オブジェクトの地面との当たり判定時の挙動がすこし変だったので、修正した。地面との当たり判定の際、オブジェクトが摩擦に対応した動きになるように変更した。画面からオブジェクトがまっすぐに飛んでいなかったので、修正した。（現状、画面から発生させたオブジェクト同士の当たり判定がない）

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t-kume / RadishARCore

Browse code オブジェクトの地面との当たり判定時の挙動がすこし変だったので、修正した。地面との当たり判定の際、オブジェクトが摩擦に対応した動きになるように変更した。画面からオブジェクトがまっすぐに飛んでいなかったので、修正した。（現状、画面から発生させたオブジェクト同士の当たり判定がない） Collision Light
1 parent 88a46e6 commit 840d4fff8e79da68758814aff33051d9c4399aba t-kume authored on 20 Jan 2020

Browse code

オブジェクトの地面との当たり判定時の挙動がすこし変だったので、修正した。

地面との当たり判定の際、オブジェクトが摩擦に対応した動きになるように変更した。
画面からオブジェクトがまっすぐに飛んでいなかったので、修正した。
（現状、画面から発生させたオブジェクト同士の当たり判定がない）

Collision Light

1 parent 88a46e6 commit 840d4fff8e79da68758814aff33051d9c4399aba

t-kume authored on 20 Jan 2020

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          app/src/main/java/com/google/ar/core/examples/java/helloar/HelloArActivity.java
 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.model3D.Quaternion3D;
import com.google.ar.core.examples.java.common.framework.model3D.Universe;
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;
        messageSnackbarHelper.showMessage(this, SEARCHING_PLANE_MESSAGE);
      }
 
      // Visualize planes.
//      Collection<Plane> updatedPlanes = frame.getUpdatedTrackables(Plane.class);
//      for (Plane plane : updatedPlanes) {
//        if (placedPlane == null) {
//          placedPlane = plane;
//          Appearance ap = new Appearance();
//          ap.setTransparencyAttributes(new TransparencyAttributes(TransparencyAttributes.BLENDED, 0.5f));
//          FloatBuffer vertices = plane.getPolygon();
//          vertices.position(0);
//          TriangleFanArray polygon = new TriangleFanArray(vertices.remaining() / 2, TriangleArray.COORDINATES, new int[]{vertices.remaining() / 2});
//          for (int i = 0; i < vertices.remaining() / 2; i++) {
//            polygon.setCoordinate(i, new float[]{vertices.get(i * 2), 0.0f, vertices.get(i * 2 + 1)});
//          }
//          polyObj = new Object3D("plane", new Shape3D(polygon, ap));
//          Pose p = plane.getCenterPose();
//          polyObj.apply(new Position3D(p.tx(), p.ty(), p.tz()), false);
//          polyObj.apply(new Quaternion3D((double) p.qx(), (double) p.qy(), (double) p.qz(), (double) p.qw()), false);
//          ground = new Ground(polyObj);
//          universe.place(ground);
//        } else if (plane.equals(placedPlane)) {
//          Appearance ap = new Appearance();
//          ap.setTransparencyAttributes(new TransparencyAttributes(TransparencyAttributes.BLENDED, 0.5f));
//          FloatBuffer vertices = plane.getPolygon();
//          vertices.position(0);
//          TriangleFanArray polygon = new TriangleFanArray(vertices.remaining() / 2, TriangleArray.COORDINATES, new int[]{vertices.remaining() / 2});
//          for (int i = 0; i < vertices.remaining() / 2; i++) {
//            polygon.setCoordinate(i, new float[]{vertices.get(i * 2), 0.0f, vertices.get(i * 2 + 1)});
//          }
//          polyObj = new Object3D("plane", new Shape3D(polygon, ap));
//          Pose p = plane.getCenterPose();
//          polyObj.apply(new Position3D(p.tx(), p.ty(), p.tz()), false);
//          polyObj.apply(new Quaternion3D((double) p.qx(), (double) p.qy(), (double) p.qz(), (double) p.qw()), false);
//          universe.displace(ground);
//          ground = new Ground(polyObj);
//          universe.place(ground);
//        }
//      }
      Collection<Plane> updatedPlanes = frame.getUpdatedTrackables(Plane.class);
      for (Plane plane : updatedPlanes) {
        if (placedPlane == null) {
          placedPlane = plane;
          Appearance ap = new Appearance();
          ap.setTransparencyAttributes(new TransparencyAttributes(TransparencyAttributes.BLENDED, 0));
          FloatBuffer vertices = plane.getPolygon();
          vertices.position(0);
          TriangleFanArray polygon = new TriangleFanArray(vertices.remaining() / 2, TriangleArray.COORDINATES, new int[]{vertices.remaining() / 2});
          for (int i = 0; i < vertices.remaining() / 2; i++) {
            polygon.setCoordinate(i, new float[]{vertices.get(i * 2), 0.0f, vertices.get(i * 2 + 1)});
          }
          polyObj = new Object3D("plane", new Shape3D(polygon, ap));
          Pose p = plane.getCenterPose();
          polyObj.apply(new Position3D(p.tx(), p.ty(), p.tz()), false);
          polyObj.apply(new Quaternion3D((double) p.qx(), (double) p.qy(), (double) p.qz(), (double) p.qw()), false);
          ground = new Ground(polyObj);
          universe.place(ground);
        } else if (plane.equals(placedPlane)) {
          Appearance ap = new Appearance();
          ap.setTransparencyAttributes(new TransparencyAttributes(TransparencyAttributes.BLENDED, 0));
          FloatBuffer vertices = plane.getPolygon();
          vertices.position(0);
          TriangleFanArray polygon = new TriangleFanArray(vertices.remaining() / 2, TriangleArray.COORDINATES, new int[]{vertices.remaining() / 2});
          for (int i = 0; i < vertices.remaining() / 2; i++) {
            polygon.setCoordinate(i, new float[]{vertices.get(i * 2), 0.0f, vertices.get(i * 2 + 1)});
          }
          polyObj = new Object3D("plane", new Shape3D(polygon, ap));
          Pose p = plane.getCenterPose();
          polyObj.apply(new Position3D(p.tx(), p.ty(), p.tz()), false);
          polyObj.apply(new Quaternion3D((double) p.qx(), (double) p.qy(), (double) p.qz(), (double) p.qw()), false);
          universe.displace(ground);
          ground = new Ground(polyObj);
          universe.place(ground);
        }
      }
 
