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diff --git a/Assets/GoogleARCore/HelloARExample/Materials/Shaders/MobileDiffuseWithLightEstimation.shader b/Assets/GoogleARCore/HelloARExample/Materials/Shaders/MobileDiffuseWithLightEstimation.shader
new file mode 100644
index 0000000..12c2c7e
--- /dev/null
+++ b/Assets/GoogleARCore/HelloARExample/Materials/Shaders/MobileDiffuseWithLightEstimation.shader
@@ -0,0 +1,39 @@
+Shader "ARCore/DiffuseWithLightEstimateion"
+{
+ Properties
+ {
+ _MainTex ("Base (RGB)", 2D) = "white" {}
+ }
+
+ SubShader
+ {
+ Tags { "RenderType"="Opaque" }
+ LOD 150
+
+ CGPROGRAM
+ #pragma surface surf Lambert noforwardadd finalcolor:lightEstimation
+
+ sampler2D _MainTex;
+ fixed _GlobalLightEstimation;
+
+ struct Input
+ {
+ float2 uv_MainTex;
+ };
+
+ void lightEstimation(Input IN, SurfaceOutput o, inout fixed4 color)
+ {
+ color *= _GlobalLightEstimation;
+ }
+
+ void surf (Input IN, inout SurfaceOutput o)
+ {
+ fixed4 c = tex2D(_MainTex, IN.uv_MainTex);
+ o.Albedo = c.rgb;
+ o.Alpha = c.a;
+ }
+ ENDCG
+ }
+
+ Fallback "Mobile/VertexLit"
+}
diff --git a/Assets/GoogleARCore/HelloARExample/Materials/Shaders/MobileDiffuseWithLightEstimation.shader.meta b/Assets/GoogleARCore/HelloARExample/Materials/Shaders/MobileDiffuseWithLightEstimation.shader.meta
new file mode 100644
index 0000000..c9ac2a7
--- /dev/null
+++ b/Assets/GoogleARCore/HelloARExample/Materials/Shaders/MobileDiffuseWithLightEstimation.shader.meta
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diff --git a/Assets/GoogleARCore/HelloARExample/Materials/Shaders/MobileSpecularWithLightEstimation.shader b/Assets/GoogleARCore/HelloARExample/Materials/Shaders/MobileSpecularWithLightEstimation.shader
new file mode 100644
index 0000000..ecc235d
--- /dev/null
+++ b/Assets/GoogleARCore/HelloARExample/Materials/Shaders/MobileSpecularWithLightEstimation.shader
@@ -0,0 +1,57 @@
+Shader "ARCore/SpecularWithLightEstimation"
+{
+ Properties
+ {
+ _Shininess ("Shininess", Range (0.03, 1)) = 0.078125
+ _MainTex ("Base (RGB) Gloss (A)", 2D) = "white" {}
+ [NoScaleOffset] _BumpMap ("Normalmap", 2D) = "bump" {}
+ }
+ SubShader
+ {
+ Tags { "RenderType"="Opaque" }
+ LOD 250
+
+ CGPROGRAM
+ #pragma surface surf MobileBlinnPhong exclude_path:prepass nolightmap noforwardadd halfasview interpolateview finalcolor:lightEstimation
+
+ inline fixed4 LightingMobileBlinnPhong (SurfaceOutput s, fixed3 lightDir, fixed3 halfDir, fixed atten)
+ {
+ fixed diff = max (0, dot (s.Normal, lightDir));
+ fixed nh = max (0, dot (s.Normal, halfDir));
+ fixed spec = pow (nh, s.Specular*128) * s.Gloss;
+
+ fixed4 c;
+ c.rgb = (s.Albedo * _LightColor0.rgb * diff + _LightColor0.rgb * spec) * atten;
+ UNITY_OPAQUE_ALPHA(c.a);
+ return c;
+ }
+
+ sampler2D _MainTex;
+ sampler2D _BumpMap;
+ half _Shininess;
+ fixed _GlobalLightEstimation;
+
+ struct Input
+ {
+ float2 uv_MainTex;
+ };
+
+ void lightEstimation(Input IN, SurfaceOutput o, inout fixed4 color)
+ {
+ color *= _GlobalLightEstimation;
+ }
+
+ void surf (Input IN, inout SurfaceOutput o)
+ {
+ fixed4 tex = tex2D(_MainTex, IN.uv_MainTex);
+ o.Albedo = tex.rgb;
+ o.Gloss = tex.a;
+ o.Alpha = tex.a;
+ o.Specular = _Shininess;
+ o.Normal = UnpackNormal (tex2D(_BumpMap, IN.uv_MainTex));
+ }
+ ENDCG
+ }
+
+ FallBack "Mobile/VertexLit"
+}
diff --git a/Assets/GoogleARCore/HelloARExample/Materials/Shaders/MobileSpecularWithLightEstimation.shader.meta b/Assets/GoogleARCore/HelloARExample/Materials/Shaders/MobileSpecularWithLightEstimation.shader.meta
new file mode 100644
index 0000000..ee313d4
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diff --git a/Assets/GoogleARCore/HelloARExample/Materials/Shaders/PlaneGrid.shader b/Assets/GoogleARCore/HelloARExample/Materials/Shaders/PlaneGrid.shader
new file mode 100644
index 0000000..4163b4a
--- /dev/null
+++ b/Assets/GoogleARCore/HelloARExample/Materials/Shaders/PlaneGrid.shader
@@ -0,0 +1,67 @@
+Shader "ARCore/PlaneGrid"
+{
+ Properties
+ {
+ _MainTex ("Texture", 2D) = "white" {}
+ _GridColor ("Grid Color", Color) = (1.0, 1.0, 0.0, 1.0)
+ _UvRotation ("UV Rotation", float) = 30
+ }
+
+ SubShader
+ {
+ Tags { "Queue"="Transparent" "RenderType"="Transparent" }
+ Blend SrcAlpha OneMinusSrcAlpha
+ ZTest on
+ ZWrite off
+
+ Pass
+ {
+ CGPROGRAM
+ #pragma vertex vert
+ #pragma fragment frag
+
+ #include "UnityCG.cginc"
+
+ struct appdata
+ {
+ float4 vertex : POSITION;
+ float2 uv : TEXCOORD0;
+ fixed4 color : COLOR;
+ };
+
+ struct v2f
+ {
+ float4 vertex : SV_POSITION;
+ float2 uv : TEXCOORD0;
+ fixed4 color : COLOR;
+ };
+
+ sampler2D _MainTex;
+ float4 _MainTex_ST;
+ float4 _GridColor;
+ fixed _UvRotation;
+
+ v2f vert (appdata v)
+ {
+ v2f o;
+ o.vertex = UnityObjectToClipPos(v.vertex);
+
+ fixed cosr = cos(_UvRotation);
+ fixed sinr = sin(_UvRotation);
+ fixed2x2 uvrotation = fixed2x2(cosr, -sinr, sinr, cosr);
+
+ float2 uv = mul(UNITY_MATRIX_M, v.vertex).xz * _MainTex_ST.xy;
+ o.uv = mul(uvrotation, uv);
+ o.color = v.color;
+ return o;
+ }
+
+ fixed4 frag (v2f i) : SV_Target
+ {
+ fixed4 col = tex2D(_MainTex, i.uv);
+ return fixed4(_GridColor.rgb, col.r * i.color.a);
+ }
+ ENDCG
+ }
+ }
+}
\ No newline at end of file
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new file mode 100644
index 0000000..0d0e588
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diff --git a/Assets/GoogleARCore/HelloARExample/Materials/Shaders/PointCloud.shader b/Assets/GoogleARCore/HelloARExample/Materials/Shaders/PointCloud.shader
new file mode 100644
index 0000000..ba01b92
--- /dev/null
+++ b/Assets/GoogleARCore/HelloARExample/Materials/Shaders/PointCloud.shader
@@ -0,0 +1,48 @@
+// Don't remove the following line. It is used to bypass Unity
+// upgrader change. This is necessary to make sure the shader
+// continues to compile on Unity 5.2
+// UNITY_SHADER_NO_UPGRADE
+Shader "ARCore/PointCloud" {
+Properties{
+ _PointSize("Point Size", Float) = 5.0
+ _Color ("PointCloud Color", Color) = (0.121, 0.737, 0.823, 1.0)
+}
+ SubShader {
+ Pass {
+ CGPROGRAM
+ #pragma vertex vert
+ #pragma fragment frag
+
+ #include "UnityCG.cginc"
+
+ struct appdata
+ {
+ float4 vertex : POSITION;
+ };
+
+ struct v2f
+ {
+ float4 vertex : SV_POSITION;
+ float size : PSIZE;
+ };
+
+ float _PointSize;
+ fixed4 _Color;
+
+ v2f vert (appdata v)
+ {
+ v2f o;
+ o.vertex = mul(UNITY_MATRIX_MVP, v.vertex);
+ o.size = _PointSize;
+
+ return o;
+ }
+
+ fixed4 frag (v2f i) : SV_Target
+ {
+ return _Color;
+ }
+ ENDCG
+ }
+ }
+}
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diff --git a/Assets/GoogleARCore/HelloARExample/Scenes/HelloAR.unity.meta b/Assets/GoogleARCore/HelloARExample/Scenes/HelloAR.unity.meta
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diff --git a/Assets/GoogleARCore/HelloARExample/Scripts.meta b/Assets/GoogleARCore/HelloARExample/Scripts.meta
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diff --git a/Assets/GoogleARCore/HelloARExample/Scripts/HelloARController.cs b/Assets/GoogleARCore/HelloARExample/Scripts/HelloARController.cs
new file mode 100644
index 0000000..dacadd7
--- /dev/null
+++ b/Assets/GoogleARCore/HelloARExample/Scripts/HelloARController.cs
@@ -0,0 +1,199 @@
+//-----------------------------------------------------------------------
+// <copyright file="HelloARController.cs" company="Google">
+//
+// Copyright 2017 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+namespace GoogleARCore.HelloAR
+{
+ using System.Collections.Generic;
+ using UnityEngine;
+ using UnityEngine.Rendering;
+ using GoogleARCore;
+
+ /// <summary>
+ /// Controlls the HelloAR example.
