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753 lines
26 KiB
Plaintext
753 lines
26 KiB
Plaintext
/*************************************************************************/
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/* arkit_interface.mm */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "core/os/input.h"
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#include "core/os/os.h"
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#include "scene/resources/surface_tool.h"
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#include "servers/visual/visual_server_globals.h"
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#import <ARKit/ARKit.h>
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#import <UIKit/UIKit.h>
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#include <dlfcn.h>
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#include "arkit_interface.h"
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#include "arkit_session_delegate.h"
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// just a dirty workaround for now, declare these as globals. I'll probably encapsulate ARSession and associated logic into an mm object and change ARKitInterface to a normal cpp object that consumes it.
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ARSession *ar_session;
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ARKitSessionDelegate *ar_delegate;
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NSTimeInterval last_timestamp;
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/* this is called when we initialize or when we come back from having our app pushed to the background, just (re)start our session */
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void ARKitInterface::start_session() {
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// We're active...
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session_was_started = true;
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// Ignore this if we're not initialized...
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if (initialized) {
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print_line("Starting ARKit session");
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Class ARWorldTrackingConfigurationClass = NSClassFromString(@"ARWorldTrackingConfiguration");
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ARWorldTrackingConfiguration *configuration = [ARWorldTrackingConfigurationClass new];
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configuration.lightEstimationEnabled = light_estimation_is_enabled;
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if (plane_detection_is_enabled) {
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configuration.planeDetection = ARPlaneDetectionVertical | ARPlaneDetectionHorizontal;
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} else {
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configuration.planeDetection = 0;
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}
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// make sure our camera is on
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if (feed.is_valid()) {
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feed->set_active(true);
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}
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[ar_session runWithConfiguration:configuration];
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}
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}
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void ARKitInterface::stop_session() {
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session_was_started = false;
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// Ignore this if we're not initialized...
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if (initialized) {
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// make sure our camera is off
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if (feed.is_valid()) {
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feed->set_active(false);
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}
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[ar_session pause];
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}
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}
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void ARKitInterface::notification(int p_what) {
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// TODO, this is not being called, need to find out why, possibly because this is not a node.
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// in that case we need to find a way to get these notifications!
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switch (p_what) {
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case MainLoop::NOTIFICATION_WM_FOCUS_IN: {
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print_line("Focus in");
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start_session();
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}; break;
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case MainLoop::NOTIFICATION_WM_FOCUS_OUT: {
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print_line("Focus out");
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stop_session();
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}; break;
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default:
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break;
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}
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}
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bool ARKitInterface::get_anchor_detection_is_enabled() const {
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return plane_detection_is_enabled;
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}
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void ARKitInterface::set_anchor_detection_is_enabled(bool p_enable) {
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if (plane_detection_is_enabled != p_enable) {
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plane_detection_is_enabled = p_enable;
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// Restart our session (this will be ignore if we're not initialised)
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if (session_was_started) {
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start_session();
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}
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}
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}
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int ARKitInterface::get_camera_feed_id() {
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if (feed.is_null()) {
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return 0;
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} else {
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return feed->get_id();
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}
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}
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bool ARKitInterface::get_light_estimation_is_enabled() const {
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return light_estimation_is_enabled;
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}
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void ARKitInterface::set_light_estimation_is_enabled(bool p_enable) {
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if (light_estimation_is_enabled != p_enable) {
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light_estimation_is_enabled = p_enable;
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// Restart our session (this will be ignore if we're not initialised)
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if (session_was_started) {
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start_session();
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}
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}
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}
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real_t ARKitInterface::get_ambient_intensity() const {
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return ambient_intensity;
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}