/////////////////////////////////////////////////////////////////////////////////////
// 以下は複数検出面に対応したコードだが、検出面が2個以上になるとちゃんと動かない?
//
      Collection<Plane> updatedPlanes = frame.getUpdatedTrackables(Plane.class);
      if (updatedPlanes != null && updatedPlanes.size() > 0) {
        if (ground != null) universe.displace(ground);
        ArrayList<Object3D> polygons = new ArrayList<>();
        for (Plane plane : updatedPlanes) {
            if (plane.getSubsumedBy() == null) {
                Appearance ap = new Appearance();
                ap.setTransparencyAttributes(new TransparencyAttributes(TransparencyAttributes.BLENDED, 0.5f));
                FloatBuffer vertices = plane.getPolygon();
                vertices.position(0);
                TriangleFanArray polygon = new TriangleFanArray(vertices.remaining() / 2, TriangleArray.COORDINATES, new int[]{vertices.remaining() / 2});
                for (int j = 0; j < vertices.remaining() / 2; j++) {
                    polygon.setCoordinate(j, new float[]{vertices.get(j * 2), 0.0f, vertices.get(j * 2 + 1)});
                }
                Object3D polyObj = new Object3D("plane" + (polygons.size() + 1), new Shape3D(polygon, ap));
                Pose p = plane.getCenterPose();
                polyObj.apply(new Position3D(p.tx(), p.ty(), p.tz()), false);
                polyObj.apply(new Quaternion3D((double) p.qx(), (double) p.qy(), (double) p.qz(), (double) p.qw()), false);
                polygons.add(polyObj);
            }
        }
        ground = new Ground(new Object3D("ground", polygons.toArray(new Object3D[]{})));
        universe.place(ground);
      }
//      Collection<Plane> updatedPlanes = frame.getUpdatedTrackables(Plane.class);
//      if (updatedPlanes != null && updatedPlanes.size() > 0) {
//        if (ground != null) universe.displace(ground);
//        ArrayList<Object3D> polygons = new ArrayList<>();
//        for (Plane plane : updatedPlanes) {
//            if (plane.getSubsumedBy() == null) {
//                Appearance ap = new Appearance();
//                ap.setTransparencyAttributes(new TransparencyAttributes(TransparencyAttributes.BLENDED, 0.5f));
//                FloatBuffer vertices = plane.getPolygon();
//                vertices.position(0);
//                TriangleFanArray polygon = new TriangleFanArray(vertices.remaining() / 2, TriangleArray.COORDINATES, new int[]{vertices.remaining() / 2});
//                for (int j = 0; j < vertices.remaining() / 2; j++) {
//                    polygon.setCoordinate(j, new float[]{vertices.get(j * 2), 0.0f, vertices.get(j * 2 + 1)});
//                }
//                Object3D polyObj = new Object3D("plane" + (polygons.size() + 1), new Shape3D(polygon, ap));
//                Pose p = plane.getCenterPose();
//                polyObj.apply(new Position3D(p.tx(), p.ty(), p.tz()), false);
//                polyObj.apply(new Quaternion3D((double) p.qx(), (double) p.qy(), (double) p.qz(), (double) p.qw()), false);
//                polygons.add(polyObj);
//            }
//        }
//        ground = new Ground(new Object3D("ground", polygons.toArray(new Object3D[]{})));
//        universe.place(ground);
//      }
/////////////////////////////////////////////////////////////////////////////////////
 