+ /// </summary>
+ public class HelloARController : MonoBehaviour
+ {
+ /// <summary>
+ /// The first-person camera being used to render the passthrough camera.
+ /// </summary>
+ public Camera m_firstPersonCamera;
+
+ /// <summary>
+ /// A prefab for tracking and visualizing detected planes.
+ /// </summary>
+ public GameObject m_trackedPlanePrefab;
+
+ /// <summary>
+ /// A model to place when a raycast from a user touch hits a plane.
+ /// </summary>
+ public GameObject m_andyAndroidPrefab;
+
+ /// <summary>
+ /// A gameobject parenting UI for displaying the "searching for planes" snackbar.
+ /// </summary>
+ public GameObject m_searchingForPlaneUI;
+
+ private List<TrackedPlane> m_newPlanes = new List<TrackedPlane>();
+
+ private List<TrackedPlane> m_allPlanes = new List<TrackedPlane>();
+
+ private Color[] m_planeColors = new Color[] {
+ new Color(1.0f, 1.0f, 1.0f),
+ new Color(0.956f, 0.262f, 0.211f),
+ new Color(0.913f, 0.117f, 0.388f),
+ new Color(0.611f, 0.152f, 0.654f),
+ new Color(0.403f, 0.227f, 0.717f),
+ new Color(0.247f, 0.317f, 0.709f),
+ new Color(0.129f, 0.588f, 0.952f),
+ new Color(0.011f, 0.662f, 0.956f),
+ new Color(0f, 0.737f, 0.831f),
+ new Color(0f, 0.588f, 0.533f),
+ new Color(0.298f, 0.686f, 0.313f),
+ new Color(0.545f, 0.764f, 0.290f),
+ new Color(0.803f, 0.862f, 0.223f),
+ new Color(1.0f, 0.921f, 0.231f),
+ new Color(1.0f, 0.756f, 0.027f)
+ };
+
+ /// <summary>
+ /// The Unity Update() method.
+ /// </summary>
+ public void Update ()
+ {
+ _QuitOnConnectionErrors();
+
+ // The tracking state must be FrameTrackingState.Tracking in order to access the Frame.
+ if (Frame.TrackingState != FrameTrackingState.Tracking)
+ {
+ const int LOST_TRACKING_SLEEP_TIMEOUT = 15;
+ Screen.sleepTimeout = LOST_TRACKING_SLEEP_TIMEOUT;
+ return;
+ }
+
+ Screen.sleepTimeout = SleepTimeout.NeverSleep;
+ Frame.GetNewPlanes(ref m_newPlanes);
+
+ // Iterate over planes found in this frame and instantiate corresponding GameObjects to visualize them.
+ for (int i = 0; i < m_newPlanes.Count; i++)
+ {
+ // Instantiate a plane visualization prefab and set it to track the new plane. The transform is set to
+ // the origin with an identity rotation since the mesh for our prefab is updated in Unity World
+ // coordinates.
+ GameObject planeObject = Instantiate(m_trackedPlanePrefab, Vector3.zero, Quaternion.identity,
+ transform);
+ planeObject.GetComponent<TrackedPlaneVisualizer>().SetTrackedPlane(m_newPlanes[i]);
+
+ // Apply a random color and grid rotation.
+ planeObject.GetComponent<Renderer>().material.SetColor("_GridColor", m_planeColors[Random.Range(0,
+ m_planeColors.Length - 1)]);
+ planeObject.GetComponent<Renderer>().material.SetFloat("_UvRotation", Random.Range(0.0f, 360.0f));
+ }
+
+ // Disable the snackbar UI when no planes are valid.
+ bool showSearchingUI = true;
+ Frame.GetAllPlanes(ref m_allPlanes);
+ for (int i = 0; i < m_allPlanes.Count; i++)
+ {
+ if (m_allPlanes[i].IsValid)
+ {
+ showSearchingUI = false;
+ break;
+ }
+ }
+
+ m_searchingForPlaneUI.SetActive(showSearchingUI);
+
+ Touch touch;
+ if (Input.touchCount < 1 || (touch = Input.GetTouch(0)).phase != TouchPhase.Began)
+ {
+ return;
+ }
+
+ TrackableHit hit;
+ TrackableHitFlag raycastFilter = TrackableHitFlag.PlaneWithinBounds | TrackableHitFlag.PlaneWithinPolygon;
+
+ if (Session.Raycast(m_firstPersonCamera.ScreenPointToRay(touch.position), raycastFilter, out hit))
+ {
+ // Create an anchor to allow ARCore to track the hitpoint as understanding of the physical
+ // world evolves.
+ var anchor = Session.CreateAnchor(hit.Point, Quaternion.identity);
+
+ // Intanstiate an Andy Android object as a child of the anchor; it's transform will now benefit
+ // from the anchor's tracking.
+ var andyObject = Instantiate(m_andyAndroidPrefab, hit.Point, Quaternion.identity,
+ anchor.transform);
+
+ // Andy should look at the camera but still be flush with the plane.
+ andyObject.transform.LookAt(m_firstPersonCamera.transform);
+ andyObject.transform.rotation = Quaternion.Euler(0.0f,
+ andyObject.transform.rotation.eulerAngles.y, andyObject.transform.rotation.z);
+
+ // Use a plane attachment component to maintain Andy's y-offset from the plane
+ // (occurs after anchor updates).
+ andyObject.GetComponent<PlaneAttachment>().Attach(hit.Plane);
+ }
+ }
+
+ /// <summary>
+ /// Quit the application if there was a connection error for the ARCore session.
+ /// </summary>
+ private void _QuitOnConnectionErrors()
+ {
+ // Do not update if ARCore is not tracking.
+ if (Session.ConnectionState == SessionConnectionState.DeviceNotSupported)
+ {
+ _ShowAndroidToastMessage("This device does not support ARCore.");
+ Application.Quit();
+ }
+ else if (Session.ConnectionState == SessionConnectionState.UserRejectedNeededPermission)
+ {
+ _ShowAndroidToastMessage("Camera permission is needed to run this application.");
+ Application.Quit();
+ }
+ else if (Session.ConnectionState == SessionConnectionState.ConnectToServiceFailed)
+ {
+ _ShowAndroidToastMessage("ARCore encountered a problem connecting. Please start the app again.");
+ Application.Quit();
+ }
+ }
+
+ /// <summary>
+ /// Show an Android toast message.
+ /// </summary>
+ /// <param name="message">Message string to show in the toast.</param>
+ /// <param name="length">Toast message time length.</param>
+ private static void _ShowAndroidToastMessage(string message)
+ {
+ AndroidJavaClass unityPlayer = new AndroidJavaClass("com.unity3d.player.UnityPlayer");
+ AndroidJavaObject unityActivity = unityPlayer.GetStatic<AndroidJavaObject>("currentActivity");
+
+ if (unityActivity != null)
+ {
+ AndroidJavaClass toastClass = new AndroidJavaClass("android.widget.Toast");
+ unityActivity.Call("runOnUiThread", new AndroidJavaRunnable(() =>
+ {
+ AndroidJavaObject toastObject = toastClass.CallStatic<AndroidJavaObject>("makeText", unityActivity,
+ message, 0);
+ toastObject.Call("show");
+ }));
+ }
+ }
+ }
+}
diff --git a/Assets/GoogleARCore/HelloARExample/Scripts/HelloARController.cs.meta b/Assets/GoogleARCore/HelloARExample/Scripts/HelloARController.cs.meta
new file mode 100644
index 0000000..f63b5da
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diff --git a/Assets/GoogleARCore/HelloARExample/Scripts/PlaneAttachment.cs b/Assets/GoogleARCore/HelloARExample/Scripts/PlaneAttachment.cs
new file mode 100644
index 0000000..f00d3be
--- /dev/null
+++ b/Assets/GoogleARCore/HelloARExample/Scripts/PlaneAttachment.cs
@@ -0,0 +1,91 @@
+//-----------------------------------------------------------------------
+// <copyright file="PlaneAttachment.cs" company="Google">
+//
+// Copyright 2017 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+namespace GoogleARCore.HelloAR
+{
+ using System.Collections.Generic;
+ using UnityEngine;
+ using UnityEngine.Rendering;
+ using GoogleARCore;
+
+ public class PlaneAttachment : MonoBehaviour
+ {
+ private TrackedPlane m_AttachedPlane;
+
+ private float m_planeYOffset;
+
+ private MeshRenderer[] m_meshRenderers;
+
+ private bool m_isVisible = true;
+
+ /// <summary>
+ /// Unity start.
