buf.put_f32(p.dz);
}
SpatialDelta::Rotation(r) => {
buf.put_u8(0x02); // Type: Rotation
buf.put_f32(r.d_pitch);
buf.put_f32(r.d_yaw);
buf.put_f32(r.d_roll);
}
SpatialDelta::State {
position,
rotation,
velocity,
acceleration,
} => {
buf.put_u8(0x03); // Type: State
// Bitmask: [Pos][Rot][Vel][Acc]
let mut mask: u8 = 0;
if position.is_some() {
mask |= 0x01;
}
if rotation.is_some() {
mask |= 0x02;
}
if velocity.is_some() {
mask |= 0x04;
}
if acceleration.is_some() {
mask |= 0x08;
}
buf.put_u8(mask);
if let Some(p) = position {
buf.put_f32(p.dx);
buf.put_f32(p.dy);
buf.put_f32(p.dz);
}
if let Some(r) = rotation {
buf.put_f32(r.d_pitch);
buf.put_f32(r.d_yaw);
buf.put_f32(r.d_roll);
}
if let Some(vel) = velocity {
buf.put_f32(vel.vx);
buf.put_f32(vel.vy);
buf.put_f32(vel.vz);
}
if let Some(acc) = acceleration {
buf.put_f32(acc.ax);
buf.put_f32(acc.ay);
buf.put_f32(acc.az);
}
}
}
}
}
Ok(())
}