ARCore OpenGL ES 使用 onScroll 移动对象
ARCore OpenGL ES Moving Object using onScroll
我正在尝试通过单指滚动添加对象的移动。 （例如，参见 Google AR 贴纸）我使用的是基于最初 ARCore 示例的原生 ARCore/OpenGL。当你滑动 1 个手指时，我想在 3D space 中沿 X 轴和 Z 轴移动对象。
我可以使用 Translation 轻松创建移动，但是，它会根据原始相机方向执行移动。如果您将 phone/camera 横向移动几步，手指的移动将不再符合用户的预期。
所以我更改了我的代码并映射了滑动的手指 distanceX 和 distanceY 以影响 X 和 Z 坐标，具体取决于从原始相机起点到当前相机点的变化角度。
我 运行 遇到的问题是确定相机移动的角度。我一直在查看 Camera View 矩阵的值：
camera.getViewMatrix(viewmtx, 0);
但 X、Y 和 Z 坐标始终为 0。我假设这是因为它始终使相机成为原点？有谁知道使用 ARCore/OpenGL ES 库从 3D 对象计算相机旋转角度的方法？下图中的红色角度（从上到下的角度）是我想要得到的。抱歉粗略的绘图：
这是我的代码供您参考：
// Handle Gestures - Single touch for Translation and Placement
mGestureDetector = new GestureDetector(this, new GestureDetector.SimpleOnGestureListener()
{
@Override
public boolean onSingleTapUp(MotionEvent e)
{
onSingleTap(e);
return true;
}
@Override
public boolean onScroll(MotionEvent e1, MotionEvent e2, float distanceX, float distanceY)
{
if (e2.getPointerCount() == 1 && ...)
{
double angle = findCameraAngleFromOrigin();
double speed = 0.005d;
if (angle / 90d < 1) //Quadrant 1
{
double transX = -(distanceY * (angle / 90d)) + (distanceX * ((90d - angle) / 90d));
double transY = (distanceY * ((90d - angle) / 90d)) + (distanceX * (angle / 90d));
mTranslationX.set(mTranslationX.size() - 1, (float) (mTranslationX.get(mTranslationX.size() - 1) + (transX * -speed)));
mTranslationZ.set(mTranslationZ.size() - 1, (float) (mTranslationZ.get(mTranslationZ.size() - 1) + (transY * -speed)));
}
else if (angle / 90d < 2) //Quadrant 2
{
angle -= 90d;
double transX = (distanceX * (angle / 90d)) + (distanceY * ((90d - angle) / 90d));
double transY = (-distanceX * ((90d - angle) / 90d)) + (distanceY * (angle / 90d));
mTranslationX.set(mTranslationX.size() - 1, (float) (mTranslationX.get(mTranslationX.size() - 1) + (transX * speed)));
mTranslationZ.set(mTranslationZ.size() - 1, (float) (mTranslationZ.get(mTranslationZ.size() - 1) + (transY * speed)));
}
else if (angle / 90d < 3) //Quadrant 3
{
angle -= 180d;
double transX = (distanceY * (angle / 90d)) + (-distanceX * ((90d - angle) / 90d));
double transY = (-distanceY * ((90d - angle) / 90d)) + (-distanceX * (angle / 90d));
mTranslationX.set(mTranslationX.size() - 1, (float) (mTranslationX.get(mTranslationX.size() - 1) + (transX * -speed)));
mTranslationZ.set(mTranslationZ.size() - 1, (float) (mTranslationZ.get(mTranslationZ.size() - 1) + (transY * -speed)));
}
else //Quadrant 4
{
angle -= 270d;
double transX = (-distanceX * (angle / 90d)) + (-distanceY * ((90d - angle) / 90d));
double transY = (distanceX * ((90d - angle) / 90d)) + (-distanceY * (angle / 90d));
mTranslationX.set(mTranslationX.size() - 1, (float) (mTranslationX.get(mTranslationX.size() - 1) + (transX * speed)));
mTranslationZ.set(mTranslationZ.size() - 1, (float) (mTranslationZ.get(mTranslationZ.size() - 1) + (transY * speed)));
}
return true;
}
return false;
}
}
编辑：更新代码
我无法弄清楚如何找到与相机点的距离，但我至少能够找到 phone 旋转的差异，它更近了。我通过下面的代码完成了它。我对结果仍然不满意，所以我会 post 稍后在找到更有效的解决方案时更新。
private double getDegree(double value1, double value2)
{
double firstAngle = value1 * 90;
double secondAngle = value2 * 90;
if (secondAngle >= 0 && firstAngle >= 0)
{
Log.d(TAG, "FIRST QUADRANT");
return firstAngle; // first quadrant
}
else if (secondAngle < 0 && firstAngle >= 0)
{
Log.d(TAG, "SECOND QUADRANT");
return 90 + (90 - firstAngle); //second quadrant
}
else if (secondAngle < 0 && firstAngle < 0)
{
Log.d(TAG, "THIRD QUADRANT");
return 180 - firstAngle; //third quadrant
}
else
{
Log.d(TAG, "FOURTH QUADRANT");
return 270 + (90 + firstAngle); //fourth quadrant
}
}
private double findCameraAngleFromOrigin()
{
double angle = getDegree(mCurrentCameraMatrix[2], mCurrentCameraMatrix[0]) - getDegree(mOriginCameraMatrix[2], mOriginCameraMatrix[0]);
if (angle < 0)
return angle + 360;
return angle;
}
@Override
public void onDrawFrame(GL10 gl)
{
...
//When creating a new object
Anchor anchor = hit.createAnchor();
mAnchors.add(anchor);
camera.getDisplayOrientedPose().toMatrix( mOriginCameraMatrix, 0);
//During each draw frame
camera.getDisplayOrientedPose().toMatrix( mCurrentCameraMatrix, 0);
int ac = 0;
for (Anchor anchor : mAnchors)
{
if (anchor.getTrackingState() != TrackingState.TRACKING)
{
continue;
}
// Get the current pose of an Anchor in world space. The Anchor pose is updated
// during calls to session.update() as ARCore refines its estimate of the world.