+ /// </summary>
+ public void Start()
+ {
+ m_meshRenderers = GetComponentsInChildren<MeshRenderer>();
+ }
+
+ /// <summary>
+ /// Unity update.
+ /// </summary>
+ public void Update()
+ {
+ // If the plane has been subsumed switch attachment to the subsuming plane.
+ while (m_AttachedPlane.SubsumedBy != null)
+ {
+ m_AttachedPlane = m_AttachedPlane.SubsumedBy;
+ }
+
+ // Update visibility of the GameObject based on plane validity.
+ if (!m_AttachedPlane.IsValid && m_isVisible)
+ {
+ for (int i = 0; i < m_meshRenderers.Length; i++)
+ {
+ m_meshRenderers[i].enabled = false;
+ }
+
+ m_isVisible = false;
+ }
+ else if (m_AttachedPlane.IsValid && !m_isVisible)
+ {
+ for (int i = 0; i < m_meshRenderers.Length; i++)
+ {
+ m_meshRenderers[i].enabled = true;
+ }
+
+ m_isVisible = true;
+ }
+
+ transform.position = new Vector3(transform.position.x, m_AttachedPlane.Position.y + m_planeYOffset,
+ transform.position.z);
+ }
+
+ /// <summary>
+ /// Have the GameObject maintain the y-offset to a plane.
+ /// </summary>
+ /// <param>The plane to attach to.</param>
+ public void Attach(TrackedPlane plane)
+ {
+ m_AttachedPlane = plane;
+ m_planeYOffset = transform.position.y - plane.Position.y;
+ }
+ }
+}
\ No newline at end of file
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diff --git a/Assets/GoogleARCore/HelloARExample/Scripts/PointcloudVisualizer.cs b/Assets/GoogleARCore/HelloARExample/Scripts/PointcloudVisualizer.cs
new file mode 100644
index 0000000..d4103b2
--- /dev/null
+++ b/Assets/GoogleARCore/HelloARExample/Scripts/PointcloudVisualizer.cs
@@ -0,0 +1,84 @@
+// <copyright file="PointcloudVisualizer.cs" company="Google">
+//
+// Copyright 2017 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+namespace GoogleARCore.HelloAR
+{
+ using System.Collections.Generic;
+ using UnityEngine;
+ using UnityEngine.Profiling;
+ using GoogleARCore;
+
+ /// <summary>
+ /// Visualize the point cloud.
+ /// </summary>
+ public class PointcloudVisualizer : MonoBehaviour
+ {
+ private const int MAX_POINT_COUNT = 61440;
+
+ private Mesh m_mesh;
+
+ private Vector3[] m_points = new Vector3[MAX_POINT_COUNT];
+
+ private double m_lastPointCloudTimestamp;
+
+ /// <summary>
+ /// Unity start.
+ /// </summary>
+ public void Start()
+ {
+ m_mesh = GetComponent<MeshFilter>().mesh;
+ m_mesh.Clear();
+ }
+
+ /// <summary>
+ /// Unity update.
+ /// </summary>
+ public void Update()
+ {
+ // Do not update if ARCore is not tracking.
+ if (Frame.TrackingState != FrameTrackingState.Tracking)
+ {
+ return;
+ }
+
+ // Fill in the data to draw the point cloud.
+ PointCloud pointcloud = Frame.PointCloud;
+ if (pointcloud.PointCount > 0 && pointcloud.Timestamp > m_lastPointCloudTimestamp)
+ {
+ // Copy the point cloud points for mesh verticies.
+ for (int i = 0; i < pointcloud.PointCount; i++)
+ {
+ m_points[i] = pointcloud.GetPoint(i);
+ }
+
+ // Update the mesh indicies array.
+ int[] indices = new int[pointcloud.PointCount];
+ for (int i = 0; i < pointcloud.PointCount; i++)
+ {
+ indices[i] = i;
+ }
+
+ m_mesh.Clear();
+ m_mesh.vertices = m_points;
+ m_mesh.SetIndices(indices, MeshTopology.Points, 0);
+ m_lastPointCloudTimestamp = pointcloud.Timestamp;
+ }
+ }
+ }
+}
\ No newline at end of file
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diff --git a/Assets/GoogleARCore/HelloARExample/Scripts/TrackedPlaneVisualizer.cs b/Assets/GoogleARCore/HelloARExample/Scripts/TrackedPlaneVisualizer.cs
new file mode 100644
index 0000000..b89ce47
--- /dev/null
+++ b/Assets/GoogleARCore/HelloARExample/Scripts/TrackedPlaneVisualizer.cs
@@ -0,0 +1,169 @@
+//-----------------------------------------------------------------------
+// <copyright file="TrackedPlaneComponent.cs" company="Google">
+//
+// Copyright 2017 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+namespace GoogleARCore.HelloAR
+{
+ using System.Collections.Generic;
+ using UnityEngine;
+ using GoogleARCoreInternal;
+
+ /// <summary>
+ /// Visualizes a TrackedPlane in the Unity scene.
+ /// </summary>
+ public class TrackedPlaneVisualizer : MonoBehaviour
+ {
+ /// <summary>
+ /// The ARCore tracked plane to represent.
+ /// </summary>
+ private TrackedPlane m_trackedPlane;
+
+ private List<Vector3> m_meshVertices = new List<Vector3>();
+
+ private List<Color> m_meshColors = new List<Color>();
+
+ private List<int> m_meshIndices = new List<int>();
+
+ private Mesh m_mesh;
+
+ private MeshRenderer m_meshRenderer;
+
+ /// <summary>
+ /// The Unity Awake() method.
+ /// </summary>
+ private void Awake()
+ {
+ m_mesh = GetComponent<MeshFilter>().mesh;
+ m_meshRenderer = GetComponent<UnityEngine.MeshRenderer>();
+ }
+
+ /// <summary>
+ /// The Unity Update() method.
+ /// </summary>
+ private void Update()
+ {
+ if (m_trackedPlane == null)
+ {
+ return;
+ }
+ else if (m_trackedPlane.SubsumedBy != null)
+ {
+ Destroy(gameObject);
+ return;
+ }
+ else if (!m_trackedPlane.IsValid || Frame.TrackingState != FrameTrackingState.Tracking)
+ {
+ m_meshRenderer.enabled = false;
+ return;
+ }
+
+ m_meshRenderer.enabled = true;
+ if (m_trackedPlane.IsUpdated)
+ {
+ _UpdateMeshWithCurrentTrackedPlane();
+ }
+ }
+
+ /// <summary>
+ /// Update the TrackedPlane reference.
+ /// </summary>
+ /// <param name="plane">The TrackedPlane reference..</param>
+ public void SetTrackedPlane(TrackedPlane plane)
+ {
+ m_trackedPlane = plane;
+ _UpdateMeshWithCurrentTrackedPlane();
+ }
+
+ private void _UpdateMeshWithCurrentTrackedPlane()
+ {
+ // Note that GetBoundaryPolygon returns points in clockwise order.
+ m_trackedPlane.GetBoundaryPolygon(ref m_meshVertices);
+
+ Vector3 planeCenter = m_trackedPlane.Position;
+ int planePolygonCount = m_meshVertices.Count;
+
+ // The following code convert a polygon to a mesh with two polygons, inner
+ // polygon renders with 100% opacity and fade out to outter polygon with opacity 0%, as shown below.
+ // The indices shown in the diagram are used in comments below.
+ // _______________ 0_______________1
+ // | | |4___________5|
+ // | | | | | |
+ // | | => | | | |
+ // | | | | | |
+ // | | |7-----------6|
+ // --------------- 3---------------2
+ m_meshColors.Clear();
+
+ // Fill transparent color to vertices 1 to 3.
+ for (int i = 0; i < planePolygonCount; ++i)
+ {
+ m_meshColors.Add(new Color(0.0f, 0.0f, 0.0f, 0.0f));
+ }
+
+ // Feather distance 0.2 meters.
+ const float FEATHER_LENGTH = 0.2f;
+
+ // Feather scale over the distance between plane center and vertices.
+ const float FEATHER_SCALE = 0.2f;
+
+ // Add vertex 4 to 5.
