servo-webxr-api 0.5.0

A safe Rust API that provides a way to interact with virtual reality and augmented reality devices and integration with OpenXR. The API is inspired by the WebXR Device API (https://www.w3.org/TR/webxr/) but adapted to Rust design patterns.
Documentation 
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

/* This Source Code Form is subject to the terms of the Mozilla Public
 * License, v. 2.0. If a copy of the MPL was not distributed with this
 * file, You can obtain one at https://mozilla.org/MPL/2.0/. */

use euclid::RigidTransform3D;
use malloc_size_of_derive::MallocSizeOf;
use serde::{Deserialize, Serialize};

use crate::Native;

#[derive(Clone, Copy, Debug, Eq, Hash, PartialEq, Serialize, Deserialize)]
pub struct HandSpace;

#[derive(Clone, Debug, Default, Serialize, Deserialize, MallocSizeOf)]
pub struct Hand<J> {
    pub wrist: Option<J>,
    pub thumb_metacarpal: Option<J>,
    pub thumb_phalanx_proximal: Option<J>,
    pub thumb_phalanx_distal: Option<J>,
    pub thumb_phalanx_tip: Option<J>,
    pub index: Finger<J>,
    pub middle: Finger<J>,
    pub ring: Finger<J>,
    pub little: Finger<J>,
}

#[derive(Clone, Debug, Default, Serialize, Deserialize, MallocSizeOf)]
pub struct Finger<J> {
    pub metacarpal: Option<J>,
    pub phalanx_proximal: Option<J>,
    pub phalanx_intermediate: Option<J>,
    pub phalanx_distal: Option<J>,
    pub phalanx_tip: Option<J>,
}

#[derive(Clone, Copy, Debug, Serialize, Deserialize, MallocSizeOf)]
pub struct JointFrame {
    pub pose: RigidTransform3D<f32, HandSpace, Native>,
    pub radius: f32,
}

impl Default for JointFrame {
    fn default() -> Self {
        Self {
            pose: RigidTransform3D::identity(),
            radius: 0.,
        }
    }
}

impl<J> Hand<J> {
    pub fn map<C, R>(
        &self,
        cx: &mut C,
        map: impl (Fn(&mut C, &Option<J>, Joint) -> Option<R>) + Copy,
    ) -> Hand<R> {
        Hand {
            wrist: map(cx, &self.wrist, Joint::Wrist),
            thumb_metacarpal: map(cx, &self.thumb_metacarpal, Joint::ThumbMetacarpal),
            thumb_phalanx_proximal: map(
                cx,
                &self.thumb_phalanx_proximal,
                Joint::ThumbPhalanxProximal,
            ),
            thumb_phalanx_distal: map(cx, &self.thumb_phalanx_distal, Joint::ThumbPhalanxDistal),
            thumb_phalanx_tip: map(cx, &self.thumb_phalanx_tip, Joint::ThumbPhalanxTip),
            index: self.index.map(cx, |cx, f, j| map(cx, f, Joint::Index(j))),
            middle: self.middle.map(cx, |cx, f, j| map(cx, f, Joint::Middle(j))),
            ring: self.ring.map(cx, |cx, f, j| map(cx, f, Joint::Ring(j))),
            little: self.little.map(cx, |cx, f, j| map(cx, f, Joint::Little(j))),
        }
    }

    pub fn get(&self, joint: Joint) -> Option<&J> {
        match joint {
            Joint::Wrist => self.wrist.as_ref(),
            Joint::ThumbMetacarpal => self.thumb_metacarpal.as_ref(),
            Joint::ThumbPhalanxProximal => self.thumb_phalanx_proximal.as_ref(),
            Joint::ThumbPhalanxDistal => self.thumb_phalanx_distal.as_ref(),
            Joint::ThumbPhalanxTip => self.thumb_phalanx_tip.as_ref(),
            Joint::Index(f) => self.index.get(f),
            Joint::Middle(f) => self.middle.get(f),
            Joint::Ring(f) => self.ring.get(f),
            Joint::Little(f) => self.little.get(f),
        }
    }
}

impl<J> Finger<J> {
    pub fn map<C, R>(
        &self,
        cx: &mut C,
        map: impl (Fn(&mut C, &Option<J>, FingerJoint) -> Option<R>) + Copy,
    ) -> Finger<R> {
        Finger {
            metacarpal: map(cx, &self.metacarpal, FingerJoint::Metacarpal),
            phalanx_proximal: map(cx, &self.phalanx_proximal, FingerJoint::PhalanxProximal),
            phalanx_intermediate: map(
                cx,
                &self.phalanx_intermediate,
                FingerJoint::PhalanxIntermediate,
            ),
            phalanx_distal: map(cx, &self.phalanx_distal, FingerJoint::PhalanxDistal),
            phalanx_tip: map(cx, &self.phalanx_tip, FingerJoint::PhalanxTip),
        }
    }

    pub fn get(&self, joint: FingerJoint) -> Option<&J> {
        match joint {
            FingerJoint::Metacarpal => self.metacarpal.as_ref(),
            FingerJoint::PhalanxProximal => self.phalanx_proximal.as_ref(),
            FingerJoint::PhalanxIntermediate => self.phalanx_intermediate.as_ref(),
            FingerJoint::PhalanxDistal => self.phalanx_distal.as_ref(),
            FingerJoint::PhalanxTip => self.phalanx_tip.as_ref(),
        }
    }
}

#[derive(Clone, Copy, Debug, Eq, PartialEq, Serialize, Deserialize)]
pub enum FingerJoint {
    Metacarpal,
    PhalanxProximal,
    PhalanxIntermediate,
    PhalanxDistal,
    PhalanxTip,
}

#[derive(Clone, Copy, Debug, Eq, PartialEq, Serialize, Deserialize)]
pub enum Joint {
    Wrist,
    ThumbMetacarpal,
    ThumbPhalanxProximal,
    ThumbPhalanxDistal,
    ThumbPhalanxTip,
    Index(FingerJoint),
    Middle(FingerJoint),
    Ring(FingerJoint),
    Little(FingerJoint),
}