anchor.getPose().toMatrix(mAnchorMatrix, 0);
// Update and draw the model
if (mModelSet)
{
if (mScaleFactors.size() <= ac)
{
mScaleFactors.add(1.0f);
}
if (mRotationThetas.size() <= ac)
{
mRotationThetas.add(0.0f);
}
if (mTranslationX.size() <= ac)
{
mTranslationX.add(viewmtx[3]);
}
if (mTranslationZ.size() <= ac)
{
mTranslationZ.add(viewmtx[11]);
}
translateMatrix(mTranslationX.get(ac), 0, mTranslationZ.get(ac));
rotateYAxisMatrix(mRotationThetas.get(ac));
ObjectRenderer virtualObject = mVirtualObjects.get(mAnchorReferences.get(ac));
virtualObject.updateModelMatrix(mAnchorMatrix, mScaleFactors.get(ac));
virtualObject.draw(viewmtx, projmtx, lightIntensity);
}
ac++;
}
}
这有点难以追踪，所以一旦我对实施和代码清理感到更加自在，我可能会 post 整个 class。
public class HelloArActivity extends AppCompatActivity implements GLSurfaceView.Renderer {
private static final String TAG = HelloArActivity.class.getSimpleName();
// Rendering. The Renderers are created here, and initialized when the GL surface is created.
private GLSurfaceView surfaceView;
private boolean installRequested;
private Session session;
private GestureDetector gestureDetector;
private Snackbar messageSnackbar;
private DisplayRotationHelper displayRotationHelper;
private final BackgroundRenderer backgroundRenderer = new BackgroundRenderer();
private final ObjectRenderer virtualObject = new ObjectRenderer();
private final ObjectRenderer virtualObjectShadow = new ObjectRenderer();
private final PlaneRenderer planeRenderer = new PlaneRenderer();
private final PointCloudRenderer pointCloud = new PointCloudRenderer();
private int mCurrent = -1;
private final List<ObjectRenderer> mVirtualObjects = new ArrayList<ObjectRenderer>();
// Temporary matrix allocated here to reduce number of allocations for each frame.
private final float[] anchorMatrix = new float[16];
//Rotation, Moving, & Scaling
private final List<Float> mRotationThetas = new ArrayList<Float>();
private GestureDetector mGestureDetector;
private ScaleGestureDetector mScaleDetector;
private RotationGestureDetector mRotationDetector;
private final List<Float> mScaleFactors = new ArrayList<Float>();
private final List<Float> mTranslationX = new ArrayList<Float>();
private final List<Float> mTranslationZ = new ArrayList<Float>();
private final float[] mOriginCameraMatrix = new float[16];
private final float[] mCurrentCameraMatrix = new float[16];
private boolean mModelSet = false;
// Tap handling and UI.
private final ArrayBlockingQueue<MotionEvent> mQueuedSingleTaps = new ArrayBlockingQueue<>(16);
private final ArrayList<Anchor> mAnchors = new ArrayList<>();
// Tap handling and UI.
private final ArrayBlockingQueue<MotionEvent> queuedSingleTaps = new ArrayBlockingQueue<>(16);
private final List<Integer> mAnchorReferences = new ArrayList<Integer>();
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_main);
surfaceView = findViewById(R.id.surfaceview);
displayRotationHelper = new DisplayRotationHelper(/*context=*/ this);
//Handle Gestures - Multitouch for Scaling and Rotation
mScaleDetector = new ScaleGestureDetector(this, new ScaleGestureDetector.SimpleOnScaleGestureListener() {
@Override
public boolean onScale(ScaleGestureDetector detector) {
if (mScaleFactors.size() > 0) {
mScaleFactors.set(mScaleFactors.size() - 1, Math.max(0.1f, Math.min(detector.getScaleFactor() * mScaleFactors.get(mScaleFactors.size() - 1), 5.0f)));
return true;
}
return false;
}
});
mRotationDetector = new RotationGestureDetector(this, new RotationGestureDetector.OnRotationGestureListener() {
@Override
public void OnRotation(RotationGestureDetector rotationDetector) {
if (mRotationThetas.size() > 0) {
mRotationThetas.set(mRotationThetas.size() - 1, (mRotationThetas.get(mRotationThetas.size() - 1) + (rotationDetector.getAngle() * -0.001f)));
}
}
});
// Set up tap listener.
gestureDetector =
new GestureDetector(
this,
new GestureDetector.SimpleOnGestureListener() {
@Override
public boolean onSingleTapUp(MotionEvent e) {
onSingleTap(e);
return true;
}
@Override
public boolean onScroll(MotionEvent e1, MotionEvent e2, float distanceX, float distanceY) {
if (e2.getPointerCount() == 1 && mTranslationX.size() > 0 && mTranslationZ.size() > 0) {
double angle = findCameraAngleFromOrigin();
double speed = 0.001d;
if (angle / 90d < 1) //Quadrant 1
{
double transX = -(distanceY * (angle / 90d)) + (distanceX * ((90d - angle) / 90d));
double transY = (distanceY * ((90d - angle) / 90d)) + (distanceX * (angle / 90d));
// showSnackbarMessage("ANGLE: " + angle + ", distanceX: " + distanceX + ", distanceY: " + distanceY, false);
mTranslationX.set(mTranslationX.size() - 1, (float) (mTranslationX.get(mTranslationX.size() - 1) + (transX * -speed)));
mTranslationZ.set(mTranslationZ.size() - 1, (float) (mTranslationZ.get(mTranslationZ.size() - 1) + (transY * -speed)));
} else if (angle / 90d < 2) //Quadrant 2
{
angle -= 90d;
double transX = (distanceX * (angle / 90d)) + (distanceY * ((90d - angle) / 90d));
double transY = (-distanceX * ((90d - angle) / 90d)) + (distanceY * (angle / 90d));
// showSnackbarMessage("ANGLE: " + angle + ", distanceX: " + distanceX + ", distanceY: " + distanceY, false);
mTranslationX.set(mTranslationX.size() - 1, (float) (mTranslationX.get(mTranslationX.size() - 1) + (transX * speed)));
mTranslationZ.set(mTranslationZ.size() - 1, (float) (mTranslationZ.get(mTranslationZ.size() - 1) + (transY * speed)));
} else if (angle / 90d < 3) //Quadrant 3
{
angle -= 180d;
double transX = (distanceY * (angle / 90d)) + (-distanceX * ((90d - angle) / 90d));
double transY = (-distanceY * ((90d - angle) / 90d)) + (-distanceX * (angle / 90d));
// showSnackbarMessage("ANGLE: " + angle + ", distanceX: " + distanceX + ", distanceY: " + distanceY, false);
mTranslationX.set(mTranslationX.size() - 1, (float) (mTranslationX.get(mTranslationX.size() - 1) + (transX * -speed)));
mTranslationZ.set(mTranslationZ.size() - 1, (float) (mTranslationZ.get(mTranslationZ.size() - 1) + (transY * -speed)));
} else //Quadrant 4
{
angle -= 270d;
double transX = (-distanceX * (angle / 90d)) + (-distanceY * ((90d - angle) / 90d));
double transY = (distanceX * ((90d - angle) / 90d)) + (-distanceY * (angle / 90d));
// showSnackbarMessage("ANGLE: " + angle + ", distanceX: " + distanceX + ", distanceY: " + distanceY, false);
mTranslationX.set(mTranslationX.size() - 1, (float) (mTranslationX.get(mTranslationX.size() - 1) + (transX * speed)));
mTranslationZ.set(mTranslationZ.size() - 1, (float) (mTranslationZ.get(mTranslationZ.size() - 1) + (transY * speed)));
}
return true;
}
return false;
}
@Override
public boolean onDown(MotionEvent e) {
return true;
}
});
surfaceView.setOnTouchListener(
new View.OnTouchListener() {
@Override
public boolean onTouch(View v, MotionEvent event) {
boolean retVal = mScaleDetector.onTouchEvent(event);
if (retVal)
mRotationDetector.onTouchEvent(event);
retVal = gestureDetector.onTouchEvent(event) || retVal;
return retVal || gestureDetector.onTouchEvent(event);
//return gestureDetector.onTouchEvent(event);
}
});
// Set up renderer.