+ for (int i = 0; i < planePolygonCount; ++i)
+ {
+ Vector3 v = m_meshVertices[i];
+
+ // Vector from plane center to current point
+ Vector3 d = v - planeCenter;
+
+ float scale = 1.0f - Mathf.Min((FEATHER_LENGTH / d.magnitude), FEATHER_SCALE);
+ m_meshVertices.Add(scale * d + planeCenter);
+
+ m_meshColors.Add(new Color(0.0f, 0.0f, 0.0f, 1.0f));
+ }
+
+ m_meshIndices.Clear();
+ int verticeLength = m_meshVertices.Count;
+ int verticeLengthHalf = verticeLength / 2;
+ // Generate triangle (4, 5, 6) and (4, 6, 7).
+ for (int i = verticeLengthHalf + 1; i < verticeLength - 1; ++i)
+ {
+ m_meshIndices.Add(verticeLengthHalf);
+ m_meshIndices.Add(i);
+ m_meshIndices.Add(i + 1);
+ }
+
+ // Generate triangle (0, 1, 4), (4, 1, 5), (5, 1, 2), (5, 2, 6), (6, 2, 3), (6, 3, 7)
+ // (7, 3, 0), (7, 0, 4)
+ for (int i = 0; i < verticeLengthHalf; ++i)
+ {
+ m_meshIndices.Add(i);
+ m_meshIndices.Add((i + 1) % verticeLengthHalf);
+ m_meshIndices.Add(i + verticeLengthHalf);
+
+ m_meshIndices.Add(i + verticeLengthHalf);
+ m_meshIndices.Add((i + 1) % verticeLengthHalf);
+ m_meshIndices.Add((i + verticeLengthHalf + 1) % verticeLengthHalf + verticeLengthHalf);
+ }
+
+ m_mesh.Clear();
+ m_mesh.SetVertices(m_meshVertices);
+ m_mesh.SetIndices(m_meshIndices.ToArray(), MeshTopology.Triangles, 0);
+ m_mesh.SetColors(m_meshColors);
+ }
+ }
+}
\ No newline at end of file
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diff --git a/Assets/GoogleARCore/SDK/Plugins/lighting_estimation.aar b/Assets/GoogleARCore/SDK/Plugins/lighting_estimation.aar
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diff --git a/Assets/GoogleARCore/SDK/Plugins/unityandroidpermissions.aar b/Assets/GoogleARCore/SDK/Plugins/unityandroidpermissions.aar
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+ settings: {}
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+ Editor: Editor
+ second:
+ enabled: 0
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+ userData:
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diff --git a/Assets/GoogleARCore/SDK/Plugins/unitygar.aar b/Assets/GoogleARCore/SDK/Plugins/unitygar.aar
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+ Android: Android
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+ Editor: Editor
+ second:
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+ DefaultValueInitialized: true
+ userData:
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diff --git a/Assets/GoogleARCore/SDK/Resources.meta b/Assets/GoogleARCore/SDK/Resources.meta
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new file mode 100644
index 0000000..667cbec
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Resources/Materials/ARBackground.mat
@@ -0,0 +1,76 @@
+%YAML 1.1
+%TAG !u! tag:unity3d.com,2011:
+--- !u!21 &2100000
+Material:
+ serializedVersion: 6
+ m_ObjectHideFlags: 0
+ m_PrefabParentObject: {fileID: 0}
+ m_PrefabInternal: {fileID: 0}
+ m_Name: ARBackground
+ m_Shader: {fileID: 15401, guid: 0000000000000000f000000000000000, type: 0}
+ m_ShaderKeywords:
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+ m_EnableInstancingVariants: 0
+ m_DoubleSidedGI: 0
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+ disabledShaderPasses: []
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+ serializedVersion: 3
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+ m_Colors:
+ - _Color: {r: 1, g: 1, b: 1, a: 1}
+ - _EmissionColor: {r: 0, g: 0, b: 0, a: 1}
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new file mode 100644
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diff --git a/Assets/GoogleARCore/SDK/Scripts.meta b/Assets/GoogleARCore/SDK/Scripts.meta
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diff --git a/Assets/GoogleARCore/SDK/Scripts/Anchor.cs b/Assets/GoogleARCore/SDK/Scripts/Anchor.cs
new file mode 100644
index 0000000..aa967ca
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Anchor.cs
@@ -0,0 +1,113 @@
+//-----------------------------------------------------------------------
+// <copyright file="Anchor.cs" company="Google">
+//
+// Copyright 2017 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+namespace GoogleARCore
+{
+ using System;
+ using System.Collections.Generic;
+ using UnityEngine;
+ /// @cond EXCLUDE_FROM_DOXYGEN
+ using UnityTango = GoogleAR.UnityNative;
+ /// @endcond
+
+ /// <summary>
+ /// Anchors a gameobject to a position/rotation in the Unity world relative to ARCore's understanding of the
+ /// physical world; Created using <c>Session.CreateAnchor(Vector3, Quaternion)</c>.
+ /// ARCore may periodically perform operations that affect the mapping of Unity world coordinates to the
+ /// physical world; an example of such being drift correction. Anchors allow GameObjects to retain their
+ /// physical world location when these operations occur. If ARCore is unable to track an anchor for any reason,
+ /// the attached GameObject will be set inactive until tracking resumes.
+ /// </summary>
+ public class Anchor : MonoBehaviour
+ {
+ private Matrix4x4 m_poseTAnchor;
+
+ private double m_creationTimestamp;
+
+ private ScreenOrientation m_creationScreenOrientation;
+
+ /// <summary>
+ /// Gets a unique identifier for the anchor.
+ /// </summary>
+ public string Id { get; private set; }
+
+ /// <summary>
+ /// Gets the tracking state of the anchor.
+ /// </summary>
+ public AnchorTrackingState TrackingState { get; private set; }
+
+ /// @cond EXCLUDE_FROM_DOXYGEN
+ /// <summary>
+ /// Instantiates a new GameObject with an Anchor component attached.
+ /// </summary>
+ /// <param name="position">The unity world position to instantiate the anchor GameObject.</param>
+ /// <param name="rotation">The unity world rotation to instantiate the anchor GameObject.</param>
+ /// <param name="updateTracking">A callback to update the anchor's position based on latest
+ /// estimation of the physical world pose from ARCore.</param>
+ /// <param name="updateTrackingState">A callback to update the private tracking state of the anchor.</param>
+ /// <returns>A GameObject with an Anchor component attached.</returns>
+ public static Anchor InstantiateAnchor(Vector3 position, Quaternion rotation,
+ out Action<double> updateTracking, out Action<AnchorTrackingState> updateTrackingState)
+ {
+ Anchor anchor = (new GameObject()).AddComponent<Anchor>();
+ anchor.gameObject.name = "Anchor";
+ anchor.Id = Guid.NewGuid().ToString();
+ anchor.TrackingState = AnchorTrackingState.Tracking;
+ anchor.transform.position = position;
+ anchor.transform.rotation = rotation;
+ var cameraPose = Frame.Pose;
+ anchor.m_poseTAnchor = Matrix4x4.TRS(cameraPose.position, cameraPose.rotation, Vector3.one).inverse *
+ Matrix4x4.TRS(position, rotation, Vector3.one);
+ anchor.m_creationTimestamp = Frame.Timestamp;
+ anchor.m_creationScreenOrientation = Screen.orientation;
+ updateTracking = anchor._UpdateTracking;
+ updateTrackingState = anchor._UpdateTrackingState;
+ return anchor;
+ }
+ /// @endcond
+
+ private void _UpdateTracking(double earliestTimestamp)
+ {
+ if (m_creationTimestamp < earliestTimestamp)
+ {
+ return;
+ }
+
+ UnityTango.PoseData poseData;
+ bool getPoseSuccess = UnityTango.InputTracking.TryGetPoseAtTime(
+ out poseData, UnityTango.CoordinateFrame.StartOfService, UnityTango.CoordinateFrame.CameraColor,
+ m_creationTimestamp, m_creationScreenOrientation);
+ if (!getPoseSuccess || poseData.statusCode != UnityTango.PoseStatus.Valid)
+ {
+ return;
+ }
+
+ var unityWorldAnchor = Matrix4x4.TRS(poseData.position, poseData.rotation, Vector3.one) * m_poseTAnchor;
+ transform.position = unityWorldAnchor.GetColumn(3);
+ transform.rotation = Quaternion.LookRotation(unityWorldAnchor.GetColumn(2), unityWorldAnchor.GetColumn(1));
+ }
+
+ private void _UpdateTrackingState(AnchorTrackingState trackingState)
+ {
+ TrackingState = trackingState;
+ gameObject.SetActive(TrackingState == AnchorTrackingState.Tracking);
+ }
+ }
+}
diff --git a/Assets/GoogleARCore/SDK/Scripts/Anchor.cs.meta b/Assets/GoogleARCore/SDK/Scripts/Anchor.cs.meta
new file mode 100644
index 0000000..06b6167
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Anchor.cs.meta
@@ -0,0 +1,13 @@
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+guid: bd5c45a099b834b8d847a3ba64b2c8ec
+timeCreated: 1502157890
+licenseType: Free
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+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: -16000
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
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diff --git a/Assets/GoogleARCore/SDK/Scripts/AnchorTrackingState.cs b/Assets/GoogleARCore/SDK/Scripts/AnchorTrackingState.cs
new file mode 100644
index 0000000..af99327
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/AnchorTrackingState.cs
@@ -0,0 +1,47 @@
+//-----------------------------------------------------------------------
+// <copyright file="AnchorTrackingState.cs" company="Google">
+//
+// Copyright 2017 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+namespace GoogleARCore
+{
+ /// <summary>
+ /// The tracking state for an anchor.