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real_t ARKitInterface::get_ambient_color_temperature() const {
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return ambient_color_temperature;
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}
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StringName ARKitInterface::get_name() const {
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return "ARKit";
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}
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int ARKitInterface::get_capabilities() const {
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return ARKitInterface::ARVR_MONO + ARKitInterface::ARVR_AR;
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}
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Array ARKitInterface::raycast(Vector2 p_screen_coord) {
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Array arr;
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Size2 screen_size = OS::get_singleton()->get_window_size();
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CGPoint point;
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point.x = p_screen_coord.x / screen_size.x;
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point.y = p_screen_coord.y / screen_size.y;
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///@TODO maybe give more options here, for now we're taking just ARAchors into account that were found during plane detection keeping their size into account
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NSArray<ARHitTestResult *> *results = [ar_session.currentFrame hittest:point types:ARHitTestResultTypeExistingPlaneUsingExtent];
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for (ARHitTestResult *result in results) {
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Transform transform;
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matrix_float4x4 m44 = result.worldTransform;
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transform.basis.elements[0].x = m44.columns[0][0];
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transform.basis.elements[1].x = m44.columns[0][1];
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transform.basis.elements[2].x = m44.columns[0][2];
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transform.basis.elements[0].y = m44.columns[1][0];
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transform.basis.elements[1].y = m44.columns[1][1];
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transform.basis.elements[2].y = m44.columns[1][2];
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transform.basis.elements[0].z = m44.columns[2][0];
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transform.basis.elements[1].z = m44.columns[2][1];
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transform.basis.elements[2].z = m44.columns[2][2];
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transform.origin.x = m44.columns[3][0];
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transform.origin.y = m44.columns[3][1];
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transform.origin.z = m44.columns[3][2];
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/* important, NOT scaled to world_scale !! */
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arr.push_back(transform);
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}
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return arr;
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}
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void ARKitInterface::_bind_methods() {
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ClassDB::bind_method(D_METHOD("_notification", "what"), &ARKitInterface::_notification);
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ClassDB::bind_method(D_METHOD("set_light_estimation_is_enabled", "enable"), &ARKitInterface::set_light_estimation_is_enabled);
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ClassDB::bind_method(D_METHOD("get_light_estimation_is_enabled"), &ARKitInterface::get_light_estimation_is_enabled);
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ADD_PROPERTY(PropertyInfo(Variant::BOOL, "light_estimation"), "set_light_estimation_is_enabled", "get_light_estimation_is_enabled");
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ClassDB::bind_method(D_METHOD("get_ambient_intensity"), &ARKitInterface::get_ambient_intensity);
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ClassDB::bind_method(D_METHOD("get_ambient_color_temperature"), &ARKitInterface::get_ambient_color_temperature);
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ClassDB::bind_method(D_METHOD("raycast", "screen_coord"), &ARKitInterface::raycast);
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}
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bool ARKitInterface::is_stereo() {
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// this is a mono device...
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return false;
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}
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bool ARKitInterface::is_initialized() const {
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return initialized;
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}
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bool ARKitInterface::initialize() {
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ARVRServer *arvr_server = ARVRServer::get_singleton();
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ERR_FAIL_NULL_V(arvr_server, false);
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if (!initialized) {
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print_line("initializing ARKit");
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// create our ar session and delegate
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Class ARSessionClass = NSClassFromString(@"ARSession");
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if (ARSessionClass == Nil) {
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void *arkit_handle = dlopen("/System/Library/Frameworks/ARKit.framework/ARKit", RTLD_NOW);
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if (arkit_handle) {
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ARSessionClass = NSClassFromString(@"ARSession");
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} else {
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print_line("ARKit init failed");
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return false;
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}
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}
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ar_session = [ARSessionClass new];
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ar_delegate = [ARKitSessionDelegate new];
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ar_delegate.arkit_interface = this;
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ar_session.delegate = ar_delegate;
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// reset our transform
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transform = Transform();
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// make this our primary interface
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arvr_server->set_primary_interface(this);
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// make sure we have our feed setup
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if (feed.is_null()) {
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feed.instance();
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feed->set_name("ARKit");
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CameraServer *cs = CameraServer::get_singleton();
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if (cs != NULL) {
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cs->add_feed(feed);
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}
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}
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feed->set_active(true);
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// yeah!
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initialized = true;
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// Start our session...