surfaceView.setPreserveEGLContextOnPause(true);
surfaceView.setEGLContextClientVersion(2);
surfaceView.setEGLConfigChooser(8, 8, 8, 8, 16, 0); // Alpha used for plane blending.
surfaceView.setRenderer(this);
surfaceView.setRenderMode(GLSurfaceView.RENDERMODE_CONTINUOUSLY);
installRequested = false;
}
private double findCameraAngleFromOrigin() {
double angle = getDegree(mCurrentCameraMatrix[2], mCurrentCameraMatrix[0]) -
getDegree(mOriginCameraMatrix[2], mOriginCameraMatrix[0]);
if (angle < 0)
return angle + 360;
return angle;
}
private double getDegree(double value1, double value2) {
double firstAngle = value1 * 90;
double secondAngle = value2 * 90;
if (secondAngle >= 0 && firstAngle >= 0) {
return firstAngle; // first quadrant
} else if (secondAngle < 0 && firstAngle >= 0) {
return 90 + (90 - firstAngle); //second quadrant
} else if (secondAngle < 0 && firstAngle < 0) {
return 180 - firstAngle; //third quadrant
} else {
return 270 + (90 + firstAngle); //fourth quadrant
}
}
@Override
protected void onResume() {
super.onResume();
if (session == null) {
Exception exception = null;
String message = null;
try {
switch (ArCoreApk.getInstance().requestInstall(this, !installRequested)) {
case INSTALL_REQUESTED:
installRequested = true;
return;
case INSTALLED:
break;
}
// ARCore requires camera permissions to operate. If we did not yet obtain runtime
// permission on Android M and above, now is a good time to ask the user for it.
if (!CameraPermissionHelper.hasCameraPermission(this)) {
CameraPermissionHelper.requestCameraPermission(this);
return;
}
session = new Session(/* context= */ this);
} catch (UnavailableArcoreNotInstalledException
| UnavailableUserDeclinedInstallationException e) {
message = "Please install ARCore";
exception = e;
} catch (UnavailableApkTooOldException e) {
message = "Please update ARCore";
exception = e;
} catch (UnavailableSdkTooOldException e) {
message = "Please update this app";
exception = e;
} catch (Exception e) {
message = "This device does not support AR";
exception = e;
}
if (message != null) {
showSnackbarMessage(message, true);
Log.e(TAG, "Exception creating session", exception);
return;
}
// Create default config and check if supported.
Config config = new Config(session);
if (!session.isSupported(config)) {
showSnackbarMessage("This device does not support AR", true);
}
session.configure(config);
}
showLoadingMessage();
// Note that order matters - see the note in onPause(), the reverse applies here.
session.resume();
surfaceView.onResume();
displayRotationHelper.onResume();
}
@Override
public void onPause() {
super.onPause();
if (session != null) {
// Note that the order matters - GLSurfaceView is paused first so that it does not try
// to query the session. If Session is paused before GLSurfaceView, GLSurfaceView may
// still call session.update() and get a SessionPausedException.
displayRotationHelper.onPause();
surfaceView.onPause();
session.pause();
}
}
@Override
public void onRequestPermissionsResult(int requestCode, String[] permissions, int[] results) {
if (!CameraPermissionHelper.hasCameraPermission(this)) {
Toast.makeText(this, "Camera permission is needed to run this application", Toast.LENGTH_LONG)
.show();
if (!CameraPermissionHelper.shouldShowRequestPermissionRationale(this)) {
// Permission denied with checking "Do not ask again".
CameraPermissionHelper.launchPermissionSettings(this);
}
finish();
}
}
@Override
public void onWindowFocusChanged(boolean hasFocus) {
super.onWindowFocusChanged(hasFocus);
if (hasFocus) {
// Standard Android full-screen functionality.
getWindow()
.getDecorView()
.setSystemUiVisibility(
View.SYSTEM_UI_FLAG_LAYOUT_STABLE
| View.SYSTEM_UI_FLAG_LAYOUT_HIDE_NAVIGATION
| View.SYSTEM_UI_FLAG_LAYOUT_FULLSCREEN
| View.SYSTEM_UI_FLAG_HIDE_NAVIGATION
| View.SYSTEM_UI_FLAG_FULLSCREEN
| View.SYSTEM_UI_FLAG_IMMERSIVE_STICKY);
getWindow().addFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
}
}
private void onSingleTap(MotionEvent e) {
// Queue tap if there is space. Tap is lost if queue is full.
queuedSingleTaps.offer(e);
}
@Override
public void onSurfaceCreated(GL10 gl, EGLConfig config) {
GLES20.glClearColor(0.1f, 0.1f, 0.1f, 1.0f);
// Create the texture and pass it to ARCore session to be filled during update().
backgroundRenderer.createOnGlThread(/*context=*/ this);
// Prepare the other rendering objects.
try {
virtualObject.createOnGlThread(/*context=*/ this, "andy.obj", "andy.png");
virtualObject.setMaterialProperties(0.0f, 3.5f, 1.0f, 6.0f);
virtualObjectShadow.createOnGlThread(/*context=*/ this, "andy_shadow.obj", "andy_shadow.png");
virtualObjectShadow.setBlendMode(BlendMode.Shadow);
virtualObjectShadow.setMaterialProperties(1.0f, 0.0f, 0.0f, 1.0f);
} catch (IOException e) {
Log.e(TAG, "Failed to read obj file");
}
try {
planeRenderer.createOnGlThread(/*context=*/ this, "trigrid.png");
} catch (IOException e) {
Log.e(TAG, "Failed to read plane texture");
}
pointCloud.createOnGlThread(/*context=*/ this);
}
@Override
public void onSurfaceChanged(GL10 gl, int width, int height) {
displayRotationHelper.onSurfaceChanged(width, height);
GLES20.glViewport(0, 0, width, height);
mVirtualObjects.add(virtualObject);
}
@Override
public void onDrawFrame(GL10 gl) {
// Clear screen to notify driver it should not load any pixels from previous frame.