+ /// </summary>
+ public enum AnchorTrackingState
+ {
+ /// <summary>
+ /// ARCore has stopped tracking this Anchor and will never resume tracking it. This typically happens
+ /// because the anchor was created when the device's tracking state was diminished and then became further
+ /// diminished or lost.
+ /// </summary>
+ StoppedTracking,
+
+ /// <summary>
+ /// The anchor is not currently being tracked but tracking may resume in the future. This can happen
+ /// if device tracking is lost or if the user enters a new space. When in this state the anchor GameObject
+ /// is disabled since the transform could be very inaccurate.
+ /// </summary>
+ LostTracking,
+
+ /// <summary>
+ /// The Anchor is being tracked and its transform is current.
+ /// </summary>
+ Tracking,
+ }
+}
\ No newline at end of file
diff --git a/Assets/GoogleARCore/SDK/Scripts/AnchorTrackingState.cs.meta b/Assets/GoogleARCore/SDK/Scripts/AnchorTrackingState.cs.meta
new file mode 100644
index 0000000..be42240
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/AnchorTrackingState.cs.meta
@@ -0,0 +1,13 @@
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+guid: f9941a7c5b07542c693e56335574fe10
+timeCreated: 1503161028
+licenseType: Free
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+ serializedVersion: 2
+ defaultReferences: []
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diff --git a/Assets/GoogleARCore/SDK/Scripts/AndroidPermissionsManager.cs b/Assets/GoogleARCore/SDK/Scripts/AndroidPermissionsManager.cs
new file mode 100644
index 0000000..14ff1f2
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/AndroidPermissionsManager.cs
@@ -0,0 +1,169 @@
+//-----------------------------------------------------------------------
+// <copyright file="AndroidPermissionsManager.cs" company="Google">
+//
+// Copyright 2017 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+namespace GoogleARCore
+{
+ using System;
+ using GoogleARCoreInternal;
+ using UnityEngine;
+
+ /// <summary>
+ /// Manages Android permissions for the Unity application.
+ /// </summary>
+ public class AndroidPermissionsManager : AndroidJavaProxy
+ {
+ private static AndroidPermissionsManager m_instance;
+ private static AndroidJavaObject m_Activity;
+ private static AndroidJavaObject m_PermissionService;
+ private static AsyncTask<AndroidPermissionsRequestResult> m_currentRequest = null;
+ private static Action<AndroidPermissionsRequestResult> m_onPermissionsRequestFinished;
+
+ private static AndroidPermissionsManager Instance
+ {
+ get
+ {
+ if (m_instance == null)
+ {
+ m_instance = new AndroidPermissionsManager();
+ }
+
+ return m_instance;
+ }
+ }
+
+ private static AndroidJavaObject UnityActivity
+ {
+ get
+ {
+ if (m_Activity == null)
+ {
+ AndroidJavaClass unityPlayer = new AndroidJavaClass("com.unity3d.player.UnityPlayer");
+ m_Activity = unityPlayer.GetStatic<AndroidJavaObject>("currentActivity");
+ }
+
+ return m_Activity;
+ }
+ }
+
+ private static AndroidJavaObject PermissionsService
+ {
+ get
+ {
+ if (m_PermissionService == null)
+ {
+ m_PermissionService = new AndroidJavaObject("com.unity3d.player.UnityAndroidPermissions");
+ }
+
+ return m_PermissionService;
+ }
+ }
+
+ /// <summary>
+ /// Checks if an Android permission is granted to the application.
+ /// </summary>
+ /// <param name="permissionName">The full name of the Android permission to check (e.g.
+ /// android.permission.CAMERA).</param>
+ /// <returns><c>true</c> if <c>permissionName</c> is granted to the application, otherwise
+ /// <c>false</c>.</returns>
+ public static bool IsPermissionGranted(string permissionName)
+ {
+ return PermissionsService.Call<bool>("IsPermissionGranted", UnityActivity, permissionName);
+ }
+
+ /// <summary>
+ /// Requests a set of Android permissions from the user.
+ /// </summary>
+ /// <param name="permissionNames">A collection of permissions to be requested (e.g. android.permission.CAMERA).
+ /// <b>Currently only the first permission in the collection will be requested. The behavior of this parameter
+ /// will change in later versions.</b>
+ /// </param>
+ /// <returns>An asynchronous task the completes when the user has accepted/rejected all requested permissions
+ /// and yields a <c>AndroidPermissionsRequestResult</c> that summarizes the result. If this method is called
+ /// when another permissions request is pending <c>null</c> will be returned instead.</returns>
+ public static AsyncTask<AndroidPermissionsRequestResult> RequestPermission(string[] permissionNames)
+ {
+ if (m_currentRequest != null)
+ {
+ ARDebug.LogError("Attempted to make simultaneous Android permissions requests.");
+ return null;
+ }
+
+ // TODO (mtsmall): We currently only allow one permission to be requested because of the callback structure.
+ PermissionsService.Call("RequestPermissionAsync", UnityActivity, new [] { permissionNames[0] }, Instance);
+ m_currentRequest = new AsyncTask<AndroidPermissionsRequestResult>(out m_onPermissionsRequestFinished);
+
+ return m_currentRequest;
+ }
+
+ /// @cond EXCLUDE_FROM_DOXYGEN
+ /// <summary>
+ /// Constructs a new AndroidPermissionsManager.
+ /// </summary>
+ public AndroidPermissionsManager() : base("com.unity3d.player.UnityAndroidPermissions$IPermissionRequestResult") {}
+ /// @endcond
+
+ /// @cond EXCLUDE_FROM_DOXYGEN
+ /// <summary>
+ /// Callback fired when a permission is granted.
+ /// </summary>
+ /// <param name="permissionName">The name of the permission that was granted.</param>
+ public virtual void OnPermissionGranted(string permissionName)
+ {
+ _OnPermissionResult(permissionName, true);
+ }
+ /// @endcond
+
+ /// @cond EXCLUDE_FROM_DOXYGEN
+ /// <summary>
+ /// Callback fired when a permission is denied.
+ /// </summary>
+ /// <param name="permissionName">The name of the permission that was denied.</param>
+ public virtual void OnPermissionDenied(string permissionName)
+ {
+ _OnPermissionResult(permissionName, false);
+ }
+ /// @endcond
+
+ /// @cond EXCLUDE_FROM_DOXYGEN
+ /// <summary>
+ /// Callback fired on an Android activity result (unused part of UnityAndroidPermissions interface).
+ /// </summary>
+ public virtual void OnActivityResult() {}
+ /// @endcond
+
+ private void _OnPermissionResult(string permissionName, bool granted)
+ {
+ if (m_onPermissionsRequestFinished == null)
+ {
+ Debug.LogErrorFormat("AndroidPermissionsManager received an unexpected permissions result {0}",
+ permissionName);
+ return;
+ }
+
+ // Cache completion method and reset request state.
+ var onRequestFinished = m_onPermissionsRequestFinished;
+ m_currentRequest = null;
+ m_onPermissionsRequestFinished = null;
+
+ onRequestFinished(new AndroidPermissionsRequestResult(new string[] { permissionName },
+ new bool[] { granted }));
+ }
+ }
+}
diff --git a/Assets/GoogleARCore/SDK/Scripts/AndroidPermissionsManager.cs.meta b/Assets/GoogleARCore/SDK/Scripts/AndroidPermissionsManager.cs.meta
new file mode 100644
index 0000000..6fb2f47
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+licenseType: Free
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diff --git a/Assets/GoogleARCore/SDK/Scripts/AndroidPermissionsRequestResult.cs b/Assets/GoogleARCore/SDK/Scripts/AndroidPermissionsRequestResult.cs
new file mode 100644
index 0000000..a5eb9cc
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/AndroidPermissionsRequestResult.cs
@@ -0,0 +1,77 @@
+//-----------------------------------------------------------------------
+// <copyright file="AndroidPermissionsRequestResult.cs" company="Google">
+//
+// Copyright 2017 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+namespace GoogleARCore
+{
+ using GoogleARCoreInternal;
+ using UnityEngine;
+
+ /// <summary>
+ /// Structure holding data summarizing the result of an Android permissions request.
+ /// </summary>
+ public struct AndroidPermissionsRequestResult
+ {
+ /// <summary>
+ /// Gets a collection of permissions requested.
+ /// </summary>
+ public string[] PermissionNames { get; private set; }
+
+ /// <summary>
+ /// Gets a collection of results corresponding to <c>PermissionNames</c>.
+ /// </summary>
+ public bool[] GrantResults { get; private set; }
+
+ /// <summary>
+ /// A collection of results corresponding to <c>PermissionNames</c>.
