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virtualx-engine/modules/arkit/arkit_interface.mm
Rémi Verschelde a7f49ac9a1 Update copyright statements to 2020 
Happy new year to the wonderful Godot community!

We're starting a new decade with a well-established, non-profit, free
and open source game engine, and tons of further improvements in the
pipeline from hundreds of contributors.

Godot will keep getting better, and we're looking forward to all the
games that the community will keep developing and releasing with it.
2020-01-01 11:16:22 +01:00

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/*************************************************************************/
/* arkit_interface.mm */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
/* "Software"), to deal in the Software without restriction, including */
/* without limitation the rights to use, copy, modify, merge, publish, */
/* distribute, sublicense, and/or sell copies of the Software, and to */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions: */
/* */
/* The above copyright notice and this permission notice shall be */
/* included in all copies or substantial portions of the Software. */
/* */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#include "core/os/input.h"
#include "core/os/os.h"
#include "scene/resources/surface_tool.h"
#include "servers/visual/visual_server_globals.h"
#import <ARKit/ARKit.h>
#import <UIKit/UIKit.h>
#include <dlfcn.h>
#include "arkit_interface.h"
#include "arkit_session_delegate.h"
// 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.
ARSession *ar_session;
ARKitSessionDelegate *ar_delegate;
NSTimeInterval last_timestamp;
/* this is called when we initialize or when we come back from having our app pushed to the background, just (re)start our session */
void ARKitInterface::start_session() {
// We're active...
session_was_started = true;
// Ignore this if we're not initialized...
if (initialized) {
print_line("Starting ARKit session");
Class ARWorldTrackingConfigurationClass = NSClassFromString(@"ARWorldTrackingConfiguration");
ARWorldTrackingConfiguration *configuration = [ARWorldTrackingConfigurationClass new];
configuration.lightEstimationEnabled = light_estimation_is_enabled;
if (plane_detection_is_enabled) {
configuration.planeDetection = ARPlaneDetectionVertical | ARPlaneDetectionHorizontal;
} else {
configuration.planeDetection = 0;
}
// make sure our camera is on
if (feed.is_valid()) {
feed->set_active(true);
}
[ar_session runWithConfiguration:configuration];
}
}
void ARKitInterface::stop_session() {
session_was_started = false;
// Ignore this if we're not initialized...
if (initialized) {
// make sure our camera is off
if (feed.is_valid()) {
feed->set_active(false);
}
[ar_session pause];
}
}
void ARKitInterface::notification(int p_what) {
// TODO, this is not being called, need to find out why, possibly because this is not a node.
// in that case we need to find a way to get these notifications!
switch (p_what) {
case MainLoop::NOTIFICATION_WM_FOCUS_IN: {
print_line("Focus in");
start_session();
}; break;
case MainLoop::NOTIFICATION_WM_FOCUS_OUT: {
print_line("Focus out");
stop_session();
}; break;
default:
break;
}
}
bool ARKitInterface::get_anchor_detection_is_enabled() const {
return plane_detection_is_enabled;
}
void ARKitInterface::set_anchor_detection_is_enabled(bool p_enable) {
if (plane_detection_is_enabled != p_enable) {
plane_detection_is_enabled = p_enable;
// Restart our session (this will be ignore if we're not initialised)
if (session_was_started) {
start_session();
}
}
}
int ARKitInterface::get_camera_feed_id() {
if (feed.is_null()) {
return 0;
} else {
return feed->get_id();
}
}
bool ARKitInterface::get_light_estimation_is_enabled() const {
return light_estimation_is_enabled;
}
void ARKitInterface::set_light_estimation_is_enabled(bool p_enable) {
if (light_estimation_is_enabled != p_enable) {
light_estimation_is_enabled = p_enable;
// Restart our session (this will be ignore if we're not initialised)
if (session_was_started) {
start_session();
}
}
}
real_t ARKitInterface::get_ambient_intensity() const {
return ambient_intensity;
}
real_t ARKitInterface::get_ambient_color_temperature() const {
return ambient_color_temperature;
}
StringName ARKitInterface::get_name() const {
return "ARKit";
}
int ARKitInterface::get_capabilities() const {
return ARKitInterface::ARVR_MONO + ARKitInterface::ARVR_AR;
}
Array ARKitInterface::raycast(Vector2 p_screen_coord) {
Array arr;
Size2 screen_size = OS::get_singleton()->get_window_size();
CGPoint point;
point.x = p_screen_coord.x / screen_size.x;
point.y = p_screen_coord.y / screen_size.y;
///@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
NSArray<ARHitTestResult *> *results = [ar_session.currentFrame hittest:point types:ARHitTestResultTypeExistingPlaneUsingExtent];
for (ARHitTestResult *result in results) {
Transform transform;
matrix_float4x4 m44 = result.worldTransform;
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];
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];
/* important, NOT scaled to world_scale !! */
arr.push_back(transform);
}
return arr;
}
void ARKitInterface::_bind_methods() {
ClassDB::bind_method(D_METHOD("_notification", "what"), &ARKitInterface::_notification);
ClassDB::bind_method(D_METHOD("set_light_estimation_is_enabled", "enable"), &ARKitInterface::set_light_estimation_is_enabled);
ClassDB::bind_method(D_METHOD("get_light_estimation_is_enabled"), &ARKitInterface::get_light_estimation_is_enabled);
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "light_estimation"), "set_light_estimation_is_enabled", "get_light_estimation_is_enabled");
ClassDB::bind_method(D_METHOD("get_ambient_intensity"), &ARKitInterface::get_ambient_intensity);
ClassDB::bind_method(D_METHOD("get_ambient_color_temperature"), &ARKitInterface::get_ambient_color_temperature);
ClassDB::bind_method(D_METHOD("raycast", "screen_coord"), &ARKitInterface::raycast);
}
bool ARKitInterface::is_stereo() {
// this is a mono device...