GLES20.glClear(GLES20.GL_COLOR_BUFFER_BIT | GLES20.GL_DEPTH_BUFFER_BIT);
if (session == null) {
return;
}
// Notify ARCore session that the view size changed so that the perspective matrix and
// the video background can be properly adjusted.
displayRotationHelper.updateSessionIfNeeded(session);
try {
session.setCameraTextureName(backgroundRenderer.getTextureId());
// Obtain the current frame from ARSession. When the configuration is set to
// UpdateMode.BLOCKING (it is by default), this will throttle the rendering to the
// camera framerate.
Frame frame = session.update();
Camera camera = frame.getCamera();
// Handle taps. Handling only one tap per frame, as taps are usually low frequency
// compared to frame rate.
MotionEvent tap = queuedSingleTaps.poll();
if (tap != null && camera.getTrackingState() == TrackingState.TRACKING) {
for (HitResult hit : frame.hitTest(tap)) {
// Check if any plane was hit, and if it was hit inside the plane polygon
Trackable trackable = hit.getTrackable();
// Creates an anchor if a plane or an oriented point was hit.
if ((trackable instanceof Plane && ((Plane) trackable).isPoseInPolygon(hit.getHitPose()))
|| (trackable instanceof Point
&& ((Point) trackable).getOrientationMode()
== OrientationMode.ESTIMATED_SURFACE_NORMAL)) {
// Hits are sorted by depth. Consider only closest hit on a plane or oriented point.
// Cap the number of objects created. This avoids overloading both the
// rendering system and ARCore.
if (mAnchors.size() >= 20)
{
//Alert the user that the maximum has been reached, must call from
//Handler as this is a UI action being done on a worker thread.
new Handler(Looper.getMainLooper())
{
@Override
public void handleMessage(Message message)
{
Toast.makeText(HelloArActivity.this,
"You've reached the maximum!", Toast.LENGTH_LONG).show();
}
};
// Alternatively, you can start detaching, however, a revision to the
// mAnchorReferences and mScalingFactors should be made!
// mAnchors.get(0).detach();
// mAnchors.remove(0);
}
else
{
// Adding an Anchor tells ARCore that it should track this position in
// space. This anchor is created on the Plane to place the 3d model
// in the correct position relative both to the world and to the plane.
mScaleFactors.add(1.0f);
Anchor anchor = hit.createAnchor();
mAnchors.add(anchor);
mAnchorReferences.add(mCurrent);
camera.getDisplayOrientedPose().toMatrix(mOriginCameraMatrix, 0);
}
break;
}
}
}
// Draw background.
backgroundRenderer.draw(frame);
// If not tracking, don't draw 3d objects.
if (camera.getTrackingState() == TrackingState.PAUSED) {
return;
}
// Get projection matrix.
float[] projmtx = new float[16];
camera.getProjectionMatrix(projmtx, 0, 0.1f, 100.0f);
// Get camera matrix and draw.
float[] viewmtx = new float[16];
camera.getViewMatrix(viewmtx, 0);
// Compute lighting from average intensity of the image.
final float lightIntensity = frame.getLightEstimate().getPixelIntensity();
// Visualize tracked points.
PointCloud pointCloud = frame.acquirePointCloud();
this.pointCloud.update(pointCloud);
this.pointCloud.draw(viewmtx, projmtx);
// Application is responsible for releasing the point cloud resources after
// using it.
pointCloud.release();
// Check if we detected at least one plane. If so, hide the loading message.
if (messageSnackbar != null) {
for (Plane plane : session.getAllTrackables(Plane.class)) {
if (plane.getType() == com.google.ar.core.Plane.Type.HORIZONTAL_UPWARD_FACING
&& plane.getTrackingState() == TrackingState.TRACKING) {
hideLoadingMessage();
break;
}
}
}
camera.getDisplayOrientedPose().toMatrix(mCurrentCameraMatrix, 0);
// Visualize planes.
planeRenderer.drawPlanes(
session.getAllTrackables(Plane.class), camera.getDisplayOrientedPose(), projmtx);
// Visualize anchors created by touch.
int ac = 0;
for (Anchor anchor : mAnchors) {
if (anchor.getTrackingState() != TrackingState.TRACKING) {
continue;
}
// Get the current pose of an Anchor in world space. The Anchor pose is updated
// during calls to session.update() as ARCore refines its estimate of the world.
anchor.getPose().toMatrix(anchorMatrix, 0);
if (mScaleFactors.size() <= ac) {
mScaleFactors.add(1.0f);
}
if (mRotationThetas.size() <= ac) {
mRotationThetas.add(0.0f);
}
if (mTranslationX.size() <= ac) {
mTranslationX.add(viewmtx[3]);
}
if (mTranslationZ.size() <= ac) {
mTranslationZ.add(viewmtx[11]);
}
translateMatrix(mTranslationX.get(ac), 0, mTranslationZ.get(ac));
rotateYAxisMatrix(mRotationThetas.get(ac));
// Update and draw the model and its shadow.
ObjectRenderer vitualObject = mVirtualObjects.get(mAnchorReferences.get(ac));
vitualObject.updateModelMatrix(anchorMatrix, mScaleFactors.get(ac));
vitualObject.draw(viewmtx, projmtx, lightIntensity);
}
} catch (Throwable t) {
// Avoid crashing the application due to unhandled exceptions.
