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t-kume / RadishARCore
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コミットしました。
Collision Light Renderer
1 parent 00be981 commit 58b392664b3574d816947844437af7fa0c160a07
t-kume authored on 24 Dec 2019
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 app/src/main/java/com/google/ar/core/examples/java/helloar/HelloArActivity.java
import com.google.ar.core.Session;
import com.google.ar.core.Trackable;
import com.google.ar.core.TrackingState;
import com.google.ar.core.examples.java.common.framework.RWT.RWTRenderer;
import com.google.ar.core.examples.java.common.framework.gameMain.OvergroundActor;
import com.google.ar.core.examples.java.common.framework.model3D.BaseObject3D;
import com.google.ar.core.examples.java.common.framework.model3D.CollisionResult;
import com.google.ar.core.examples.java.common.framework.model3D.ModelFactory;
import com.google.ar.core.examples.java.common.framework.model3D.ModelFileFormatException;
import com.google.ar.core.examples.java.common.framework.model3D.Object3D;
import com.google.ar.core.examples.java.common.framework.model3D.Position3D;
import com.google.ar.core.examples.java.common.framework.physics.Force3D;
import com.google.ar.core.examples.java.common.framework.physics.Ground;
import com.google.ar.core.examples.java.common.framework.physics.PhysicalSystem;
import com.google.ar.core.examples.java.common.framework.physics.Solid3D;
import com.google.ar.core.examples.java.common.framework.physics.Velocity3D;
import com.google.ar.core.examples.java.common.helpers.CameraPermissionHelper;
import com.google.ar.core.examples.java.common.helpers.DisplayRotationHelper;
import com.google.ar.core.examples.java.common.helpers.FullScreenHelper;
import com.google.ar.core.examples.java.common.helpers.SnackbarHelper;
import com.google.ar.core.examples.java.common.helpers.TrackingStateHelper;
import com.google.ar.core.examples.java.common.java3d.Appearance;
import com.google.ar.core.examples.java.common.java3d.Box;
import com.google.ar.core.examples.java.common.java3d.Material;
import com.google.ar.core.examples.java.common.java3d.Transform3D;
import com.google.ar.core.examples.java.common.java3d.TransparencyAttributes;
import com.google.ar.core.examples.java.common.java3d.Vector3d;
import com.google.ar.core.examples.java.common.rendering.BackgroundRenderer;
import com.google.ar.core.examples.java.common.rendering.ObjectRenderer;
import com.google.ar.core.examples.java.common.rendering.ObjectRenderer.BlendMode;
import com.google.ar.core.examples.java.common.rendering.PlaneRenderer;
import com.google.ar.core.exceptions.UnavailableUserDeclinedInstallationException;
import java.io.IOException;
import java.util.ArrayList;
import java.util.Collection;
import java.util.Collections;
import java.util.Comparator;
import java.util.List;
 
import javax.microedition.khronos.egl.EGLConfig;
import javax.microedition.khronos.opengles.GL10;
 
this.color = color4f;
}
}
 
static class SortablePlane {
final float distance;
final Plane plane;
 
SortablePlane(float distance, Plane plane) {
this.distance = distance;
this.plane = plane;
}
}
 
private final ArrayList<ColoredAnchor> anchors = new ArrayList<>();
 
private Collection<Plane> placedPlanes = new ArrayList<>();
private Plane placedPlane = null;
 
private float ambient = 0.3f;
private float diffuse = 1.0f;
private float specular = 1.0f;
 
installRequested = false;
 
// For Radish
physicalSystem = new PhysicalSystem();
// physicalSystem = new PhysicalSystem();
// try {
// Object3D andy = ModelFactory.loadModel(getResources(), "models/andy.obj", null).createObject();
// andy.setPosition(new Position3D(0.0, 0.0, -1.0));
// universe.place(andy);
// Handle one tap per frame.
handleTap(frame, camera);
 
// Physics
if (physicalSystem.objects.size() > 0) {
physicalSystem.motion(0, 1, Force3D.ZERO, physicalSystem.objects.get(0).getGravityCenter(), ground);
}
universe.update(10);
// if (physicalSystem.objects.size() > 0) {
// physicalSystem.motion(0, 10, Force3D.ZERO, physicalSystem.objects.get(0).getGravityCenter(), ground);
// }
 