return false;
}
bool ARKitInterface::is_initialized() const {
return initialized;
}
bool ARKitInterface::initialize() {
ARVRServer *arvr_server = ARVRServer::get_singleton();
ERR_FAIL_NULL_V(arvr_server, false);
if (!initialized) {
print_line("initializing ARKit");
// create our ar session and delegate
Class ARSessionClass = NSClassFromString(@"ARSession");
if (ARSessionClass == Nil) {
void *arkit_handle = dlopen("/System/Library/Frameworks/ARKit.framework/ARKit", RTLD_NOW);
if (arkit_handle) {
ARSessionClass = NSClassFromString(@"ARSession");
} else {
print_line("ARKit init failed");
return false;
}
}
ar_session = [ARSessionClass new];
ar_delegate = [ARKitSessionDelegate new];
ar_delegate.arkit_interface = this;
ar_session.delegate = ar_delegate;
// reset our transform
transform = Transform();
// make this our primary interface
arvr_server->set_primary_interface(this);
// make sure we have our feed setup
if (feed.is_null()) {
feed.instance();
feed->set_name("ARKit");
CameraServer *cs = CameraServer::get_singleton();
if (cs != NULL) {
cs->add_feed(feed);
}
}
feed->set_active(true);
// yeah!
initialized = true;
// Start our session...
start_session();
}
return true;
}
void ARKitInterface::uninitialize() {
if (initialized) {
ARVRServer *arvr_server = ARVRServer::get_singleton();
if (arvr_server != NULL) {
// no longer our primary interface
arvr_server->clear_primary_interface_if(this);
}
if (feed.is_valid()) {
CameraServer *cs = CameraServer::get_singleton();
if ((cs != NULL)) {
cs->remove_feed(feed);
}
feed.unref();
}
remove_all_anchors();
[ar_session release];
[ar_delegate release];
ar_session = NULL;
ar_delegate = NULL;
initialized = false;
session_was_started = false;
}
}
Size2 ARKitInterface::get_render_targetsize() {
_THREAD_SAFE_METHOD_
Size2 target_size = OS::get_singleton()->get_window_size();
return target_size;
}
Transform ARKitInterface::get_transform_for_eye(ARVRInterface::Eyes p_eye, const Transform &p_cam_transform) {
_THREAD_SAFE_METHOD_
Transform transform_for_eye;
ARVRServer *arvr_server = ARVRServer::get_singleton();
ERR_FAIL_NULL_V(arvr_server, transform_for_eye);
if (initialized) {
float world_scale = arvr_server->get_world_scale();
// just scale our origin point of our transform, note that we really shouldn't be using world_scale in ARKit but....
transform_for_eye = transform;
transform_for_eye.origin *= world_scale;
transform_for_eye = p_cam_transform * arvr_server->get_reference_frame() * transform_for_eye;
} else {
// huh? well just return what we got....
transform_for_eye = p_cam_transform;
}
return transform_for_eye;
}
CameraMatrix ARKitInterface::get_projection_for_eye(ARVRInterface::Eyes p_eye, real_t p_aspect, real_t p_z_near, real_t p_z_far) {
// Remember our near and far, it will be used in process when we obtain our projection from our ARKit session.
z_near = p_z_near;
z_far = p_z_far;
return projection;
}
void ARKitInterface::commit_for_eye(ARVRInterface::Eyes p_eye, RID p_render_target, const Rect2 &p_screen_rect) {
_THREAD_SAFE_METHOD_
// We must have a valid render target
ERR_FAIL_COND(!p_render_target.is_valid());
// Because we are rendering to our device we must use our main viewport!