Log.e(TAG, "Exception on the OpenGL thread", t);
}
}
private void rotateYAxisMatrix(float rotationTheta) {
if (rotationTheta != 0.0f) {
anchorMatrix[0] = (float) Math.cos(rotationTheta);
anchorMatrix[2] = (float) Math.sin(rotationTheta);
anchorMatrix[5] = 1;
anchorMatrix[8] = -(float) Math.sin(rotationTheta);
anchorMatrix[10] = (float) Math.cos(rotationTheta);
anchorMatrix[15] = 1;
}
}
private void translateMatrix(float xDistance, float yDistance, float zDistance) {
Matrix.translateM(anchorMatrix, 0, xDistance, yDistance, zDistance);
}
我正在尝试通过单指滚动添加对象的移动。 （例如，参见 Google AR 贴纸）我使用的是基于最初 ARCore 示例的原生 ARCore/OpenGL。当你滑动 1 个手指时，我想在 3D space 中沿 X 轴和 Z 轴移动对象。
我可以使用 Translation 轻松创建移动，但是，它会根据原始相机方向执行移动。如果您将 phone/camera 横向移动几步，手指的移动将不再符合用户的预期。
所以我更改了我的代码并映射了滑动的手指 distanceX 和 distanceY 以影响 X 和 Z 坐标，具体取决于从原始相机起点到当前相机点的变化角度。
我 运行 遇到的问题是确定相机移动的角度。我一直在查看 Camera View 矩阵的值：
camera.getViewMatrix(viewmtx, 0);
但 X、Y 和 Z 坐标始终为 0。我假设这是因为它始终使相机成为原点？有谁知道使用 ARCore/OpenGL ES 库从 3D 对象计算相机旋转角度的方法？下图中的红色角度（从上到下的角度）是我想要得到的。抱歉粗略的绘图：
这是我的代码供您参考：
// Handle Gestures - Single touch for Translation and Placement
mGestureDetector = new GestureDetector(this, new GestureDetector.SimpleOnGestureListener()
{
@Override
public boolean onSingleTapUp(MotionEvent e)
{
onSingleTap(e);
return true;
}
@Override
public boolean onScroll(MotionEvent e1, MotionEvent e2, float distanceX, float distanceY)
{
if (e2.getPointerCount() == 1 && ...)
{
double angle = findCameraAngleFromOrigin();
double speed = 0.005d;
if (angle / 90d < 1) //Quadrant 1
{
double transX = -(distanceY * (angle / 90d)) + (distanceX * ((90d - angle) / 90d));
double transY = (distanceY * ((90d - angle) / 90d)) + (distanceX * (angle / 90d));
mTranslationX.set(mTranslationX.size() - 1, (float) (mTranslationX.get(mTranslationX.size() - 1) + (transX * -speed)));
mTranslationZ.set(mTranslationZ.size() - 1, (float) (mTranslationZ.get(mTranslationZ.size() - 1) + (transY * -speed)));
}
else if (angle / 90d < 2) //Quadrant 2
{
angle -= 90d;
double transX = (distanceX * (angle / 90d)) + (distanceY * ((90d - angle) / 90d));
double transY = (-distanceX * ((90d - angle) / 90d)) + (distanceY * (angle / 90d));
mTranslationX.set(mTranslationX.size() - 1, (float) (mTranslationX.get(mTranslationX.size() - 1) + (transX * speed)));
mTranslationZ.set(mTranslationZ.size() - 1, (float) (mTranslationZ.get(mTranslationZ.size() - 1) + (transY * speed)));
}
else if (angle / 90d < 3) //Quadrant 3
{
angle -= 180d;
double transX = (distanceY * (angle / 90d)) + (-distanceX * ((90d - angle) / 90d));
double transY = (-distanceY * ((90d - angle) / 90d)) + (-distanceX * (angle / 90d));
mTranslationX.set(mTranslationX.size() - 1, (float) (mTranslationX.get(mTranslationX.size() - 1) + (transX * -speed)));
mTranslationZ.set(mTranslationZ.size() - 1, (float) (mTranslationZ.get(mTranslationZ.size() - 1) + (transY * -speed)));
}
else //Quadrant 4
{
angle -= 270d;
double transX = (-distanceX * (angle / 90d)) + (-distanceY * ((90d - angle) / 90d));
double transY = (distanceX * ((90d - angle) / 90d)) + (-distanceY * (angle / 90d));
mTranslationX.set(mTranslationX.size() - 1, (float) (mTranslationX.get(mTranslationX.size() - 1) + (transX * speed)));
mTranslationZ.set(mTranslationZ.size() - 1, (float) (mTranslationZ.get(mTranslationZ.size() - 1) + (transY * speed)));
}
return true;
}
return false;
}
}
编辑：更新代码
我无法弄清楚如何找到与相机点的距离，但我至少能够找到 phone 旋转的差异，它更近了。我通过下面的代码完成了它。我对结果仍然不满意，所以我会 post 稍后在找到更有效的解决方案时更新。
private double getDegree(double value1, double value2)
{
double firstAngle = value1 * 90;
double secondAngle = value2 * 90;
if (secondAngle >= 0 && firstAngle >= 0)
{
Log.d(TAG, "FIRST QUADRANT");
return firstAngle; // first quadrant
}
else if (secondAngle < 0 && firstAngle >= 0)
{
Log.d(TAG, "SECOND QUADRANT");
return 90 + (90 - firstAngle); //second quadrant
}
else if (secondAngle < 0 && firstAngle < 0)
{
Log.d(TAG, "THIRD QUADRANT");
return 180 - firstAngle; //third quadrant
}
else
{
Log.d(TAG, "FOURTH QUADRANT");
return 270 + (90 + firstAngle); //fourth quadrant
}
}
private double findCameraAngleFromOrigin()
{
double angle = getDegree(mCurrentCameraMatrix[2], mCurrentCameraMatrix[0]) - getDegree(mOriginCameraMatrix[2], mOriginCameraMatrix[0]);
if (angle < 0)
return angle + 360;
return angle;
}
@Override
public void onDrawFrame(GL10 gl)
{
...
//When creating a new object
Anchor anchor = hit.createAnchor();
mAnchors.add(anchor);
camera.getDisplayOrientedPose().toMatrix( mOriginCameraMatrix, 0);
//During each draw frame
camera.getDisplayOrientedPose().toMatrix( mCurrentCameraMatrix, 0);
int ac = 0;
for (Anchor anchor : mAnchors)
{
if (anchor.getTrackingState() != TrackingState.TRACKING)
{
continue;
}
// Get the current pose of an Anchor in world space. The Anchor pose is updated
// during calls to session.update() as ARCore refines its estimate of the world.
