public override unsafe NativeArray <XRRaycastHit> Raycast(
XRRaycastHit defaultRaycastHit,
Vector2 screenPoint,
TrackableType trackableTypeMask,
Allocator allocator)
{
void *hitBuffer;
int hitCount, elementSize;
UnityARCore_raycast_acquireHitResults(
screenPoint,
trackableTypeMask,
out hitBuffer,
out hitCount,
out elementSize);
try
{
return(NativeCopyUtility.PtrToNativeArrayWithDefault <XRRaycastHit>(
defaultRaycastHit,
hitBuffer, elementSize,
hitCount, allocator));
}
finally
{
UnityARCore_raycast_releaseHitResults(hitBuffer);
}
}
public override unsafe NativeArray <XRRaycastHit> Raycast(
XRRaycastHit defaultRaycastHit,
Vector2 screenPoint,
TrackableType trackableTypeMask,
Allocator allocator)
{
void *hitResults;
int count;
NativeApi.UnityARKit_raycast_acquireHitResults(
screenPoint,
trackableTypeMask,
out hitResults,
out count);
var results = new NativeArray <XRRaycastHit>(count, allocator);
NativeApi.UnityARKit_raycast_copyAndReleaseHitResults(
UnsafeUtility.AddressOf(ref defaultRaycastHit),
UnsafeUtility.SizeOf <XRRaycastHit>(),
hitResults,
results.GetUnsafePtr());
return(results);
}
public override NativeArray <XRRaycastHit> Raycast(XRRaycastHit defaultRaycastHit, Vector2 screenPoint,
TrackableType trackableTypeMask, Allocator allocator)
{
var hits = new NativeArray <XRRaycastHit>();
return(hits);
}
/// <summary>
/// Constructor invoked by <see cref="ARRaycastManager.Raycast(Vector2, System.Collections.Generic.List{ARRaycastHit}, TrackableType)"/>
/// and <see cref="ARRaycastManager.Raycast(Ray, System.Collections.Generic.List{ARRaycastHit}, TrackableType)"/>.
/// </summary>
/// <param name="hit">Session-relative raycast hit data.</param>
/// <param name="distance">The distance, in Unity world space, of the hit.</param>
/// <param name="transform">The <c>Transform</c> that transforms from session space to world space.</param>
/// <exception cref="System.ArgumentNullException">Thrown if <paramref name="transform"/> is `null`.</exception>
public ARRaycastHit(XRRaycastHit hit, float distance, Transform transform)
{
if (transform == null)
{
throw new ArgumentNullException(nameof(transform));
}
m_Hit = hit;
this.distance = distance;
m_Transform = transform;
}
public override NativeArray <XRRaycastHit> Raycast(XRRaycastHit defaultRaycastHit, Vector2 screenPoint,
TrackableType trackableTypeMask, Allocator allocator)
{
// ARF normalizes to the Screen dimensions, so convert back to pixels.
screenPoint.x *= Screen.width;
screenPoint.y *= Screen.height;
var camera = MarsRuntimeUtils.GetActiveCamera(true);
var ray = camera.ScreenPointToRay(screenPoint);
return(Raycast(defaultRaycastHit, ray, trackableTypeMask, allocator));
}
public override NativeArray <XRRaycastHit> Raycast(XRRaycastHit defaultRaycastHit, Ray ray,
TrackableType trackableTypeMask, Allocator allocator)
{
k_Hits.Clear();
foreach (var marsPlane in m_Planes.Values)
{
var plane = new Plane(marsPlane.pose.up, marsPlane.pose.position);
if (plane.Raycast(ray, out var distance))
{
var worldSpacePoint = ray.GetPoint(distance);
var planeSpacePoint =
Quaternion.Inverse(marsPlane.pose.rotation) * (worldSpacePoint - marsPlane.pose.position);
var hitType = trackableTypeMask & TrackableType.PlaneWithinInfinity;
if (marsPlane.vertices != null &&
trackableTypeMask.HasFlag(TrackableType.PlaneWithinPolygon) &&
GeometryUtils.PointInPolygon(planeSpacePoint, marsPlane.vertices))
{
hitType |= TrackableType.PlaneWithinPolygon;
}
if (trackableTypeMask.HasFlag(TrackableType.PlaneWithinBounds) &&
PointInExtents(planeSpacePoint, marsPlane.extents))
{
hitType |= TrackableType.PlaneWithinBounds;
}
if (hitType != 0)
{
k_Hits.Add(new XRRaycastHit
{
trackableId = new TrackableId(),
pose = new Pose(worldSpacePoint, marsPlane.pose.rotation),
distance = distance,
hitType = hitType
});
}
}
}
if (k_Hits.Count > 1)
{
k_Hits.Sort((a, b) => a.distance.CompareTo(b.distance));
}
return(new NativeArray <XRRaycastHit>(k_Hits.ToArray(), allocator));
}
public void Execute()
{
var hitIndex = 0;
for (int i = 0; i < points.Length; ++i)
{
if (infos[i].cosineAngleWithRay >= cosineThreshold)
{
hits[hitIndex++] = new XRRaycastHit(
trackableId,
new Pose(pose.rotation * points[i] + pose.position, Quaternion.identity),
infos[i].distance,
TrackableType.FeaturePoint);
}
}
count[0] = hitIndex;
}
/// <summary>
/// Performs a raycast against all currently tracked planes.
