static bool UnityARKit_refPoints_tryAttach(
TrackableId trackableToAffix,
Pose pose,
out XRAnchor anchor)
{
throw new System.NotImplementedException(k_ExceptionMsg);
}
public override bool TryAttachAnchor(
TrackableId trackableToAffix,
Pose pose,
out XRAnchor anchor)
{
return(UnityARCore_refPoints_tryAttach(trackableToAffix, pose, out anchor));
}
public override unsafe TrackableChanges <XRAnchor> GetChanges(
XRAnchor defaultAnchor,
Allocator allocator)
{
int addedCount, updatedCount, removedCount, elementSize;
void *addedPtr, updatedPtr, removedPtr;
var context = UnityARCore_refPoints_acquireChanges(
out addedPtr, out addedCount,
out updatedPtr, out updatedCount,
out removedPtr, out removedCount,
out elementSize);
try
{
return(new TrackableChanges <XRAnchor>(
addedPtr, addedCount,
updatedPtr, updatedCount,
removedPtr, removedCount,
defaultAnchor, elementSize,
allocator));
}
finally
{
UnityARCore_refPoints_releaseChanges(context);
}
}
public override bool TryAttachAnchor(
TrackableId trackableToAffix,
Pose pose,
out XRAnchor anchor)
{
return(this.TryAddAnchor(pose, out anchor));
}
private static void DebugOutExtra(string label, XRAnchor xrAnchor, SpongyAnchorXR tracker)
{
Debug.Assert(xrAnchor.trackableId == tracker.TrackableId);
Vector3 tP = tracker.transform.position;
Vector3 tR = tracker.transform.rotation.eulerAngles;
Vector3 rP = xrAnchor.pose.position;
Vector3 rR = xrAnchor.pose.rotation.eulerAngles;
rR = new Vector3(1.0f, 2.0f, 3.0f);
Debug.Log($"{label}{tracker.name}-{tracker.TrackableId}/{xrAnchor.trackingState}: {DebugVector3("tP=", tP)}|{DebugEuler("tR=", tR)} <=> {DebugVector3("rP=", rP)}|{DebugEuler("rR=", rR)}");
}
public override bool TryAddAnchor(
Pose pose,
out XRAnchor anchor)
{
var trackableId = NativeApi.UnityXRMock_attachAnchor(TrackableId.invalidId, pose);
if (NativeApi.anchors.TryGetValue(trackableId, out NativeApi.AnchorInfo anchorInfo))
{
anchor = anchorInfo.ToXRAnchor(XRAnchor.defaultValue);
return(true);
}
anchor = default;
return(false);
}
public override unsafe bool TryAddAnchor(Pose pose, out XRAnchor anchor)
{
if (m_TrackerHandle == Native.InvalidHandle)
{
anchor = default;
return(false);
}
// Get the pose position in right-handed coordinates
var mlTarget = FlipHandedness(pose.position);
// Get the ID of the closest PCF to our target position
var getClosestResult = Native.GetClosest(m_TrackerHandle, ref mlTarget, out MLCoordinateFrameUID cfuid);
if (getClosestResult != MLApiResult.Ok)
{
LogWarning($"Could not create anchor because MLPersistentCoordinateFrameGetClosest returned {getClosestResult}.");
anchor = default;
return(false);
}
// Get the pose of the PCF
if (!Native.TryGetPose(cfuid, out Pose closetCoordinateFrame))
{
LogWarning($"Could not create anchor because no pose could be determined for coordinate frame {cfuid}.");
anchor = default;
return(false);
}
var referenceFrame = new ReferenceFrame(new ReferenceFrame.Cinfo
{
closetCoordinateFrame = closetCoordinateFrame,
cfuid = cfuid,
trackingState = TrackingState.Tracking,
initialAnchorPose = pose
});
m_PendingAdds.Add(referenceFrame);
anchor = referenceFrame.anchor;
return(true);
}
public override unsafe TrackableChanges <XRAnchor> GetChanges(
XRAnchor defaultAnchor,
Allocator allocator)
{
using (var updated = GetUpdated(Allocator.Temp, out int updatedCount))
{
var changes = new TrackableChanges <XRAnchor>(
m_PendingAdds.Count,
updatedCount,
m_PendingRemoves.Count,
allocator);
GetAdded(changes.added);
NativeArray <XRAnchor> .Copy(updated, changes.updated, updatedCount);
GetRemoved(changes.removed);
return(changes);
}
}
public override unsafe TrackableChanges <XRAnchor> GetChanges(
XRAnchor defaultAnchor,
Allocator allocator)
{
try
{
return(TrackableChanges <XRAnchor> .CopyFrom(
new NativeArray <XRAnchor>(
NativeApi.addedAnchors.Select(m => m.ToXRAnchor(defaultAnchor)).ToArray(), allocator),
new NativeArray <XRAnchor>(
NativeApi.updatedAnchors.Select(m => m.ToXRAnchor(defaultAnchor)).ToArray(), allocator),
new NativeArray <TrackableId>(
NativeApi.removedAnchors.Select(m => m.id).ToArray(), allocator),
allocator));
}
finally
{
NativeApi.UnityXRMock_consumedAnchorChanges();
}
}
private static void UpdateTracker(string label, XRAnchor xrAnchor, Dictionary <TrackableId, SpongyAnchorXR> anchors)
{
SpongyAnchorXR tracker;
if (anchors.TryGetValue(xrAnchor.trackableId, out tracker))
{
DebugOutExtra(label, xrAnchor, tracker);
tracker.IsReliablyLocated = xrAnchor.trackingState != TrackingState.None;
Pose repose = ExtractPose(xrAnchor);
Vector3 delta = repose.position - tracker.transform.position;
tracker.Delta = delta;
tracker.transform.position = repose.position;
tracker.transform.rotation = repose.rotation;
}
else
{
Debug.LogError($"Missing trackableId {xrAnchor.trackableId} from DB, adding now.");
}
}
public override unsafe TrackableChanges <XRAnchor> GetChanges(
XRAnchor defaultAnchor,
Allocator allocator)
{
int addedCount, updatedCount, removedCount, elementSize;
void *addedPtr, updatedPtr, removedPtr;
var context = NativeApi.UnityWindowsMR_refPoints_acquireChanges(
out addedPtr, out addedCount,
out updatedPtr, out updatedCount,
out removedPtr, out removedCount,
out elementSize);
try
{
// Yes, this is an extra copy, but the hit is small compared with the code needed to get rid of it.