anchor.getPose().toMatrix(mAnchorMatrix, 0);
// Update and draw the model
if (mModelSet)
{
if (mScaleFactors.size() <= ac)
{
mScaleFactors.add(1.0f);
}
if (mRotationThetas.size() <= ac)
{
mRotationThetas.add(0.0f);
}
if (mTranslationX.size() <= ac)
{
mTranslationX.add(viewmtx[3]);
}
if (mTranslationZ.size() <= ac)
{
mTranslationZ.add(viewmtx[11]);
}
translateMatrix(mTranslationX.get(ac), 0, mTranslationZ.get(ac));
rotateYAxisMatrix(mRotationThetas.get(ac));
ObjectRenderer virtualObject = mVirtualObjects.get(mAnchorReferences.get(ac));
virtualObject.updateModelMatrix(mAnchorMatrix, mScaleFactors.get(ac));
virtualObject.draw(viewmtx, projmtx, lightIntensity);
}
ac++;
}
}
这有点难以追踪，所以一旦我对实施和代码清理感到更加自在，我可能会 post 整个 class。
public class HelloArActivity extends AppCompatActivity implements GLSurfaceView.Renderer {
private static final String TAG = HelloArActivity.class.getSimpleName();
// Rendering. The Renderers are created here, and initialized when the GL surface is created.
private GLSurfaceView surfaceView;
private boolean installRequested;
private Session session;
private GestureDetector gestureDetector;
private Snackbar messageSnackbar;
private DisplayRotationHelper displayRotationHelper;
private final BackgroundRenderer backgroundRenderer = new BackgroundRenderer();
private final ObjectRenderer virtualObject = new ObjectRenderer();
private final ObjectRenderer virtualObjectShadow = new ObjectRenderer();
private final PlaneRenderer planeRenderer = new PlaneRenderer();
private final PointCloudRenderer pointCloud = new PointCloudRenderer();
private int mCurrent = -1;
private final List<ObjectRenderer> mVirtualObjects = new ArrayList<ObjectRenderer>();
// Temporary matrix allocated here to reduce number of allocations for each frame.
private final float[] anchorMatrix = new float[16];
//Rotation, Moving, & Scaling
private final List<Float> mRotationThetas = new ArrayList<Float>();
private GestureDetector mGestureDetector;
private ScaleGestureDetector mScaleDetector;
private RotationGestureDetector mRotationDetector;
private final List<Float> mScaleFactors = new ArrayList<Float>();
private final List<Float> mTranslationX = new ArrayList<Float>();
private final List<Float> mTranslationZ = new ArrayList<Float>();
private final float[] mOriginCameraMatrix = new float[16];
private final float[] mCurrentCameraMatrix = new float[16];
private boolean mModelSet = false;
// Tap handling and UI.
private final ArrayBlockingQueue<MotionEvent> mQueuedSingleTaps = new ArrayBlockingQueue<>(16);
private final ArrayList<Anchor> mAnchors = new ArrayList<>();
// Tap handling and UI.
private final ArrayBlockingQueue<MotionEvent> queuedSingleTaps = new ArrayBlockingQueue<>(16);
private final List<Integer> mAnchorReferences = new ArrayList<Integer>();
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_main);
surfaceView = findViewById(R.id.surfaceview);
displayRotationHelper = new DisplayRotationHelper(/*context=*/ this);
//Handle Gestures - Multitouch for Scaling and Rotation
mScaleDetector = new ScaleGestureDetector(this, new ScaleGestureDetector.SimpleOnScaleGestureListener() {
@Override
public boolean onScale(ScaleGestureDetector detector) {
if (mScaleFactors.size() > 0) {
mScaleFactors.set(mScaleFactors.size() - 1, Math.max(0.1f, Math.min(detector.getScaleFactor() * mScaleFactors.get(mScaleFactors.size() - 1), 5.0f)));
return true;
}
return false;
}
});
mRotationDetector = new RotationGestureDetector(this, new RotationGestureDetector.OnRotationGestureListener() {
@Override
public void OnRotation(RotationGestureDetector rotationDetector) {
if (mRotationThetas.size() > 0) {
mRotationThetas.set(mRotationThetas.size() - 1, (mRotationThetas.get(mRotationThetas.size() - 1) + (rotationDetector.getAngle() * -0.001f)));
}
}
});
// Set up tap listener.
gestureDetector =
new GestureDetector(
this,
new GestureDetector.SimpleOnGestureListener() {
@Override
public boolean onSingleTapUp(MotionEvent e) {
onSingleTap(e);
return true;
}
@Override
public boolean onScroll(MotionEvent e1, MotionEvent e2, float distanceX, float distanceY) {
if (e2.getPointerCount() == 1 && mTranslationX.size() > 0 && mTranslationZ.size() > 0) {
double angle = findCameraAngleFromOrigin();
double speed = 0.001d;
if (angle / 90d < 1) //Quadrant 1
{
double transX = -(distanceY * (angle / 90d)) + (distanceX * ((90d - angle) / 90d));
double transY = (distanceY * ((90d - angle) / 90d)) + (distanceX * (angle / 90d));
// showSnackbarMessage("ANGLE: " + angle + ", distanceX: " + distanceX + ", distanceY: " + distanceY, false);
mTranslationX.set(mTranslationX.size() - 1, (float) (mTranslationX.get(mTranslationX.size() - 1) + (transX * -speed)));
mTranslationZ.set(mTranslationZ.size() - 1, (float) (mTranslationZ.get(mTranslationZ.size() - 1) + (transY * -speed)));
} else if (angle / 90d < 2) //Quadrant 2
{
angle -= 90d;
double transX = (distanceX * (angle / 90d)) + (distanceY * ((90d - angle) / 90d));
double transY = (-distanceX * ((90d - angle) / 90d)) + (distanceY * (angle / 90d));
// showSnackbarMessage("ANGLE: " + angle + ", distanceX: " + distanceX + ", distanceY: " + distanceY, false);
mTranslationX.set(mTranslationX.size() - 1, (float) (mTranslationX.get(mTranslationX.size() - 1) + (transX * speed)));
mTranslationZ.set(mTranslationZ.size() - 1, (float) (mTranslationZ.get(mTranslationZ.size() - 1) + (transY * speed)));
} else if (angle / 90d < 3) //Quadrant 3
{
angle -= 180d;
double transX = (distanceY * (angle / 90d)) + (-distanceX * ((90d - angle) / 90d));
double transY = (-distanceY * ((90d - angle) / 90d)) + (-distanceX * (angle / 90d));
// showSnackbarMessage("ANGLE: " + angle + ", distanceX: " + distanceX + ", distanceY: " + distanceY, false);
mTranslationX.set(mTranslationX.size() - 1, (float) (mTranslationX.get(mTranslationX.size() - 1) + (transX * -speed)));
mTranslationZ.set(mTranslationZ.size() - 1, (float) (mTranslationZ.get(mTranslationZ.size() - 1) + (transY * -speed)));
} else //Quadrant 4
{
angle -= 270d;
double transX = (-distanceX * (angle / 90d)) + (-distanceY * ((90d - angle) / 90d));
double transY = (distanceX * ((90d - angle) / 90d)) + (-distanceY * (angle / 90d));
// showSnackbarMessage("ANGLE: " + angle + ", distanceX: " + distanceX + ", distanceY: " + distanceY, false);
mTranslationX.set(mTranslationX.size() - 1, (float) (mTranslationX.get(mTranslationX.size() - 1) + (transX * speed)));
mTranslationZ.set(mTranslationZ.size() - 1, (float) (mTranslationZ.get(mTranslationZ.size() - 1) + (transY * speed)));
}
return true;
}
return false;
}
@Override
public boolean onDown(MotionEvent e) {
return true;
}
});
surfaceView.setOnTouchListener(
new View.OnTouchListener() {
@Override
public boolean onTouch(View v, MotionEvent event) {
boolean retVal = mScaleDetector.onTouchEvent(event);
if (retVal)
mRotationDetector.onTouchEvent(event);
retVal = gestureDetector.onTouchEvent(event) || retVal;
return retVal || gestureDetector.onTouchEvent(event);
//return gestureDetector.onTouchEvent(event);
}
});
// Set up renderer.
