/*************************************************************************/ /* 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); } uint8_t *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); } uint8_t *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(); } }