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start_session();
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}
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return true;
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}
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void ARKitInterface::uninitialize() {
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if (initialized) {
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ARVRServer *arvr_server = ARVRServer::get_singleton();
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if (arvr_server != NULL) {
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// no longer our primary interface
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arvr_server->clear_primary_interface_if(this);
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}
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if (feed.is_valid()) {
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CameraServer *cs = CameraServer::get_singleton();
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if ((cs != NULL)) {
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cs->remove_feed(feed);
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}
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feed.unref();
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}
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remove_all_anchors();
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[ar_session release];
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[ar_delegate release];
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ar_session = NULL;
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ar_delegate = NULL;
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initialized = false;
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session_was_started = false;
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}
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}
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Size2 ARKitInterface::get_render_targetsize() {
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_THREAD_SAFE_METHOD_
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Size2 target_size = OS::get_singleton()->get_window_size();
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return target_size;
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}
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Transform ARKitInterface::get_transform_for_eye(ARVRInterface::Eyes p_eye, const Transform &p_cam_transform) {
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_THREAD_SAFE_METHOD_
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Transform transform_for_eye;
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ARVRServer *arvr_server = ARVRServer::get_singleton();
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ERR_FAIL_NULL_V(arvr_server, transform_for_eye);
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if (initialized) {
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float world_scale = arvr_server->get_world_scale();
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// just scale our origin point of our transform, note that we really shouldn't be using world_scale in ARKit but....
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transform_for_eye = transform;
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transform_for_eye.origin *= world_scale;
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transform_for_eye = p_cam_transform * arvr_server->get_reference_frame() * transform_for_eye;
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} else {
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// huh? well just return what we got....
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transform_for_eye = p_cam_transform;
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}
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return transform_for_eye;
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}
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CameraMatrix ARKitInterface::get_projection_for_eye(ARVRInterface::Eyes p_eye, real_t p_aspect, real_t p_z_near, real_t p_z_far) {
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// Remember our near and far, it will be used in process when we obtain our projection from our ARKit session.
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z_near = p_z_near;
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z_far = p_z_far;
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return projection;
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}
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void ARKitInterface::commit_for_eye(ARVRInterface::Eyes p_eye, RID p_render_target, const Rect2 &p_screen_rect) {
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_THREAD_SAFE_METHOD_
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// We must have a valid render target
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ERR_FAIL_COND(!p_render_target.is_valid());
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// Because we are rendering to our device we must use our main viewport!
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ERR_FAIL_COND(p_screen_rect == Rect2());
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// get the size of our screen
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Rect2 screen_rect = p_screen_rect;
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// screen_rect.position.x += screen_rect.size.x;
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// screen_rect.size.x = -screen_rect.size.x;
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// screen_rect.position.y += screen_rect.size.y;
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// screen_rect.size.y = -screen_rect.size.y;
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VSG::rasterizer->set_current_render_target(RID());
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VSG::rasterizer->blit_render_target_to_screen(p_render_target, screen_rect, 0);
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}
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ARVRPositionalTracker *ARKitInterface::get_anchor_for_uuid(const unsigned char *p_uuid) {
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if (anchors == NULL) {