surfaceView.setPreserveEGLContextOnPause(true);
surfaceView.setEGLContextClientVersion(2);
surfaceView.setEGLConfigChooser(8, 8, 8, 8, 16, 0); // Alpha used for plane blending.
surfaceView.setRenderer(this);
surfaceView.setRenderMode(GLSurfaceView.RENDERMODE_CONTINUOUSLY);
installRequested = false;
}
private double findCameraAngleFromOrigin() {
double angle = getDegree(mCurrentCameraMatrix[2], mCurrentCameraMatrix[0]) -
getDegree(mOriginCameraMatrix[2], mOriginCameraMatrix[0]);
if (angle < 0)
return angle + 360;
return angle;
}
private double getDegree(double value1, double value2) {
double firstAngle = value1 * 90;
double secondAngle = value2 * 90;
if (secondAngle >= 0 && firstAngle >= 0) {
return firstAngle; // first quadrant
} else if (secondAngle < 0 && firstAngle >= 0) {
return 90 + (90 - firstAngle); //second quadrant
} else if (secondAngle < 0 && firstAngle < 0) {
return 180 - firstAngle; //third quadrant
} else {
return 270 + (90 + firstAngle); //fourth quadrant
}
}
@Override
protected void onResume() {
super.onResume();
if (session == null) {
Exception exception = null;
String message = null;
try {
switch (ArCoreApk.getInstance().requestInstall(this, !installRequested)) {
case INSTALL_REQUESTED:
installRequested = true;
return;
case INSTALLED:
break;
}
// ARCore requires camera permissions to operate. If we did not yet obtain runtime
// permission on Android M and above, now is a good time to ask the user for it.
if (!CameraPermissionHelper.hasCameraPermission(this)) {
CameraPermissionHelper.requestCameraPermission(this);
return;
}
session = new Session(/* context= */ this);
} catch (UnavailableArcoreNotInstalledException
| UnavailableUserDeclinedInstallationException e) {
message = "Please install ARCore";
exception = e;
} catch (UnavailableApkTooOldException e) {
message = "Please update ARCore";
exception = e;
} catch (UnavailableSdkTooOldException e) {
message = "Please update this app";
exception = e;
} catch (Exception e) {
message = "This device does not support AR";
exception = e;
}
if (message != null) {
showSnackbarMessage(message, true);
Log.e(TAG, "Exception creating session", exception);
return;
}
// Create default config and check if supported.
Config config = new Config(session);
if (!session.isSupported(config)) {
showSnackbarMessage("This device does not support AR", true);
}
session.configure(config);
}
showLoadingMessage();
// Note that order matters - see the note in onPause(), the reverse applies here.
session.resume();
surfaceView.onResume();
displayRotationHelper.onResume();
}
@Override
public void onPause() {
super.onPause();
if (session != null) {
// Note that the order matters - GLSurfaceView is paused first so that it does not try
// to query the session. If Session is paused before GLSurfaceView, GLSurfaceView may
// still call session.update() and get a SessionPausedException.
displayRotationHelper.onPause();
surfaceView.onPause();
session.pause();
}
}
@Override
public void onRequestPermissionsResult(int requestCode, String[] permissions, int[] results) {
if (!CameraPermissionHelper.hasCameraPermission(this)) {
Toast.makeText(this, "Camera permission is needed to run this application", Toast.LENGTH_LONG)
.show();
if (!CameraPermissionHelper.shouldShowRequestPermissionRationale(this)) {
// Permission denied with checking "Do not ask again".
CameraPermissionHelper.launchPermissionSettings(this);
}
finish();
}
}
@Override
public void onWindowFocusChanged(boolean hasFocus) {
super.onWindowFocusChanged(hasFocus);
if (hasFocus) {
// Standard Android full-screen functionality.
getWindow()
.getDecorView()
.setSystemUiVisibility(
View.SYSTEM_UI_FLAG_LAYOUT_STABLE
| View.SYSTEM_UI_FLAG_LAYOUT_HIDE_NAVIGATION
| View.SYSTEM_UI_FLAG_LAYOUT_FULLSCREEN
| View.SYSTEM_UI_FLAG_HIDE_NAVIGATION
| View.SYSTEM_UI_FLAG_FULLSCREEN
| View.SYSTEM_UI_FLAG_IMMERSIVE_STICKY);
getWindow().addFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
}
}
private void onSingleTap(MotionEvent e) {
// Queue tap if there is space. Tap is lost if queue is full.
queuedSingleTaps.offer(e);
}
@Override
public void onSurfaceCreated(GL10 gl, EGLConfig config) {
GLES20.glClearColor(0.1f, 0.1f, 0.1f, 1.0f);
// Create the texture and pass it to ARCore session to be filled during update().
backgroundRenderer.createOnGlThread(/*context=*/ this);
// Prepare the other rendering objects.
try {
virtualObject.createOnGlThread(/*context=*/ this, "andy.obj", "andy.png");
virtualObject.setMaterialProperties(0.0f, 3.5f, 1.0f, 6.0f);
virtualObjectShadow.createOnGlThread(/*context=*/ this, "andy_shadow.obj", "andy_shadow.png");
virtualObjectShadow.setBlendMode(BlendMode.Shadow);
virtualObjectShadow.setMaterialProperties(1.0f, 0.0f, 0.0f, 1.0f);
} catch (IOException e) {
Log.e(TAG, "Failed to read obj file");
}
try {
planeRenderer.createOnGlThread(/*context=*/ this, "trigrid.png");
} catch (IOException e) {
Log.e(TAG, "Failed to read plane texture");
}
pointCloud.createOnGlThread(/*context=*/ this);
}
@Override
public void onSurfaceChanged(GL10 gl, int width, int height) {
displayRotationHelper.onSurfaceChanged(width, height);
GLES20.glViewport(0, 0, width, height);
mVirtualObjects.add(virtualObject);
}
@Override
public void onDrawFrame(GL10 gl) {
// Clear screen to notify driver it should not load any pixels from previous frame.