// If this becomes a problem we can eliminate the extra copy by doing something similar to
// NativeCopyUtility.PtrToNativeArrayWithDefault only with a pre-allocated array properties
// from using the TrackableChanges(int, int, int allocator) constructor.
var added = NativeCopyUtility.PtrToNativeArrayWithDefault <XRAnchor>(defaultAnchor, addedPtr, elementSize, addedCount, allocator);
var updated = NativeCopyUtility.PtrToNativeArrayWithDefault <XRAnchor>(defaultAnchor, updatedPtr, elementSize, updatedCount, allocator);
var removed = NativeCopyUtility.PtrToNativeArrayWithDefault <TrackableId>(default(TrackableId), removedPtr, elementSize, removedCount, allocator);
var ret = TrackableChanges <XRAnchor> .CopyFrom(
added,
updated,
removed,
allocator);
added.Dispose();
updated.Dispose();
removed.Dispose();
return(ret);
}
finally
{
NativeApi.UnityWindowsMR_refPoints_releaseChanges(context);
}
}
public static TrackableChanges <XRAnchor> ConsumeChanges(XRAnchor defaultAnchor, Allocator allocator)
{
lock (stateLock)
{
try
{
if (allocator != Allocator.None)
{
T[] EfficientArray <T>(IEnumerable <AnchorApi.AnchorInfo> collection, Func <AnchorApi.AnchorInfo, T> converter)
=> collection.Any(m => true) ? collection.Select(converter).ToArray() : Array.Empty <T>();
return(TrackableChanges <XRAnchor> .CopyFrom(
new NativeArray <XRAnchor>(
EfficientArray(AnchorApi.added.Values, m => m.ToXRAnchor(defaultAnchor)), allocator),
new NativeArray <XRAnchor>(
EfficientArray(AnchorApi.updated.Values, m => m.ToXRAnchor(defaultAnchor)), allocator),
new NativeArray <TrackableId>(
EfficientArray(AnchorApi.removed.Values, m => m.id), allocator),
allocator));
}
else
{
return(default);
public override bool TryAddAnchor(Pose pose, out XRAnchor anchor)
{
anchor = AnchorApi.Attach(pose, TrackingState.Tracking, Guid.Empty);
return(anchor != null);
}
public override unsafe TrackableChanges <XRAnchor> GetChanges(XRAnchor defaultAnchor, Allocator allocator) => AnchorApi.ConsumeChanges(defaultAnchor, allocator);
static extern bool UnityARCore_refPoints_tryAttach(
TrackableId trackableToAffix,
Pose pose,
out XRAnchor anchor);
static extern bool UnityARCore_refPoints_tryAdd(
Pose pose,
out XRAnchor anchor);
public XRAnchor ToXRAnchor(XRAnchor defaultAnchor)
{
return(new XRAnchor(this.id, this.pose, this.trackingState, defaultAnchor.nativePtr));
}
public override bool TryAddAnchor(
Pose pose,
out XRAnchor anchor)
{
return(UnityARCore_refPoints_tryAdd(pose, out anchor));
}
static bool UnityARKit_refPoints_tryAdd(
Pose pose,
out XRAnchor anchor)
{
throw new System.NotImplementedException(k_ExceptionMsg);
}
private static bool CheckTracking(XRAnchor xrAnchor)
{
return(xrAnchor.trackingState != TrackingState.None);
}
public override TrackableChanges <XRAnchor> GetChanges(XRAnchor defaultAnchor, Allocator allocator) => default;
public override bool TryAddAnchor(
Pose pose,
out XRAnchor anchor)
{
return(NativeApi.UnityWindowsMR_refPoints_tryAdd(pose, out anchor));
}
public static extern bool UnityWindowsMR_refPoints_tryAdd(Pose pose, out XRAnchor anchor);
private static Pose ExtractPose(XRAnchor xrAnchor)
{
return(xrAnchor.pose);
}