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num_anchors = 0;
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max_anchors = 10;
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anchors = (anchor_map *)malloc(sizeof(anchor_map) * max_anchors);
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}
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ERR_FAIL_NULL_V(anchors, NULL);
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for (unsigned int i = 0; i < num_anchors; i++) {
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if (memcmp(anchors[i].uuid, p_uuid, 16) == 0) {
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return anchors[i].tracker;
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}
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}
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if (num_anchors + 1 == max_anchors) {
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max_anchors += 10;
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anchors = (anchor_map *)realloc(anchors, sizeof(anchor_map) * max_anchors);
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ERR_FAIL_NULL_V(anchors, NULL);
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}
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ARVRPositionalTracker *new_tracker = memnew(ARVRPositionalTracker);
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new_tracker->set_type(ARVRServer::TRACKER_ANCHOR);
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char tracker_name[256];
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sprintf(tracker_name, "Anchor %02x%02x%02x%02x-%02x%02x-%02x%02x-%02x%02x-%02x%02x%02x%02x%02x%02x", p_uuid[0], p_uuid[1], p_uuid[2], p_uuid[3], p_uuid[4], p_uuid[5], p_uuid[6], p_uuid[7], p_uuid[8], p_uuid[9], p_uuid[10], p_uuid[11], p_uuid[12], p_uuid[13], p_uuid[14], p_uuid[15]);
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String name = tracker_name;
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print_line("Adding tracker " + name);
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new_tracker->set_name(name);
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// add our tracker
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ARVRServer::get_singleton()->add_tracker(new_tracker);
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anchors[num_anchors].tracker = new_tracker;
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memcpy(anchors[num_anchors].uuid, p_uuid, 16);
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num_anchors++;
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return new_tracker;
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}
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void ARKitInterface::remove_anchor_for_uuid(const unsigned char *p_uuid) {
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if (anchors != NULL) {
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for (unsigned int i = 0; i < num_anchors; i++) {
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if (memcmp(anchors[i].uuid, p_uuid, 16) == 0) {
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// remove our tracker
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ARVRServer::get_singleton()->remove_tracker(anchors[i].tracker);
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memdelete(anchors[i].tracker);
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// bring remaining forward
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for (unsigned int j = i + 1; j < num_anchors; j++) {
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anchors[j - 1] = anchors[j];
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};
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// decrease count
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num_anchors--;
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return;
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}
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}
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}
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}
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void ARKitInterface::remove_all_anchors() {
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if (anchors != NULL) {
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for (unsigned int i = 0; i < num_anchors; i++) {
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// remove our tracker
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ARVRServer::get_singleton()->remove_tracker(anchors[i].tracker);
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memdelete(anchors[i].tracker);
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};
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free(anchors);
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anchors = NULL;
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num_anchors = 0;
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}
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}
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void ARKitInterface::process() {
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_THREAD_SAFE_METHOD_
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if (@available(iOS 11.0, *)) {
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if (initialized) {
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// get our next ARFrame
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ARFrame *current_frame = ar_session.currentFrame;
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if (last_timestamp != current_frame.timestamp) {
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// only process if we have a new frame
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last_timestamp = current_frame.timestamp;
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// get some info about our screen and orientation
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Size2 screen_size = OS::get_singleton()->get_window_size();
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UIInterfaceOrientation orientation = [[UIApplication sharedApplication] statusBarOrientation];
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// Grab our camera image for our backbuffer
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CVPixelBufferRef pixelBuffer = current_frame.capturedImage;