 
//      planeRenderer.drawPlanes(
          Appearance ap = new Appearance();
          Material m = new Material();
          ap.setMaterial(m);
          Object3D andy = new Object3D("andy", new Sphere(0.05f, ap));
//            andy.setPosition(new Position3D(px, py + 0.2, pz));
            float viewPoint[] = camera.getDisplayOrientedPose().getTranslation();
            andy.setPosition(new Position3D(viewPoint[0], viewPoint[1], viewPoint[2]));
            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);
                back.scale(cr.length);
                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);
                v.scaleAdd(-d * 1.35, cr.normal, v);
                //摩擦
                double u = 0.8;
                v.x = v.x * u;
                v.z = v.z * u;
                body.apply(new Velocity3D(v), false);
              }
            };
            float viewLine[] = camera.getDisplayOrientedPose().getZAxis();
            andyObj.setVelocity(new Velocity3D(-viewLine[0], -viewLine[1], -1.7 * viewLine[2]));
//            Solid3D andyObj = new Solid3D(andy);
            //オブジェクトを飛ばす強さ
            double power = 1.7;
            andyObj.setVelocity(new Velocity3D(-viewLine[0] * power, -viewLine[1], -viewLine[2] * power));
            universe.place(andyObj);
//            physicalSystem.add(andyObj);
//          } catch (IOException e) {
//            e.printStackTrace();
//          } catch (ModelFileFormatException e) {
//            e.printStackTrace();
 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.model3D.Quaternion3D;
 import com.google.ar.core.examples.java.common.framework.model3D.Universe;
+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;
         messageSnackbarHelper.showMessage(this, SEARCHING_PLANE_MESSAGE);
       }
       // Visualize planes.
+//      Collection<Plane> updatedPlanes = frame.getUpdatedTrackables(Plane.class);
+//      for (Plane plane : updatedPlanes) {
+//        if (placedPlane == null) {
+//          placedPlane = plane;
+//          Appearance ap = new Appearance();
+//          ap.setTransparencyAttributes(new TransparencyAttributes(TransparencyAttributes.BLENDED, 0.5f));
+//          FloatBuffer vertices = plane.getPolygon();
+//          vertices.position(0);
+//          TriangleFanArray polygon = new TriangleFanArray(vertices.remaining() / 2, TriangleArray.COORDINATES, new int[]{vertices.remaining() / 2});
+//          for (int i = 0; i < vertices.remaining() / 2; i++) {
+//            polygon.setCoordinate(i, new float[]{vertices.get(i * 2), 0.0f, vertices.get(i * 2 + 1)});
+//          }
+//          polyObj = new Object3D("plane", new Shape3D(polygon, ap));
+//          Pose p = plane.getCenterPose();
+//          polyObj.apply(new Position3D(p.tx(), p.ty(), p.tz()), false);
+//          polyObj.apply(new Quaternion3D((double) p.qx(), (double) p.qy(), (double) p.qz(), (double) p.qw()), false);
+//          ground = new Ground(polyObj);
+//          universe.place(ground);
+//        } else if (plane.equals(placedPlane)) {
+//          Appearance ap = new Appearance();
+//          ap.setTransparencyAttributes(new TransparencyAttributes(TransparencyAttributes.BLENDED, 0.5f));
+//          FloatBuffer vertices = plane.getPolygon();
+//          vertices.position(0);
+//          TriangleFanArray polygon = new TriangleFanArray(vertices.remaining() / 2, TriangleArray.COORDINATES, new int[]{vertices.remaining() / 2});
+//          for (int i = 0; i < vertices.remaining() / 2; i++) {
+//            polygon.setCoordinate(i, new float[]{vertices.get(i * 2), 0.0f, vertices.get(i * 2 + 1)});
+//          }
+//          polyObj = new Object3D("plane", new Shape3D(polygon, ap));
+//          Pose p = plane.getCenterPose();