+ /// </summary>
+ public bool IsAllGranted
+ {
+ get
+ {
+ if (PermissionNames == null || GrantResults == null)
+ {
+ return false;
+ }
+
+ for(int i = 0; i < GrantResults.Length; i++)
+ {
+ if (!GrantResults[i])
+ {
+ return false;
+ }
+ }
+
+ return true;
+ }
+ }
+
+ /// <summary>
+ /// Constructs a new AndroidPermissionsRequestResult.
+ /// </summary>
+ /// <param name="permissionNames">The value for <c>PermissionNames</c>.</param>
+ /// <param name="grantResults">The value for <c>GrantResults</c>.</param>
+ public AndroidPermissionsRequestResult(string[] permissionNames, bool[] grantResults)
+ {
+ PermissionNames = permissionNames;
+ GrantResults = grantResults;
+ }
+
+ }
+}
\ No newline at end of file
diff --git a/Assets/GoogleARCore/SDK/Scripts/AndroidPermissionsRequestResult.cs.meta b/Assets/GoogleARCore/SDK/Scripts/AndroidPermissionsRequestResult.cs.meta
new file mode 100644
index 0000000..6d1418b
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/AndroidPermissionsRequestResult.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: d7676570d2869469a8e061cbd3d90c9f
+timeCreated: 1502330118
+licenseType: Free
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/GoogleARCore/SDK/Scripts/Api.meta b/Assets/GoogleARCore/SDK/Scripts/Api.meta
new file mode 100644
index 0000000..9f54629
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Api.meta
@@ -0,0 +1,10 @@
+fileFormatVersion: 2
+guid: 11813694e8abb437eb9ef46ed1cc67c5
+folderAsset: yes
+timeCreated: 1502400396
+licenseType: Free
+DefaultImporter:
+ externalObjects: {}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/GoogleARCore/SDK/Scripts/Api/ApiCoordinateFramePair.cs b/Assets/GoogleARCore/SDK/Scripts/Api/ApiCoordinateFramePair.cs
new file mode 100644
index 0000000..1efab2d
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Api/ApiCoordinateFramePair.cs
@@ -0,0 +1,86 @@
+//-----------------------------------------------------------------------
+// <copyright file="ApiCoordinateFramePair.cs" company="Google">
+//
+// Copyright 2017 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+namespace GoogleARCoreInternal
+{
+ using System.Runtime.InteropServices;
+ using GoogleARCore;
+ using UnityTango = GoogleAR.UnityNative;
+
+ /// <summary>
+ /// The TangoCoordinateFramePair struct contains a pair of coordinate frames of reference.
+ ///
+ /// Tango pose data is calculated as a transformation between two frames
+ /// of reference (so, for example, you can be asking for the pose of the
+ /// device within a learned area).
+ ///
+ /// This struct is used to specify the desired base and target frames of
+ /// reference when requesting pose data. You can also use it when you have
+ /// a TangoPoseData structure returned from the API and want to examine which
+ /// frames of reference were used to get that pose.
+ ///
+ /// For more information, including which coordinate frame pairs are valid,
+ /// see our page on
+ /// <a href ="/project-tango/overview/frames-of-reference">frames of reference</a>.
+ /// </summary>
+ [StructLayout(LayoutKind.Sequential)]
+ public struct ApiCoordinateFramePair
+ {
+ /// <summary>
+ /// Base frame of reference to compare against when requesting pose data.
+ /// For example, if you have loaded an area and want to find out where the
+ /// device is within it, you would use the
+ /// <code>TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_AREA_DESCRIPTION</code> frame of reference
+ /// as your base.
+ /// </summary>
+ [MarshalAs(UnmanagedType.I4)]
+ public ApiCoordinateFrameType baseFrame;
+
+ /// <summary>
+ /// Target frame of reference when requesting pose data, compared to the
+ /// base. For example, if you want the device's pose data, use
+ /// <code>TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE</code>.
+ /// </summary>
+ [MarshalAs(UnmanagedType.I4)]
+ public ApiCoordinateFrameType targetFrame;
+
+ /// <summary>
+ /// Constructs a new ApiCoordinateFramePair from a UnityTango.CoordinateFramePair.
+ /// </summary>
+ /// <param name="unityPair">The unity CoordinateFramePair to copy.</param>
+ public ApiCoordinateFramePair(UnityTango.CoordinateFramePair unityPair)
+ {
+ baseFrame = unityPair.baseFrame.ToApiType();
+ targetFrame = unityPair.targetFrame.ToApiType();
+ }
+
+ /// <summary>
+ /// Returns an equivalent unity CoordinateFramePair.
+ /// </summary>
+ /// <returns>An equivalent unity CoordinateFramePair.</returns>
+ public UnityTango.CoordinateFramePair ToUnityType()
+ {
+ UnityTango.CoordinateFramePair unityFramePair = new UnityTango.CoordinateFramePair();
+ unityFramePair.baseFrame = baseFrame.ToUnityType();
+ unityFramePair.targetFrame = targetFrame.ToUnityType();
+ return unityFramePair;
+ }
+ }
+}
\ No newline at end of file
diff --git a/Assets/GoogleARCore/SDK/Scripts/Api/ApiCoordinateFramePair.cs.meta b/Assets/GoogleARCore/SDK/Scripts/Api/ApiCoordinateFramePair.cs.meta
new file mode 100644
index 0000000..4d20bb7
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Api/ApiCoordinateFramePair.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: a788f2feeef8a4aa7b542f3cd3de85ec
+timeCreated: 1502400396
+licenseType: Free
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/GoogleARCore/SDK/Scripts/Api/ApiCoordinateFrameType.cs b/Assets/GoogleARCore/SDK/Scripts/Api/ApiCoordinateFrameType.cs
new file mode 100644
index 0000000..ead5c87
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Api/ApiCoordinateFrameType.cs
@@ -0,0 +1,91 @@
+//-----------------------------------------------------------------------
+// <copyright file="ApiCoordinateFrameType.cs" company="Google">
+//
+// Copyright 2017 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+namespace GoogleARCoreInternal
+{
+ /// <summary>
+ /// Tango coordinate frame enumerations.
+ /// </summary>
+ public enum ApiCoordinateFrameType
+ {
+ /// <summary>
+ /// Coordinate system for the entire Earth.
+ /// See WGS84: [http://en.wikipedia.org/wiki/World_Geodetic_System].
+ /// </summary>
+ GlobalWGS84 = 0,
+
+ /// <summary>
+ /// Origin within a saved area description.
+ /// </summary>
+ AreaDescription = 1,
+
+ /// <summary>
+ /// Origin when the device started tracking.
+ /// </summary>
+ StartOfService = 2,
+
+ /// <summary>
+ /// Immediately previous device pose.
+ /// </summary>
+ PreviousDevicePose = 3,
+
+ /// <summary>
+ /// Device coordinate frame.
+ /// </summary>
+ Device = 4,
+
+ /// <summary>
+ /// Inertial Measurement Unit.
+ /// </summary>
+ IMU = 5,
+
+ /// <summary>
+ /// Display coordinate frame.
+ /// </summary>
+ Display = 6,
+
+ /// <summary>
+ /// Color camera.
+ /// </summary>
+ CameraColor = 7,
+
+ /// <summary>
+ /// Depth camera.
+ /// </summary>
+ CameraDepth = 8,
+
+ /// <summary>
+ /// Fisheye camera.
+ /// </summary>
+ CameraFisheye = 9,
+
+ // Should UUID Frame be here?
+
+ /// <summary>
+ /// An invalid frame.
+ /// </summary>
+ Invalid = 10,
+
+ /// <summary>
+ /// Maximum allowed.
+ /// </summary>
+ MaxCoordinateFrame = 11,
+ }
+}
diff --git a/Assets/GoogleARCore/SDK/Scripts/Api/ApiCoordinateFrameType.cs.meta b/Assets/GoogleARCore/SDK/Scripts/Api/ApiCoordinateFrameType.cs.meta
new file mode 100644
index 0000000..e038517
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Api/ApiCoordinateFrameType.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: 78a9daa4159b14f35848bc8a706411f5
+timeCreated: 1502400396
+licenseType: Free
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/GoogleARCore/SDK/Scripts/Api/ApiCoordinateFrameTypeExtensions.cs b/Assets/GoogleARCore/SDK/Scripts/Api/ApiCoordinateFrameTypeExtensions.cs
new file mode 100644
index 0000000..de04dc4
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Api/ApiCoordinateFrameTypeExtensions.cs
@@ -0,0 +1,87 @@
+//-----------------------------------------------------------------------
+// <copyright file="CoordinateFrameTypeExtensions.cs" company="Google">
+//
+// Copyright 2017 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+namespace GoogleARCoreInternal
+{
+ using System.Collections.Generic;
+ using UnityTango = GoogleAR.UnityNative;
+
+ /// <summary>
+ /// Extension methods for the tango coordinate frame enumerations.