/// </summary>
/// <param name="ray">The ray, in Unity world space, to cast.</param>
/// <param name="trackableTypeMask">A mask of raycast types to perform.</param>
/// <param name="allocator">The <c>Allocator</c> to use when creating the returned <c>NativeArray</c>.</param>
/// <returns>
/// A new <c>NativeArray</c> of raycast results allocated with <paramref name="allocator"/>.
/// The caller owns the memory and is responsible for calling <c>Dispose</c> on the <c>NativeArray</c>.
/// </returns>
/// <seealso cref="ARRaycastManager.Raycast(Ray, List{ARRaycastHit}, TrackableType)"/>
/// <seealso cref="ARRaycastManager.Raycast(Vector2, List{ARRaycastHit}, TrackableType)"/>
public NativeArray <XRRaycastHit> Raycast(
Ray ray,
TrackableType trackableTypeMask,
Allocator allocator)
{
// No plane types requested; early out.
if ((trackableTypeMask & TrackableType.Planes) == TrackableType.None)
{
return(new NativeArray <XRRaycastHit>(0, allocator));
}
var trackableCollection = trackables;
// Allocate a buffer that is at least large enough to contain a hit against every plane
var hitBuffer = new NativeArray <XRRaycastHit>(trackableCollection.count, Allocator.Temp);
try
{
int count = 0;
foreach (var plane in trackableCollection)
{
TrackableType trackableTypes = TrackableType.None;
var normal = plane.transform.localRotation * Vector3.up;
var infinitePlane = new Plane(normal, plane.transform.localPosition);
float distance;
if (!infinitePlane.Raycast(ray, out distance))
{
continue;
}
// Pose in session space
var pose = new Pose(
ray.origin + ray.direction * distance,
plane.transform.localRotation);
if ((trackableTypeMask & TrackableType.PlaneWithinInfinity) != TrackableType.None)
{
trackableTypes |= TrackableType.PlaneWithinInfinity;
}
// To test the rest, we need the intersection point in plane space
var hitPositionPlaneSpace3d = Quaternion.Inverse(plane.transform.localRotation) * (pose.position - plane.transform.localPosition);
var hitPositionPlaneSpace = new Vector2(hitPositionPlaneSpace3d.x, hitPositionPlaneSpace3d.z);
var estimatedOrWithinBounds = TrackableType.PlaneWithinBounds | TrackableType.PlaneEstimated;
if ((trackableTypeMask & estimatedOrWithinBounds) != TrackableType.None)
{
var differenceFromCenter = hitPositionPlaneSpace - plane.centerInPlaneSpace;
if ((Mathf.Abs(differenceFromCenter.x) <= plane.extents.x) &&
(Mathf.Abs(differenceFromCenter.y) <= plane.extents.y))
{
trackableTypes |= (estimatedOrWithinBounds & trackableTypeMask);
}
}
if ((trackableTypeMask & TrackableType.PlaneWithinPolygon) != TrackableType.None)
{
if (WindingNumber(hitPositionPlaneSpace, plane.boundary) != 0)
{
trackableTypes |= TrackableType.PlaneWithinPolygon;
}
}
if (trackableTypes != TrackableType.None)
{
hitBuffer[count++] = new XRRaycastHit(
plane.trackableId,
pose,
distance,
trackableTypes);
}
}
// Finally, copy to return value
var hitResults = new NativeArray <XRRaycastHit>(count, allocator);
NativeArray <XRRaycastHit> .Copy(hitBuffer, hitResults, count);
return(hitResults);
}
finally
{
hitBuffer.Dispose();
}
}