+//          polyObj.apply(new Position3D(p.tx(), p.ty(), p.tz()), false);
+//          polyObj.apply(new Quaternion3D((double) p.qx(), (double) p.qy(), (double) p.qz(), (double) p.qw()), false);
+//          universe.displace(ground);
+//          ground = new Ground(polyObj);
+//          universe.place(ground);
+//        }
+//      }
+      Collection<Plane> updatedPlanes = frame.getUpdatedTrackables(Plane.class);
+      for (Plane plane : updatedPlanes) {
+        if (placedPlane == null) {
+          placedPlane = plane;
+          Appearance ap = new Appearance();
+          ap.setTransparencyAttributes(new TransparencyAttributes(TransparencyAttributes.BLENDED, 0));
+          FloatBuffer vertices = plane.getPolygon();
+          vertices.position(0);
+          TriangleFanArray polygon = new TriangleFanArray(vertices.remaining() / 2, TriangleArray.COORDINATES, new int[]{vertices.remaining() / 2});
+          for (int i = 0; i < vertices.remaining() / 2; i++) {
+            polygon.setCoordinate(i, new float[]{vertices.get(i * 2), 0.0f, vertices.get(i * 2 + 1)});
+          }
+          polyObj = new Object3D("plane", new Shape3D(polygon, ap));
+          Pose p = plane.getCenterPose();
+          polyObj.apply(new Position3D(p.tx(), p.ty(), p.tz()), false);
+          polyObj.apply(new Quaternion3D((double) p.qx(), (double) p.qy(), (double) p.qz(), (double) p.qw()), false);
+          ground = new Ground(polyObj);
+          universe.place(ground);
+        } else if (plane.equals(placedPlane)) {
+          Appearance ap = new Appearance();
+          ap.setTransparencyAttributes(new TransparencyAttributes(TransparencyAttributes.BLENDED, 0));
+          FloatBuffer vertices = plane.getPolygon();
+          vertices.position(0);
+          TriangleFanArray polygon = new TriangleFanArray(vertices.remaining() / 2, TriangleArray.COORDINATES, new int[]{vertices.remaining() / 2});
+          for (int i = 0; i < vertices.remaining() / 2; i++) {
+            polygon.setCoordinate(i, new float[]{vertices.get(i * 2), 0.0f, vertices.get(i * 2 + 1)});
+          }
+          polyObj = new Object3D("plane", new Shape3D(polygon, ap));
+          Pose p = plane.getCenterPose();
+          polyObj.apply(new Position3D(p.tx(), p.ty(), p.tz()), false);
+          polyObj.apply(new Quaternion3D((double) p.qx(), (double) p.qy(), (double) p.qz(), (double) p.qw()), false);
+          universe.displace(ground);
+          ground = new Ground(polyObj);
+          universe.place(ground);
+        }
+      }
 /////////////////////////////////////////////////////////////////////////////////////
 // 以下は複数検出面に対応したコードだが、検出面が2個以上になるとちゃんと動かない?
 //
+      Collection<Plane> updatedPlanes = frame.getUpdatedTrackables(Plane.class);
+      if (updatedPlanes != null && updatedPlanes.size() > 0) {
+        if (ground != null) universe.displace(ground);
+        ArrayList<Object3D> polygons = new ArrayList<>();
+        for (Plane plane : updatedPlanes) {
+            if (plane.getSubsumedBy() == null) {
+                Appearance ap = new Appearance();
+                ap.setTransparencyAttributes(new TransparencyAttributes(TransparencyAttributes.BLENDED, 0.5f));
+                FloatBuffer vertices = plane.getPolygon();
+                vertices.position(0);
+                TriangleFanArray polygon = new TriangleFanArray(vertices.remaining() / 2, TriangleArray.COORDINATES, new int[]{vertices.remaining() / 2});
+                for (int j = 0; j < vertices.remaining() / 2; j++) {
+                    polygon.setCoordinate(j, new float[]{vertices.get(j * 2), 0.0f, vertices.get(j * 2 + 1)});
+                }
+                Object3D polyObj = new Object3D("plane" + (polygons.size() + 1), new Shape3D(polygon, ap));