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if ((CVPixelBufferGetPlaneCount(pixelBuffer) == 2) && (feed != NULL)) {
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// Plane 0 is our Y and Plane 1 is our CbCr buffer
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// ignored, we check each plane separately
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// image_width = CVPixelBufferGetWidth(pixelBuffer);
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// image_height = CVPixelBufferGetHeight(pixelBuffer);
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// printf("Pixel buffer %i - %i\n", image_width, image_height);
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CVPixelBufferLockBaseAddress(pixelBuffer, kCVPixelBufferLock_ReadOnly);
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// get our buffers
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unsigned char *dataY = (unsigned char *)CVPixelBufferGetBaseAddressOfPlane(pixelBuffer, 0);
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unsigned char *dataCbCr = (unsigned char *)CVPixelBufferGetBaseAddressOfPlane(pixelBuffer, 1);
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if (dataY == NULL) {
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print_line("Couldn't access Y pixel buffer data");
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} else if (dataCbCr == NULL) {
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print_line("Couldn't access CbCr pixel buffer data");
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} else {
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Ref<Image> img[2];
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size_t extraLeft, extraRight, extraTop, extraBottom;
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CVPixelBufferGetExtendedPixels(pixelBuffer, &extraLeft, &extraRight, &extraTop, &extraBottom);
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{
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// do Y
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int new_width = CVPixelBufferGetWidthOfPlane(pixelBuffer, 0);
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int new_height = CVPixelBufferGetHeightOfPlane(pixelBuffer, 0);
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int bytes_per_row = CVPixelBufferGetBytesPerRowOfPlane(pixelBuffer, 0);
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if ((image_width[0] != new_width) || (image_height[0] != new_height)) {
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printf("- Camera padding l:%lu r:%lu t:%lu b:%lu\n", extraLeft, extraRight, extraTop, extraBottom);
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printf("- Camera Y plane size: %i, %i - %i\n", new_width, new_height, bytes_per_row);
|
|
|
|
image_width[0] = new_width;
|
|
image_height[0] = new_height;
|
|
img_data[0].resize(new_width * new_height);
|
|
}
|
|
|
|
PoolVector<uint8_t>::Write w = img_data[0].write();
|
|
if (new_width == bytes_per_row) {
|
|
memcpy(w.ptr(), dataY, new_width * new_height);
|
|
} else {
|
|
int offset_a = 0;
|
|
int offset_b = extraLeft + (extraTop * bytes_per_row);
|
|
for (int r = 0; r < new_height; r++) {
|
|
memcpy(w.ptr() + offset_a, dataY + offset_b, new_width);
|
|
offset_a += new_width;
|
|
offset_b += bytes_per_row;
|
|
}
|
|
}
|
|
|
|
img[0].instance();
|
|
img[0]->create(new_width, new_height, 0, Image::FORMAT_R8, img_data[0]);
|
|
}
|
|
|
|
{
|
|
// do CbCr
|
|
int new_width = CVPixelBufferGetWidthOfPlane(pixelBuffer, 1);
|
|
int new_height = CVPixelBufferGetHeightOfPlane(pixelBuffer, 1);
|
|
int bytes_per_row = CVPixelBufferGetBytesPerRowOfPlane(pixelBuffer, 0);
|
|
|
|
if ((image_width[1] != new_width) || (image_height[1] != new_height)) {
|
|
printf("- Camera CbCr plane size: %i, %i - %i\n", new_width, new_height, bytes_per_row);
|
|
|
|
image_width[1] = new_width;
|
|
image_height[1] = new_height;
|
|
img_data[1].resize(2 * new_width * new_height);
|
|
}
|
|
|
|
PoolVector<uint8_t>::Write w = img_data[1].write();
|
|
if ((2 * new_width) == bytes_per_row) {
|
|
memcpy(w.ptr(), dataCbCr, 2 * new_width * new_height);
|
|
} else {
|
|
int offset_a = 0;
|
|
int offset_b = extraLeft + (extraTop * bytes_per_row);
|
|
for (int r = 0; r < new_height; r++) {
|
|
memcpy(w.ptr() + offset_a, dataCbCr + offset_b, 2 * new_width);
|
|
offset_a += 2 * new_width;
|
|
offset_b += bytes_per_row;
|
|
}
|
|
}
|
|
|
|
img[1].instance();
|
|
img[1]->create(new_width, new_height, 0, Image::FORMAT_RG8, img_data[1]);
|
|
}
|
|
|
|
// set our texture...
|
|
feed->set_YCbCr_imgs(img[0], img[1]);
|
|
|
|
// now build our transform to display this as a background image that matches our camera
|
|
CGAffineTransform affine_transform = [current_frame displayTransformForOrientation:orientation viewportSize:CGSizeMake(screen_size.width, screen_size.height)];
|
|
|
|
// we need to invert this, probably row v.s. column notation
|
|
affine_transform = CGAffineTransformInvert(affine_transform);
|
|
|
|
if (orientation != UIInterfaceOrientationPortrait) {
|
|
affine_transform.b = -affine_transform.b;
|
|
affine_transform.d = -affine_transform.d;
|
|
affine_transform.ty = 1.0 - affine_transform.ty;
|
|
} else {
|
|
affine_transform.c = -affine_transform.c;
|
|
affine_transform.a = -affine_transform.a;
|
|
affine_transform.tx = 1.0 - affine_transform.tx;
|
|
}
|
|
|
|
Transform2D display_transform = Transform2D(
|
|
affine_transform.a, affine_transform.b,
|
|
affine_transform.c, affine_transform.d,
|
|
affine_transform.tx, affine_transform.ty);
|
|
|
|
feed->set_transform(display_transform);
|
|
}
|
|
|
|
// and unlock
|
|
CVPixelBufferUnlockBaseAddress(pixelBuffer, kCVPixelBufferLock_ReadOnly);
|
|
}
|
|
|
|
// Record light estimation to apply to our scene
|
|
if (light_estimation_is_enabled) {
|
|
ambient_intensity = current_frame.lightEstimate.ambientIntensity;
|
|
|
|
///@TODO it's there, but not there.. what to do with this...
|
|
// https://developer.apple.com/documentation/arkit/arlightestimate?language=objc
|
|
// ambient_color_temperature = current_frame.lightEstimate.ambientColorTemperature;
|
|
}
|
|
|
|
// Process our camera
|
|
ARCamera *camera = current_frame.camera;
|
|
|
|
// strangely enough we have to states, rolling them up into one
|
|
if (camera.trackingState == ARTrackingStateNotAvailable) {
|
|
// no tracking, would be good if we black out the screen or something...