// If frame is ready, render camera preview image to the GL surface.
// backgroundRenderer.draw(frame);
 
messageSnackbarHelper.showMessage(this, SEARCHING_PLANE_MESSAGE);
}
 
// Visualize planes.
Collection<Plane> currentPlanes = session.getAllTrackables(Plane.class);
for (Plane plane : currentPlanes) {
if (!placedPlanes.contains(plane)) {
placedPlanes.add(plane);
Box rect = new Box(plane.getExtentX() / 2, 0.1f, plane.getExtentZ() / 2, null);
Collection<Plane> allPlanes = session.getAllTrackables(Plane.class);
for (Plane plane : allPlanes) {
if (placedPlane == null) {
placedPlane = plane;
Appearance ap = new Appearance();
ap.setTransparencyAttributes(new TransparencyAttributes(TransparencyAttributes.BLENDED, 0.5f));
Box rect = new Box(plane.getExtentX() / 2, 0.005f, plane.getExtentZ() / 2, ap);
Object3D rectObj = new Object3D("plane", rect);
Pose p = plane.getCenterPose();
rectObj.apply(new Position3D(p.tx(), p.ty(), p.tz()), false);
rectObj.apply(new Quaternion3D((double)p.qx(), (double)p.qy(), (double)p.qz(), (double)p.qw()), false);
if (ground == null) {
ground = new Ground(rectObj);
universe.place(ground);
}
rectObj.apply(new Quaternion3D((double) p.qx(), (double) p.qy(), (double) p.qz(), (double) p.qw()), false);
ground = new Ground(rectObj);
universe.place(ground);
}
}
Collection<Plane> updatedPlanes = frame.getUpdatedTrackables(Plane.class);
for(Plane plane : updatedPlanes) {
if (plane == placedPlane) {
Appearance ap = new Appearance();
ap.setTransparencyAttributes(new TransparencyAttributes(TransparencyAttributes.BLENDED, 0.5f));
Box rect = new Box(plane.getExtentX() / 2, 0.005f, plane.getExtentZ() / 2, ap);
Object3D rectObj = new Object3D("plane", rect);
Pose p = plane.getCenterPose();
rectObj.apply(new Position3D(p.tx(), p.ty(), p.tz()), false);
rectObj.apply(new Quaternion3D((double) p.qx(), (double) p.qy(), (double) p.qz(), (double) p.qw()), false);
ground.updateBody(rectObj);
}
}
 
// planeRenderer.drawPlanes(
 
try {
Object3D andy = ModelFactory.loadModel(getResources(), "models/andy.obj", null).createObject();
andy.setPosition(new Position3D(px, py + 0.2, pz));
Solid3D andyObj = new Solid3D(andy);
OvergroundActor andyObj = new OvergroundActor(andy, null) {
public void onIntersect(CollisionResult cr, long interval) {
// めり込んだら（めり込んだ面の法線方向に）押し戻す
Vector3d back = (Vector3d) cr.normal.clone();
back.scale(cr.length * 2.0);
body.apply(new Position3D(body.getPosition3D().add(back)), false);
 
// 速度の面の法線方向の成分を 0 にする
Vector3d v = (Vector3d) ((Solid3D)body).getVelocity().getVector3d().clone();
double d = v.dot(cr.normal);
v.scaleAdd(-d * 1.5, cr.normal, v);
body.apply(new Velocity3D(v), false);
}
};
// Solid3D andyObj = new Solid3D(andy);
universe.place(andyObj);
physicalSystem.add(andyObj);
// physicalSystem.add(andyObj);
} catch (IOException e) {
e.printStackTrace();
} catch (ModelFileFormatException e) {
e.printStackTrace();
}
// Box b1 = new Box(1.0f, 1.0f, 1.0f, null);
// Object3D obj1 = new Object3D("box", b1);
// obj1.apply(new Position3D(px , py + 0.3, pz), false);
// Solid3D diceObj = new Solid3D(obj1);
// diceObj.scale(0.01, 0.01, 0.01);
// diceObj.setMass(250);
// universe.place(diceObj);
// physicalSystem.add(diceObj);
anchors.add(anchor);
break;
}
}
}
}
return false;
}
 
public static float calculateDistanceToPlane(Pose planePose, Pose cameraPose) {
float[] normal = new float[3];
float cameraX = cameraPose.tx();
float cameraY = cameraPose.ty();
float cameraZ = cameraPose.tz();
// Get transformed Y axis of plane's coordinate system.
planePose.getTransformedAxis(1, 1.0f, normal, 0);
// Compute dot product of plane's normal with vector from camera to plane center.
return (cameraX - planePose.tx()) * normal[0]
+ (cameraY - planePose.ty()) * normal[1]
+ (cameraZ - planePose.tz()) * normal[2];
}
}