+ /// </summary>
+ public static class CoordinateFrameTypeExtensions
+ {
+ /// <summary>
+ /// Conversion from unity CoordinateFrameType to api CoordinateFrameType.
+ /// </summary>
+ private static readonly Dictionary<UnityTango.CoordinateFrame, ApiCoordinateFrameType> UNITY_TO_API
+ = new Dictionary<UnityTango.CoordinateFrame, ApiCoordinateFrameType>()
+ {
+ { UnityTango.CoordinateFrame.GlobalWGS84, ApiCoordinateFrameType.GlobalWGS84 },
+ { UnityTango.CoordinateFrame.AreaDescription, ApiCoordinateFrameType.AreaDescription },
+ { UnityTango.CoordinateFrame.StartOfService, ApiCoordinateFrameType.StartOfService },
+ { UnityTango.CoordinateFrame.PreviousDevicePose, ApiCoordinateFrameType.PreviousDevicePose },
+ { UnityTango.CoordinateFrame.Device, ApiCoordinateFrameType.Device },
+ { UnityTango.CoordinateFrame.IMU, ApiCoordinateFrameType.IMU },
+ { UnityTango.CoordinateFrame.Display, ApiCoordinateFrameType.Display },
+ { UnityTango.CoordinateFrame.CameraColor, ApiCoordinateFrameType.CameraColor },
+ { UnityTango.CoordinateFrame.CameraDepth, ApiCoordinateFrameType.CameraDepth },
+ { UnityTango.CoordinateFrame.CameraFisheye, ApiCoordinateFrameType.CameraFisheye },
+ { UnityTango.CoordinateFrame.Invalid, ApiCoordinateFrameType.Invalid },
+ { UnityTango.CoordinateFrame.MaxCoordinateFrameType, ApiCoordinateFrameType.MaxCoordinateFrame },
+ };
+
+ /// <summary>
+ /// Conversion from api CoordinateFrameType to unity CoordinateFrameType.
+ /// </summary>
+ private static readonly Dictionary<ApiCoordinateFrameType, UnityTango.CoordinateFrame> API_TO_UNITY
+ = new Dictionary<ApiCoordinateFrameType, UnityTango.CoordinateFrame>()
+ {
+ { ApiCoordinateFrameType.GlobalWGS84, UnityTango.CoordinateFrame.GlobalWGS84 },
+ { ApiCoordinateFrameType.AreaDescription, UnityTango.CoordinateFrame.AreaDescription },
+ { ApiCoordinateFrameType.StartOfService, UnityTango.CoordinateFrame.StartOfService },
+ { ApiCoordinateFrameType.PreviousDevicePose, UnityTango.CoordinateFrame.PreviousDevicePose },
+ { ApiCoordinateFrameType.Device, UnityTango.CoordinateFrame.Device },
+ { ApiCoordinateFrameType.IMU, UnityTango.CoordinateFrame.IMU },
+ { ApiCoordinateFrameType.Display, UnityTango.CoordinateFrame.Display },
+ { ApiCoordinateFrameType.CameraColor, UnityTango.CoordinateFrame.CameraColor },
+ { ApiCoordinateFrameType.CameraDepth, UnityTango.CoordinateFrame.CameraDepth },
+ { ApiCoordinateFrameType.CameraFisheye, UnityTango.CoordinateFrame.CameraFisheye },
+ { ApiCoordinateFrameType.Invalid, UnityTango.CoordinateFrame.Invalid },
+ { ApiCoordinateFrameType.MaxCoordinateFrame, UnityTango.CoordinateFrame.MaxCoordinateFrameType },
+ };
+
+ /// <summary>
+ /// Converts an ApiCoordinateFrameType to it's Unity equivalent.
+ /// </summary>
+ public static UnityTango.CoordinateFrame ToUnityType(this ApiCoordinateFrameType apiFrame)
+ {
+ return API_TO_UNITY[apiFrame];
+ }
+
+ /// <summary>
+ /// Converts a unity CoordinateFrameType to it's ApiCoordinateFrameType equivalent.
+ /// </summary>
+ public static ApiCoordinateFrameType ToApiType(this UnityTango.CoordinateFrame unityFrame)
+ {
+ return UNITY_TO_API[unityFrame];
+ }
+ }
+}
\ No newline at end of file
diff --git a/Assets/GoogleARCore/SDK/Scripts/Api/ApiCoordinateFrameTypeExtensions.cs.meta b/Assets/GoogleARCore/SDK/Scripts/Api/ApiCoordinateFrameTypeExtensions.cs.meta
new file mode 100644
index 0000000..36293fc
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Api/ApiCoordinateFrameTypeExtensions.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: de14f7d1b250a4e129010d36c1f2510b
+timeCreated: 1502400396
+licenseType: Free
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/GoogleARCore/SDK/Scripts/Api/ApiPlaneData.cs b/Assets/GoogleARCore/SDK/Scripts/Api/ApiPlaneData.cs
new file mode 100644
index 0000000..16af02b
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Api/ApiPlaneData.cs
@@ -0,0 +1,47 @@
+//-----------------------------------------------------------------------
+// <copyright file="ApiPlaneData.cs" company="Google">
+//
+// Copyright 2017 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+namespace GoogleARCoreInternal
+{
+ using System;
+ using System.Runtime.InteropServices;
+
+ /// The coordinate system of the plane frame is defined as:
+ /// The Z axis is vertical with the positive direction pointing up.
+ /// The X axis and Y axis are horizontal in the plane.
+ /// The positive direction of X axis points to the projection point of camera
+ /// on the XY plane.
+ [StructLayout(LayoutKind.Sequential)]
+ public struct ApiPlaneData
+ {
+ public int id;
+ public ApiPoseData pose;
+ public IntPtr boundaryPolygon;
+ public int boundaryPointNum;
+ public double centerX;
+ public double centerY;
+ public double width;
+ public double height;
+ public double yaw;
+ public double timestamp;
+ public int subsumedBy;
+ public bool isValid;
+ }
+}
\ No newline at end of file
diff --git a/Assets/GoogleARCore/SDK/Scripts/Api/ApiPlaneData.cs.meta b/Assets/GoogleARCore/SDK/Scripts/Api/ApiPlaneData.cs.meta
new file mode 100644
index 0000000..f413cf8
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Api/ApiPlaneData.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: e3a33c7ebaf124a109cb6938b59619ee
+timeCreated: 1502400396
+licenseType: Free
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/GoogleARCore/SDK/Scripts/Api/ApiPoseData.cs b/Assets/GoogleARCore/SDK/Scripts/Api/ApiPoseData.cs
new file mode 100644
index 0000000..62e932f
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Api/ApiPoseData.cs
@@ -0,0 +1,164 @@
+//-----------------------------------------------------------------------
+// <copyright file="ApiPoseData.cs" company="Google">
+//
+// Copyright 2017 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+namespace GoogleARCoreInternal
+{
+ using System.Runtime.InteropServices;
+ using GoogleARCore;
+ using UnityEngine;
+ using UnityTango = GoogleAR.UnityNative;
+
+ /// <summary>
+ /// The TangoPoseData struct contains 6DOF pose information.
+ ///
+ /// The device pose is given using Android conventions. See the Android
+ /// <a href ="http://developer.android.com/guide/topics/sensors/sensors_overview.html#sensors-coords">Sensor
+ /// Overview</a> page for more information.
+ /// </summary>
+ [StructLayout(LayoutKind.Sequential)]
+ public struct ApiPoseData
+ {
+ /// <summary>
+ /// An integer denoting the version of the structure.
+ /// </summary>
+ [MarshalAs(UnmanagedType.I4)]
+ public int version;
+
+ /// <summary>
+ /// Timestamp of the time that this pose estimate corresponds to.
+ /// </summary>
+ [MarshalAs(UnmanagedType.R8)]
+ public double timestamp;
+
+ /// <summary>
+ /// Orientation, as a quaternion, of the pose of the target frame
+ /// with reference to the base frame.
+ /// Specified as (x,y,z,w) where RotationAngle is in radians:
+ /// <code>
+ /// x = RotationAxis.x * sin(RotationAngle / 2)
+ /// y = RotationAxis.y * sin(RotationAngle / 2)
+ /// z = RotationAxis.z * sin(RotationAngle / 2)
+ /// w = cos(RotationAngle / 2)
+ /// </code>
+ /// </summary>
+ public DVector4 orientation;
+
+ /// <summary>
+ /// Translation, ordered x, y, z, of the pose of the target frame
+ /// with reference to the base frame.
+ /// </summary>
+ public DVector3 translation;
+
+ /// <summary>
+ /// The status of the pose, according to the pose lifecycle.
+ /// </summary>
+ [MarshalAs(UnmanagedType.I4)]
+ public ApiPoseStatusType statusCode;
+
+ /// <summary>
+ /// The pair of coordinate frames for this pose.
+ ///
+ /// We retrieve a pose for a target coordinate frame (such as the Tango device) against a base
+ /// coordinate frame (such as a learned area).
+ /// </summary>
+ [MarshalAs(UnmanagedType.Struct)]
+ public ApiCoordinateFramePair framePair;
+
+ /// <summary>
+ /// Unused. Integer levels are determined by service.
