public static SCNVector3?HitTestWithInfiniteHorizontalPlane(this ARSCNView sceneView, CGPoint point, SCNVector3 pointOnPlane)
{
//if (sceneView.Session == null || ARGamePlay.CurrentFrame == null)
//{
// return null;
//}
//
//var currentFrame = ARGamePlay.CurrentFrame;
var ray = sceneView.HitTestRayFromScreenPos(point);
if (ray == null)
{
return(null);
}
;
// Do not intersect with planes above the camera or if the ray is almost parallel to the plane.
if (ray.Direction.Y > -0.03f)
{
return(null);
}
return(ray.IntersectionWithHorizontalPlane(pointOnPlane.Y));
}
public static SCNVector3?HitTestWithInfiniteHorizontalPlane(this ARSCNView self, CGPoint point, SCNVector3 pointOnPlane)
{
if (self.Session == null || ViewController.CurrentFrame == null)
{
return(null);
}
var currentFrame = ViewController.CurrentFrame;
var ray = self.HitTestRayFromScreenPos(point);
if (ray == null)
{
return(null);
}
;
// Do not intersect with planes above the camera or if the ray is almost parallel to the plane.
if (ray.Direction.Y > -0.03f)
{
return(null);
}
return(Utilities.RayIntersectionWithHorizontalPlane(ray.Origin, ray.Direction, pointOnPlane.Y));
}
public static FeatureHitTestResult[] HitTestWithFeatures(this ARSCNView self, CGPoint pt)
{
var results = new List <FeatureHitTestResult>();
var ray = self.HitTestRayFromScreenPos(pt);
if (ray == null)
{
return(results.ToArray());
}
var result = self.HitTestFromOrigin(ray.Origin, ray.Direction);
if (result != null)
{
results.Add(result);
}
return(results.ToArray());
}
private static SCNVector3?HitTestPointCloud(CGPoint point, ARSCNView sceneView, double coneOpeningAngleInDegrees, double minDistance = 0, double maxDistance = Double.MaxValue)
{
//var results = new List<FeatureHitTestResult>();
var minHitTestResultDistance = float.MaxValue;
//FeatureHitTestResult closestFeauture = null;
SCNVector3?closestFeauturePosition = null;
if (sceneView.Session == null || ARGamePlay.CurrentFrame == null)
{
return(null); //results.ToArray();
}
var features = ARGamePlay.CurrentFrame.RawFeaturePoints;
if (features == null)
{
return(null); //results.ToArray();
}
var ray = sceneView.HitTestRayFromScreenPos(point);
if (ray == null)
{
return(null); //results.ToArray();
}
var maxAngleInDeg = Math.Min(coneOpeningAngleInDegrees, 360) / 2.0;
var maxAngle = (maxAngleInDeg / 180) * Math.PI;
foreach (var featurePos in features.Points)
{
var scnFeaturePos = new SCNVector3(featurePos.X, featurePos.Y, featurePos.Z);
var originToFeature = scnFeaturePos - ray.Origin;
//var crossProduct = originToFeature.Cross(ray.Direction);
//var featureDistanceFromResult = crossProduct.LengthFast;
var hitTestResult = ray.Origin + (ray.Direction * (ray.Direction.Dot(originToFeature)));
var hitTestResultDistance = (hitTestResult - ray.Origin).LengthFast;
if (hitTestResultDistance < minDistance || hitTestResultDistance > maxDistance)
{
// Skip this feature -- it's too close or too far
continue;
}
var originToFeatureNormalized = originToFeature.Normalized();
var angleBetweenRayAndFeature = Math.Acos(ray.Direction.Dot(originToFeatureNormalized));
if (angleBetweenRayAndFeature > maxAngle)
{
// Skip this feature -- it's outside the cone
continue;
}
if (hitTestResultDistance < minHitTestResultDistance)
{
minHitTestResultDistance = hitTestResultDistance;
closestFeauturePosition = hitTestResult; //new FeatureHitTestResult(hitTestResult); //, hitTestResultDistance, scnFeaturePos, featureDistanceFromResult);
}
// All tests passed: Add the hit against this feature to the results.
//results.Add(new FeatureHitTestResult(hitTestResult, hitTestResultDistance, scnFeaturePos, featureDistanceFromResult));
}
return(closestFeauturePosition);
// if(closestFeauture != null)
// {
// results.Add(closestFeauture);
// }
////// Sort the results by feature distance to the ray.
////results.Sort((a, b) => a.DistanceToRayOrigin.CompareTo(b.DistanceToRayOrigin));
////// Cap the list to maxResults.
////results.GetRange(0, Math.Min(results.Count(), maxResults));
//return results.ToArray();
}
public static FeatureHitTestResult[] HitTestWithFeatures(this ARSCNView self, CGPoint point, double coneOpeningAngleInDegrees, double minDistance = 0, double maxDistance = Double.MaxValue, int maxResults = 1)
{
var results = new List <FeatureHitTestResult>();
if (self.Session == null || ViewController.CurrentFrame == null)
{
return(results.ToArray());
}
var features = ViewController.CurrentFrame.RawFeaturePoints;
if (features == null)
{
return(results.ToArray());
}
var ray = self.HitTestRayFromScreenPos(point);
if (ray == null)
{
return(results.ToArray());
}
var maxAngleInDeg = Math.Min(coneOpeningAngleInDegrees, 360) / 2.0;
var maxAngle = (maxAngleInDeg / 180) * Math.PI;
foreach (var featurePos in features.Points)
{
var scnFeaturePos = new SCNVector3(featurePos.X, featurePos.Y, featurePos.Z);
var originToFeature = scnFeaturePos - ray.Origin;
var crossProduct = originToFeature.Cross(ray.Direction);
var featureDistanceFromResult = crossProduct.LengthFast;
var hitTestResult = ray.Origin + (ray.Direction * (ray.Direction.Dot(originToFeature)));
var hitTestResultDistance = (hitTestResult - ray.Origin).LengthFast;
if (hitTestResultDistance < minDistance || hitTestResultDistance > maxDistance)
{
// Skip this feature -- it's too close or too far
continue;
}
var originToFeatureNormalized = originToFeature.Normalized();
var angleBetweenRayAndFeature = Math.Acos(ray.Direction.Dot(originToFeatureNormalized));
if (angleBetweenRayAndFeature > maxAngle)
{
// Skip this feature -- it's outside the cone
continue;
}
// All tests passed: Add the hit against this feature to the results.
results.Add(new FeatureHitTestResult(hitTestResult, hitTestResultDistance, scnFeaturePos, featureDistanceFromResult));
}
// Sort the results by feature distance to the ray.
results.Sort((a, b) => a.DistanceToRayOrigin.CompareTo(b.DistanceToRayOrigin));
// Cap the list to maxResults.
results.GetRange(0, Math.Min(results.Count(), maxResults));
return(results.ToArray());
}