GLES20.glClear(GLES20.GL_COLOR_BUFFER_BIT | GLES20.GL_DEPTH_BUFFER_BIT);
if (session == null) {
return;
}
// Notify ARCore session that the view size changed so that the perspective matrix and
// the video background can be properly adjusted.
displayRotationHelper.updateSessionIfNeeded(session);
try {
session.setCameraTextureName(backgroundRenderer.getTextureId());
// Obtain the current frame from ARSession. When the configuration is set to
// UpdateMode.BLOCKING (it is by default), this will throttle the rendering to the
// camera framerate.
Frame frame = session.update();
Camera camera = frame.getCamera();
// Handle taps. Handling only one tap per frame, as taps are usually low frequency
// compared to frame rate.
MotionEvent tap = queuedSingleTaps.poll();
if (tap != null && camera.getTrackingState() == TrackingState.TRACKING) {
for (HitResult hit : frame.hitTest(tap)) {
// Check if any plane was hit, and if it was hit inside the plane polygon
Trackable trackable = hit.getTrackable();
// Creates an anchor if a plane or an oriented point was hit.
if ((trackable instanceof Plane && ((Plane) trackable).isPoseInPolygon(hit.getHitPose()))
|| (trackable instanceof Point
&& ((Point) trackable).getOrientationMode()
== OrientationMode.ESTIMATED_SURFACE_NORMAL)) {
// Hits are sorted by depth. Consider only closest hit on a plane or oriented point.
// Cap the number of objects created. This avoids overloading both the
// rendering system and ARCore.
if (mAnchors.size() >= 20)
{
//Alert the user that the maximum has been reached, must call from
//Handler as this is a UI action being done on a worker thread.
new Handler(Looper.getMainLooper())
{
@Override
public void handleMessage(Message message)
{
Toast.makeText(HelloArActivity.this,
"You've reached the maximum!", Toast.LENGTH_LONG).show();
}
};
// Alternatively, you can start detaching, however, a revision to the
// mAnchorReferences and mScalingFactors should be made!
// mAnchors.get(0).detach();
// mAnchors.remove(0);
}
else
{
// Adding an Anchor tells ARCore that it should track this position in
// space. This anchor is created on the Plane to place the 3d model
// in the correct position relative both to the world and to the plane.
mScaleFactors.add(1.0f);
Anchor anchor = hit.createAnchor();
mAnchors.add(anchor);
mAnchorReferences.add(mCurrent);
camera.getDisplayOrientedPose().toMatrix(mOriginCameraMatrix, 0);
}
break;
}
}
}
// Draw background.
backgroundRenderer.draw(frame);
// If not tracking, don't draw 3d objects.
if (camera.getTrackingState() == TrackingState.PAUSED) {
return;
}
// Get projection matrix.
float[] projmtx = new float[16];
camera.getProjectionMatrix(projmtx, 0, 0.1f, 100.0f);
// Get camera matrix and draw.
float[] viewmtx = new float[16];
camera.getViewMatrix(viewmtx, 0);
// Compute lighting from average intensity of the image.
final float lightIntensity = frame.getLightEstimate().getPixelIntensity();
// Visualize tracked points.
PointCloud pointCloud = frame.acquirePointCloud();
this.pointCloud.update(pointCloud);
this.pointCloud.draw(viewmtx, projmtx);
// Application is responsible for releasing the point cloud resources after
// using it.
pointCloud.release();
// Check if we detected at least one plane. If so, hide the loading message.
if (messageSnackbar != null) {
for (Plane plane : session.getAllTrackables(Plane.class)) {
if (plane.getType() == com.google.ar.core.Plane.Type.HORIZONTAL_UPWARD_FACING
&& plane.getTrackingState() == TrackingState.TRACKING) {
hideLoadingMessage();
break;
}
}
}
camera.getDisplayOrientedPose().toMatrix(mCurrentCameraMatrix, 0);
// Visualize planes.
planeRenderer.drawPlanes(
session.getAllTrackables(Plane.class), camera.getDisplayOrientedPose(), projmtx);
// Visualize anchors created by touch.
int ac = 0;
for (Anchor anchor : mAnchors) {
if (anchor.getTrackingState() != TrackingState.TRACKING) {
continue;
}
// Get the current pose of an Anchor in world space. The Anchor pose is updated
// during calls to session.update() as ARCore refines its estimate of the world.
anchor.getPose().toMatrix(anchorMatrix, 0);
if (mScaleFactors.size() <= ac) {
mScaleFactors.add(1.0f);
}
if (mRotationThetas.size() <= ac) {
mRotationThetas.add(0.0f);
}
if (mTranslationX.size() <= ac) {
mTranslationX.add(viewmtx[3]);
}
if (mTranslationZ.size() <= ac) {
mTranslationZ.add(viewmtx[11]);
}
translateMatrix(mTranslationX.get(ac), 0, mTranslationZ.get(ac));
rotateYAxisMatrix(mRotationThetas.get(ac));
// Update and draw the model and its shadow.
ObjectRenderer vitualObject = mVirtualObjects.get(mAnchorReferences.get(ac));
vitualObject.updateModelMatrix(anchorMatrix, mScaleFactors.get(ac));
vitualObject.draw(viewmtx, projmtx, lightIntensity);
}
} catch (Throwable t) {
// Avoid crashing the application due to unhandled exceptions.
Log.e(TAG, "Exception on the OpenGL thread", t);
}
}
private void rotateYAxisMatrix(float rotationTheta) {
if (rotationTheta != 0.0f) {
anchorMatrix[0] = (float) Math.cos(rotationTheta);
anchorMatrix[2] = (float) Math.sin(rotationTheta);
anchorMatrix[5] = 1;
anchorMatrix[8] = -(float) Math.sin(rotationTheta);
anchorMatrix[10] = (float) Math.cos(rotationTheta);
anchorMatrix[15] = 1;
}
}
private void translateMatrix(float xDistance, float yDistance, float zDistance) {
Matrix.translateM(anchorMatrix, 0, xDistance, yDistance, zDistance);
}