private (SCNNode, float) FindAttachNodeNearPoint(SCNNode system, SCNNode node, SCNVector3 point, float tolerance)
{
var currentTolerance = tolerance;
SCNNode currentClosestNode = null;
// if this object has a socket node near ball node, then use it
if (!string.IsNullOrEmpty(node.Name) &&
node.Name.StartsWith((ConstrainHierarchyComponent.SocketName), StringComparison.Ordinal))
{
var attachOffset = node.ConvertPositionToNode(SCNVector3.Zero, system);
var distance = (point - attachOffset).Length;
if (distance < currentTolerance)
{
currentTolerance = distance;
currentClosestNode = node;
}
}
foreach (var child in node.ChildNodes)
{
var(socketNode, distance) = FindAttachNodeNearPoint(system, child, point, currentTolerance);
if (socketNode != null)
{
currentTolerance = distance;
currentClosestNode = socketNode;
}
}
return(currentClosestNode, currentTolerance);
}
public void CheckIfObjectShouldMoveOntoPlane(ARPlaneAnchor anchor, SCNNode planeAnchorNode)
{
foreach (var vo in VirtualObjects)
{
// Get the object's position in the plane's coordinate system.
var objectPos = planeAnchorNode.ConvertPositionToNode(vo.Position, vo.ParentNode);
if (Math.Abs(objectPos.Y) < float.Epsilon)
{
return; // The object is already on the plane - nothing to do here.
}
// Add 10% tolerance to the corners of the plane.
var tolerance = 0.1f;
var minX = anchor.Center.X - anchor.Extent.X / 2f - anchor.Extent.X * tolerance;
var maxX = anchor.Center.X + anchor.Extent.X / 2f + anchor.Extent.X * tolerance;
var minZ = anchor.Center.Z - anchor.Extent.Z / 2f - anchor.Extent.Z * tolerance;
var maxZ = anchor.Center.Z + anchor.Extent.Z / 2f + anchor.Extent.Z * tolerance;
if (objectPos.X < minX || objectPos.X > maxX || objectPos.Z < minZ || objectPos.Z > maxZ)
{
return;
}
// Drop the object onto the plane if it is near it.
var verticalAllowance = 0.05f;
var epsilon = 0.001; // Do not bother updating if the difference is less than a mm.
var distanceToPlane = Math.Abs(objectPos.Y);
if (distanceToPlane > epsilon && distanceToPlane < verticalAllowance)
{
Delegate.DidMoveObjectOntoNearbyPlane(this, vo);
SCNTransaction.Begin();
SCNTransaction.AnimationDuration = distanceToPlane * 500; // Move 2mm per second
SCNTransaction.AnimationTimingFunction = CAMediaTimingFunction.FromName(CAMediaTimingFunction.EaseInEaseOut);
vo.Position = new SCNVector3(vo.Position.X, anchor.Transform.M32, vo.Position.Z);
SCNTransaction.Commit();
}
}
}
private SCNNode SetupVehicle(SCNScene scene)
{
var carScene = SCNScene.FromFile("rc_car", ResourceManager.ResourceFolder, (NSDictionary)null);
var chassisNode = carScene.RootNode.FindChildNode("rccarBody", false);
chassisNode.Position = new SCNVector3(0f, 10f, 30f);
chassisNode.Rotation = new SCNVector4(0f, 1f, 0f, (float)Math.PI);
var body = SCNPhysicsBody.CreateDynamicBody();
body.AllowsResting = false;
body.Mass = 80f;
body.Restitution = 0.1f;
body.Friction = 0.5f;
body.RollingFriction = 0f;
chassisNode.PhysicsBody = body;
var frontCameraNode = SCNNode.Create();
frontCameraNode.Position = new SCNVector3(0f, 3.5f, 2.5f);
frontCameraNode.Rotation = new SCNVector4(0f, 1f, 0f, (float)Math.PI);
frontCameraNode.Camera = SCNCamera.Create();
frontCameraNode.Camera.XFov = 75f;
frontCameraNode.Camera.ZFar = 500f;
chassisNode.AddChildNode(frontCameraNode);
scene.RootNode.AddChildNode(chassisNode);
var pipeNode = chassisNode.FindChildNode("pipe", true);
reactor = SCNParticleSystem.Create("reactor", ResourceManager.ResourceFolder);
reactor.ParticleImage = ResourceManager.GetResourcePath("spark.png");
reactorDefaultBirthRate = reactor.BirthRate;
reactor.BirthRate = 0;
pipeNode.AddParticleSystem(reactor);
SCNNode wheel0Node = chassisNode.FindChildNode("wheelLocator_FL", true);
SCNNode wheel1Node = chassisNode.FindChildNode("wheelLocator_FR", true);
SCNNode wheel2Node = chassisNode.FindChildNode("wheelLocator_RL", true);
SCNNode wheel3Node = chassisNode.FindChildNode("wheelLocator_RR", true);
var wheel0 = SCNPhysicsVehicleWheel.Create(wheel0Node);
var wheel1 = SCNPhysicsVehicleWheel.Create(wheel1Node);
var wheel2 = SCNPhysicsVehicleWheel.Create(wheel2Node);
var wheel3 = SCNPhysicsVehicleWheel.Create(wheel3Node);
var min = SCNVector3.Zero;
var max = SCNVector3.Zero;
wheel0Node.GetBoundingBox(ref min, ref max);
float wheelHalfWidth = 0.5f * (max.X - min.X);
wheel0.ConnectionPosition = SCNVector3.Add(wheel0Node.ConvertPositionToNode(SCNVector3.Zero, chassisNode), new SCNVector3(wheelHalfWidth, 0f, 0f));
wheel1.ConnectionPosition = SCNVector3.Subtract(wheel1Node.ConvertPositionToNode(SCNVector3.Zero, chassisNode), new SCNVector3(wheelHalfWidth, 0f, 0f));
wheel2.ConnectionPosition = SCNVector3.Add(wheel2Node.ConvertPositionToNode(SCNVector3.Zero, chassisNode), new SCNVector3(wheelHalfWidth, 0f, 0f));
wheel3.ConnectionPosition = SCNVector3.Subtract(wheel3Node.ConvertPositionToNode(SCNVector3.Zero, chassisNode), new SCNVector3(wheelHalfWidth, 0f, 0f));
var vehicle = SCNPhysicsVehicle.Create(chassisNode.PhysicsBody,
new SCNPhysicsVehicleWheel[] { wheel0, wheel1, wheel2, wheel3 });
scene.PhysicsWorld.AddBehavior(vehicle);
this.vehicle = vehicle;
return(chassisNode);
}