|
|
tracking_state = ARVRInterface::ARVR_NOT_TRACKING;
|
|
} else {
|
|
if (camera.trackingState == ARTrackingStateNormal) {
|
|
tracking_state = ARVRInterface::ARVR_NORMAL_TRACKING;
|
|
} else if (camera.trackingStateReason == ARTrackingStateReasonExcessiveMotion) {
|
|
tracking_state = ARVRInterface::ARVR_EXCESSIVE_MOTION;
|
|
} else if (camera.trackingStateReason == ARTrackingStateReasonInsufficientFeatures) {
|
|
tracking_state = ARVRInterface::ARVR_INSUFFICIENT_FEATURES;
|
|
} else {
|
|
tracking_state = ARVRInterface::ARVR_UNKNOWN_TRACKING;
|
|
}
|
|
|
|
// copy our current frame transform
|
|
matrix_float4x4 m44 = camera.transform;
|
|
if (orientation == UIInterfaceOrientationLandscapeLeft) {
|
|
transform.basis.elements[0].x = m44.columns[0][0];
|
|
transform.basis.elements[1].x = m44.columns[0][1];
|
|
transform.basis.elements[2].x = m44.columns[0][2];
|
|
transform.basis.elements[0].y = m44.columns[1][0];
|
|
transform.basis.elements[1].y = m44.columns[1][1];
|
|
transform.basis.elements[2].y = m44.columns[1][2];
|
|
} else if (orientation == UIInterfaceOrientationPortrait) {
|
|
transform.basis.elements[0].x = m44.columns[1][0];
|
|
transform.basis.elements[1].x = m44.columns[1][1];
|
|
transform.basis.elements[2].x = m44.columns[1][2];
|
|
transform.basis.elements[0].y = -m44.columns[0][0];
|
|
transform.basis.elements[1].y = -m44.columns[0][1];
|
|
transform.basis.elements[2].y = -m44.columns[0][2];
|
|
} else if (orientation == UIInterfaceOrientationLandscapeRight) {
|
|
transform.basis.elements[0].x = -m44.columns[0][0];
|
|
transform.basis.elements[1].x = -m44.columns[0][1];
|
|
transform.basis.elements[2].x = -m44.columns[0][2];
|
|
transform.basis.elements[0].y = -m44.columns[1][0];
|
|
transform.basis.elements[1].y = -m44.columns[1][1];
|
|
transform.basis.elements[2].y = -m44.columns[1][2];
|
|
} else if (orientation == UIInterfaceOrientationPortraitUpsideDown) {
|
|
// this may not be correct
|
|
transform.basis.elements[0].x = m44.columns[1][0];
|
|
transform.basis.elements[1].x = m44.columns[1][1];
|
|
transform.basis.elements[2].x = m44.columns[1][2];
|
|
transform.basis.elements[0].y = m44.columns[0][0];
|
|
transform.basis.elements[1].y = m44.columns[0][1];
|
|
transform.basis.elements[2].y = m44.columns[0][2];
|
|
}
|
|
transform.basis.elements[0].z = m44.columns[2][0];
|
|
transform.basis.elements[1].z = m44.columns[2][1];
|
|
transform.basis.elements[2].z = m44.columns[2][2];
|
|
transform.origin.x = m44.columns[3][0];
|
|
transform.origin.y = m44.columns[3][1];
|
|
transform.origin.z = m44.columns[3][2];
|
|
|
|
// copy our current frame projection, investigate using projectionMatrixWithViewportSize:orientation:zNear:zFar: so we can set our own near and far
|
|
m44 = [camera projectionMatrixForOrientation:orientation viewportSize:CGSizeMake(screen_size.width, screen_size.height) zNear:z_near zFar:z_far];
|
|
projection.matrix[0][0] = m44.columns[0][0];
|
|
projection.matrix[1][0] = m44.columns[1][0];
|
|
projection.matrix[2][0] = m44.columns[2][0];
|
|
projection.matrix[3][0] = m44.columns[3][0];
|
|
projection.matrix[0][1] = m44.columns[0][1];
|
|
projection.matrix[1][1] = m44.columns[1][1];
|
|
projection.matrix[2][1] = m44.columns[2][1];
|
|
projection.matrix[3][1] = m44.columns[3][1];
|
|
projection.matrix[0][2] = m44.columns[0][2];
|
|
projection.matrix[1][2] = m44.columns[1][2];
|
|
projection.matrix[2][2] = m44.columns[2][2];
|
|
projection.matrix[3][2] = m44.columns[3][2];
|
|
projection.matrix[0][3] = m44.columns[0][3];
|
|
projection.matrix[1][3] = m44.columns[1][3];
|
|
projection.matrix[2][3] = m44.columns[2][3];
|
|
projection.matrix[3][3] = m44.columns[3][3];
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void ARKitInterface::_add_or_update_anchor(void *p_anchor) {
|
|
_THREAD_SAFE_METHOD_
|
|
|
|
ARAnchor *anchor = (ARAnchor *)p_anchor;
|
|
|
|
unsigned char uuid[16];
|
|
[anchor.identifier getUUIDBytes:uuid];
|
|
|
|
ARVRPositionalTracker *tracker = get_anchor_for_uuid(uuid);
|
|
if (tracker != NULL) {
|
|
// lets update our mesh! (using Arjens code as is for now)
|
|
// we should also probably limit how often we do this...