+                Pose p = plane.getCenterPose();
+                polyObj.apply(new Position3D(p.tx(), p.ty(), p.tz()), false);
+                polyObj.apply(new Quaternion3D((double) p.qx(), (double) p.qy(), (double) p.qz(), (double) p.qw()), false);
+                polygons.add(polyObj);
+            }
+        }
+        ground = new Ground(new Object3D("ground", polygons.toArray(new Object3D[]{})));
+        universe.place(ground);
+      }
+//      Collection<Plane> updatedPlanes = frame.getUpdatedTrackables(Plane.class);
+//      if (updatedPlanes != null && updatedPlanes.size() > 0) {
+//        if (ground != null) universe.displace(ground);
+//        ArrayList<Object3D> polygons = new ArrayList<>();
+//        for (Plane plane : updatedPlanes) {
+//            if (plane.getSubsumedBy() == null) {
+//                Appearance ap = new Appearance();
+//                ap.setTransparencyAttributes(new TransparencyAttributes(TransparencyAttributes.BLENDED, 0.5f));
+//                FloatBuffer vertices = plane.getPolygon();
+//                vertices.position(0);
+//                TriangleFanArray polygon = new TriangleFanArray(vertices.remaining() / 2, TriangleArray.COORDINATES, new int[]{vertices.remaining() / 2});
+//                for (int j = 0; j < vertices.remaining() / 2; j++) {
+//                    polygon.setCoordinate(j, new float[]{vertices.get(j * 2), 0.0f, vertices.get(j * 2 + 1)});
+//                }
+//                Object3D polyObj = new Object3D("plane" + (polygons.size() + 1), new Shape3D(polygon, ap));
+//                Pose p = plane.getCenterPose();
+//                polyObj.apply(new Position3D(p.tx(), p.ty(), p.tz()), false);
+//                polyObj.apply(new Quaternion3D((double) p.qx(), (double) p.qy(), (double) p.qz(), (double) p.qw()), false);
+//                polygons.add(polyObj);
+//            }
+//        }
+//        ground = new Ground(new Object3D("ground", polygons.toArray(new Object3D[]{})));
+//        universe.place(ground);
+//      }
 /////////////////////////////////////////////////////////////////////////////////////
 //      planeRenderer.drawPlanes(
           Appearance ap = new Appearance();
           Material m = new Material();
           ap.setMaterial(m);
           Object3D andy = new Object3D("andy", new Sphere(0.05f, ap));
-//            andy.setPosition(new Position3D(px, py + 0.2, pz));
             float viewPoint[] = camera.getDisplayOrientedPose().getTranslation();
             andy.setPosition(new Position3D(viewPoint[0], viewPoint[1], viewPoint[2]));
             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);
+                back.scale(cr.length);
                 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);
+                v.scaleAdd(-d * 1.35, cr.normal, v);
+                //摩擦
+                double u = 0.8;
+                v.x = v.x * u;
+                v.z = v.z * u;
                 body.apply(new Velocity3D(v), false);
               }
             };
             float viewLine[] = camera.getDisplayOrientedPose().getZAxis();
+            andyObj.setVelocity(new Velocity3D(-viewLine[0], -viewLine[1], -1.7 * viewLine[2]));
+//            Solid3D andyObj = new Solid3D(andy);
+            //オブジェクトを飛ばす強さ
+            double power = 1.7;
+            andyObj.setVelocity(new Velocity3D(-viewLine[0] * power, -viewLine[1], -viewLine[2] * power));
             universe.place(andyObj);
-//            physicalSystem.add(andyObj);
 //          } catch (IOException e) {
 //            e.printStackTrace();
 //          } catch (ModelFileFormatException e) {
 //            e.printStackTrace();

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