ERR_FAIL_COND(p_screen_rect == Rect2());
// get the size of our screen
Rect2 screen_rect = p_screen_rect;
// screen_rect.position.x += screen_rect.size.x;
// screen_rect.size.x = -screen_rect.size.x;
// screen_rect.position.y += screen_rect.size.y;
// screen_rect.size.y = -screen_rect.size.y;
VSG::rasterizer->set_current_render_target(RID());
VSG::rasterizer->blit_render_target_to_screen(p_render_target, screen_rect, 0);
}
ARVRPositionalTracker *ARKitInterface::get_anchor_for_uuid(const unsigned char *p_uuid) {
if (anchors == NULL) {
num_anchors = 0;
max_anchors = 10;
anchors = (anchor_map *)malloc(sizeof(anchor_map) * max_anchors);
}
ERR_FAIL_NULL_V(anchors, NULL);
for (unsigned int i = 0; i < num_anchors; i++) {
if (memcmp(anchors[i].uuid, p_uuid, 16) == 0) {
return anchors[i].tracker;
}
}
if (num_anchors + 1 == max_anchors) {
max_anchors += 10;
anchors = (anchor_map *)realloc(anchors, sizeof(anchor_map) * max_anchors);
ERR_FAIL_NULL_V(anchors, NULL);
}
ARVRPositionalTracker *new_tracker = memnew(ARVRPositionalTracker);
new_tracker->set_type(ARVRServer::TRACKER_ANCHOR);
char tracker_name[256];
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]);
String name = tracker_name;
print_line("Adding tracker " + name);
new_tracker->set_name(name);
// add our tracker
ARVRServer::get_singleton()->add_tracker(new_tracker);
anchors[num_anchors].tracker = new_tracker;
memcpy(anchors[num_anchors].uuid, p_uuid, 16);
num_anchors++;
return new_tracker;
}
void ARKitInterface::remove_anchor_for_uuid(const unsigned char *p_uuid) {
if (anchors != NULL) {
for (unsigned int i = 0; i < num_anchors; i++) {
if (memcmp(anchors[i].uuid, p_uuid, 16) == 0) {
// remove our tracker
ARVRServer::get_singleton()->remove_tracker(anchors[i].tracker);
memdelete(anchors[i].tracker);
// bring remaining forward
for (unsigned int j = i + 1; j < num_anchors; j++) {
anchors[j - 1] = anchors[j];
};
// decrease count
num_anchors--;
return;
}
}
}
}
void ARKitInterface::remove_all_anchors() {
if (anchors != NULL) {
for (unsigned int i = 0; i < num_anchors; i++) {
// remove our tracker
ARVRServer::get_singleton()->remove_tracker(anchors[i].tracker);
memdelete(anchors[i].tracker);
};
free(anchors);
anchors = NULL;
num_anchors = 0;
}
}
void ARKitInterface::process() {
_THREAD_SAFE_METHOD_
if (@available(iOS 11.0, *)) {
if (initialized) {
// get our next ARFrame
ARFrame *current_frame = ar_session.currentFrame;
if (last_timestamp != current_frame.timestamp) {
// only process if we have a new frame
last_timestamp = current_frame.timestamp;
// get some info about our screen and orientation
Size2 screen_size = OS::get_singleton()->get_window_size();
UIInterfaceOrientation orientation = [[UIApplication sharedApplication] statusBarOrientation];
// Grab our camera image for our backbuffer
CVPixelBufferRef pixelBuffer = current_frame.capturedImage;
if ((CVPixelBufferGetPlaneCount(pixelBuffer) == 2) && (feed != NULL)) {
// Plane 0 is our Y and Plane 1 is our CbCr buffer
// ignored, we check each plane separately
// image_width = CVPixelBufferGetWidth(pixelBuffer);
// image_height = CVPixelBufferGetHeight(pixelBuffer);
// printf("Pixel buffer %i - %i\n", image_width, image_height);
CVPixelBufferLockBaseAddress(pixelBuffer, kCVPixelBufferLock_ReadOnly);
// get our buffers
unsigned char *dataY = (unsigned char *)CVPixelBufferGetBaseAddressOfPlane(pixelBuffer, 0);
unsigned char *dataCbCr = (unsigned char *)CVPixelBufferGetBaseAddressOfPlane(pixelBuffer, 1);
if (dataY == NULL) {
print_line("Couldn't access Y pixel buffer data");
} else if (dataCbCr == NULL) {
print_line("Couldn't access CbCr pixel buffer data");
} else {
Ref<Image> img[2];
size_t extraLeft, extraRight, extraTop, extraBottom;
CVPixelBufferGetExtendedPixels(pixelBuffer, &extraLeft, &extraRight, &extraTop, &extraBottom);
{
// do Y
int new_width = CVPixelBufferGetWidthOfPlane(pixelBuffer, 0);
int new_height = CVPixelBufferGetHeightOfPlane(pixelBuffer, 0);
int bytes_per_row = CVPixelBufferGetBytesPerRowOfPlane(pixelBuffer, 0);
if ((image_width[0] != new_width) || (image_height[0] != new_height)) {
printf("- Camera padding l:%lu r:%lu t:%lu b:%lu\n", extraLeft, extraRight, extraTop, extraBottom);
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();
}
}
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