|
|
|
|
// can we safely cast this?
|
|
ARPlaneAnchor *planeAnchor = (ARPlaneAnchor *)anchor;
|
|
|
|
if (planeAnchor.geometry.triangleCount > 0) {
|
|
Ref<SurfaceTool> surftool;
|
|
surftool.instance();
|
|
surftool->begin(Mesh::PRIMITIVE_TRIANGLES);
|
|
|
|
for (int j = planeAnchor.geometry.triangleCount * 3 - 1; j >= 0; j--) {
|
|
int16_t index = planeAnchor.geometry.triangleIndices[j];
|
|
simd_float3 vrtx = planeAnchor.geometry.vertices[index];
|
|
simd_float2 textcoord = planeAnchor.geometry.textureCoordinates[index];
|
|
surftool->add_uv(Vector2(textcoord[0], textcoord[1]));
|
|
surftool->add_color(Color(0.8, 0.8, 0.8));
|
|
surftool->add_vertex(Vector3(vrtx[0], vrtx[1], vrtx[2]));
|
|
}
|
|
|
|
surftool->generate_normals();
|
|
tracker->set_mesh(surftool->commit());
|
|
} else {
|
|
Ref<Mesh> nomesh;
|
|
tracker->set_mesh(nomesh);
|
|
}
|
|
|
|
// Note, this also contains a scale factor which gives us an idea of the size of the anchor
|
|
// We may extract that in our ARVRAnchor class
|
|
Basis b;
|
|
matrix_float4x4 m44 = anchor.transform;
|
|
b.elements[0].x = m44.columns[0][0];
|
|
b.elements[1].x = m44.columns[0][1];
|
|
b.elements[2].x = m44.columns[0][2];
|
|
b.elements[0].y = m44.columns[1][0];
|
|
b.elements[1].y = m44.columns[1][1];
|
|
b.elements[2].y = m44.columns[1][2];
|
|
b.elements[0].z = m44.columns[2][0];
|
|
b.elements[1].z = m44.columns[2][1];
|
|
b.elements[2].z = m44.columns[2][2];
|
|
tracker->set_orientation(b);
|
|
tracker->set_rw_position(Vector3(m44.columns[3][0], m44.columns[3][1], m44.columns[3][2]));
|
|
}
|
|
}
|
|
|
|
void ARKitInterface::_remove_anchor(void *p_anchor) {
|
|
_THREAD_SAFE_METHOD_
|
|
|
|
ARAnchor *anchor = (ARAnchor *)p_anchor;
|
|
|
|
unsigned char uuid[16];
|
|
[anchor.identifier getUUIDBytes:uuid];
|
|
|
|
remove_anchor_for_uuid(uuid);
|
|
}
|
|
|
|
ARKitInterface::ARKitInterface() {
|
|
initialized = false;
|
|
session_was_started = false;
|
|
plane_detection_is_enabled = false;
|
|
light_estimation_is_enabled = false;
|
|
ar_session = NULL;
|
|
z_near = 0.01;
|
|
z_far = 1000.0;
|
|
projection.set_perspective(60.0, 1.0, z_near, z_far, false);
|
|
anchors = NULL;
|
|
num_anchors = 0;
|
|
ambient_intensity = 1.0;
|
|
ambient_color_temperature = 1.0;
|
|
image_width[0] = 0;
|
|
image_width[1] = 0;
|
|
image_height[0] = 0;
|
|
image_height[1] = 0;
|
|
}
|
|
|
|
ARKitInterface::~ARKitInterface() {
|
|
remove_all_anchors();
|
|
|
|
// and make sure we cleanup if we haven't already
|
|
if (is_initialized()) {
|
|
uninitialize();
|
|
}
|
|
}
|