+ /// </summary>
+ [MarshalAs(UnmanagedType.I4)]
+ public int confidence;
+
+ /// <summary>
+ /// Unused. Reserved for metric accuracy.
+ /// </summary>
+ [MarshalAs(UnmanagedType.R4)]
+ public float accuracy;
+
+ /// <summary>
+ /// Constructs an ApiPoseData equivalent to a unity PoseData.
+ /// </summary>
+ public ApiPoseData(UnityTango.PoseData unityPoseData)
+ {
+ // TODO (mtsmall): Tell unity version and accuracy should be uint.
+ version = (int)unityPoseData.version;
+ timestamp = unityPoseData.timestamp;
+ orientation = new DVector4(unityPoseData.orientation_x, unityPoseData.orientation_y,
+ unityPoseData.orientation_z, unityPoseData.orientation_w);
+ translation = new DVector3(unityPoseData.orientation_x, unityPoseData.orientation_y,
+ unityPoseData.orientation_z);
+ statusCode = unityPoseData.statusCode.ToApiType();
+ framePair = new ApiCoordinateFramePair(unityPoseData.frame);
+ confidence = (int)unityPoseData.confidence;
+ accuracy = unityPoseData.accuracy;
+ }
+
+ /// <summary>
+ /// Gets a unity PoseData equivalent to the ApiPoseData.
+ /// </summary>
+ /// <returns>A unity PoseData equivalent to the ApiPoseData.</returns>
+ public UnityTango.PoseData ToUnityType()
+ {
+ UnityTango.PoseData unityPose = new UnityTango.PoseData();
+
+ unityPose.version = (uint)version;
+ unityPose.timestamp = timestamp;
+ unityPose.statusCode = statusCode.ToUnityType();
+ unityPose.frame = framePair.ToUnityType();
+ unityPose.confidence = (uint)confidence;
+ unityPose.accuracy = accuracy;
+
+ if (framePair.baseFrame != ApiCoordinateFrameType.StartOfService) {
+ ARDebug.LogErrorFormat("apiPlaneData's base frame is not supported.");
+ unityPose.translation_x = translation.x;
+ unityPose.translation_y = translation.y;
+ unityPose.translation_z = translation.z;
+
+ unityPose.orientation_x = orientation.x;
+ unityPose.orientation_y = orientation.y;
+ unityPose.orientation_z = orientation.z;
+ unityPose.orientation_w = orientation.w;
+ return unityPose;
+ }
+
+
+ Matrix4x4 startService_T_plane = Matrix4x4.TRS(translation.ToVector3(),
+ orientation.ToQuaternion(), Vector3.one);
+
+ Matrix4x4 unityTransform = Constants.UNITY_WORLD_T_START_SERVICE *
+ startService_T_plane *
+ Constants.UNITY_WORLD_T_START_SERVICE.inverse;
+
+ Vector3 position = unityTransform.GetColumn(3);
+ unityPose.translation_x = position.x;
+ unityPose.translation_y = position.y;
+ unityPose.translation_z = position.z;
+
+ Quaternion rotation = Quaternion.LookRotation(unityTransform.GetColumn(2),
+ unityTransform.GetColumn(1));
+ unityPose.orientation_x = rotation.x;
+ unityPose.orientation_y = rotation.y;
+ unityPose.orientation_z = rotation.z;
+ unityPose.orientation_w = rotation.w;
+ return unityPose;
+ }
+ }
+}
\ No newline at end of file
diff --git a/Assets/GoogleARCore/SDK/Scripts/Api/ApiPoseData.cs.meta b/Assets/GoogleARCore/SDK/Scripts/Api/ApiPoseData.cs.meta
new file mode 100644
index 0000000..ce0cdf8
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Api/ApiPoseData.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: 2d4a3892884f34b018a13b62fd1615f1
+timeCreated: 1502400396
+licenseType: Free
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/GoogleARCore/SDK/Scripts/Api/ApiPoseStatusType.cs b/Assets/GoogleARCore/SDK/Scripts/Api/ApiPoseStatusType.cs
new file mode 100644
index 0000000..69136a0
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Api/ApiPoseStatusType.cs
@@ -0,0 +1,59 @@
+//-----------------------------------------------------------------------
+// <copyright file="ApiPoseStatusType.cs" company="Google">
+//
+// Copyright 2017 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+namespace GoogleARCoreInternal
+{
+ /// <summary>
+ /// Tango pose status lifecycle enumerations.
+ ///
+ /// Every pose has a state denoted by this enum, which provides information about the internal status of the
+ /// position estimate. The application may use the status to decide what actions or rendering should be taken.
+ /// A change in the status between poses and subsequent timestamps can denote lifecycle state changes. The
+ /// status affects the rotation and position estimates. Other fields are considered valid (i.e. version or
+ /// timestamp).
+ /// </summary>
+ public enum ApiPoseStatusType
+ {
+ /// <summary>
+ /// Motion estimation is being initialized.
+ /// </summary>
+ Initializing,
+
+ /// <summary>
+ /// The pose of this estimate is valid.
+ /// </summary>
+ Valid,
+
+ /// <summary>
+ /// The pose of this estimate is not valid.
+ /// </summary>
+ Invalid,
+
+ /// <summary>
+ /// Could not estimate pose at this time.
+ /// </summary>
+ Unknown,
+
+ /// <summary>
+ /// Not Available, not a real <c>TangoPoseStatusType</c>.
+ /// </summary>
+ NA
+ }
+}
diff --git a/Assets/GoogleARCore/SDK/Scripts/Api/ApiPoseStatusType.cs.meta b/Assets/GoogleARCore/SDK/Scripts/Api/ApiPoseStatusType.cs.meta
new file mode 100644
index 0000000..7290fb1
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Api/ApiPoseStatusType.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: 0ecc3cfc7140844b080d13b395824f7e
+timeCreated: 1502400396
+licenseType: Free
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/GoogleARCore/SDK/Scripts/Api/ApiPoseStatusTypeExtensions.cs b/Assets/GoogleARCore/SDK/Scripts/Api/ApiPoseStatusTypeExtensions.cs
new file mode 100644
index 0000000..6a6f10d
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Api/ApiPoseStatusTypeExtensions.cs
@@ -0,0 +1,71 @@
+//-----------------------------------------------------------------------
+// <copyright file="CoordinateFrameTypeExtensions.cs" company="Google">
+//
+// Copyright 2017 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+namespace GoogleARCoreInternal
+{
+ using System.Collections.Generic;
+ using UnityTango = GoogleAR.UnityNative;
+
+ /// <summary>
+ /// Extension methods for the tango PoseStatus enumerations.
+ /// </summary>
+ public static class ApiPoseStatusTypeExtensions
+ {
+ /// <summary>
+ /// Conversion from unity PoseStatus to ApiPoseStatusType.
+ /// </summary>
+ private static readonly Dictionary<UnityTango.PoseStatus, ApiPoseStatusType> UNITY_TO_API
+ = new Dictionary<UnityTango.PoseStatus, ApiPoseStatusType>()
+ {
+ { UnityTango.PoseStatus.Initializing, ApiPoseStatusType.Initializing },
+ { UnityTango.PoseStatus.Valid, ApiPoseStatusType.Valid },
+ { UnityTango.PoseStatus.Invalid, ApiPoseStatusType.Invalid },
+ { UnityTango.PoseStatus.Unknown, ApiPoseStatusType.Unknown },
+ };
+
+ /// <summary>
+ /// Conversion from ApiPoseStatusType to unity PoseStatus.
+ /// </summary>
+ private static readonly Dictionary<ApiPoseStatusType, UnityTango.PoseStatus> API_TO_UNITY
+ = new Dictionary<ApiPoseStatusType, UnityTango.PoseStatus>()
+ {
+ { ApiPoseStatusType.Initializing, UnityTango.PoseStatus.Initializing},
+ { ApiPoseStatusType.Valid, UnityTango.PoseStatus.Valid },
+ { ApiPoseStatusType.Invalid, UnityTango.PoseStatus.Invalid },
+ { ApiPoseStatusType.Unknown, UnityTango.PoseStatus.Unknown },
+ };
+
+ /// <summary>
+ /// Converts an ApiPoseStatusType to it's unity PoseStatus equivalent.
+ /// </summary>
+ public static UnityTango.PoseStatus ToUnityType(this ApiPoseStatusType apiFrame)
+ {
+ return API_TO_UNITY[apiFrame];
+ }
+
+ /// <summary>
+ /// Converts a unity PoseStatus to it's ApiPoseStatusType equivalent.
+ /// </summary>
+ public static ApiPoseStatusType ToApiType(this UnityTango.PoseStatus unityFrame)
+ {
+ return UNITY_TO_API[unityFrame];
+ }
+ }
+}
\ No newline at end of file
diff --git a/Assets/GoogleARCore/SDK/Scripts/Api/ApiPoseStatusTypeExtensions.cs.meta b/Assets/GoogleARCore/SDK/Scripts/Api/ApiPoseStatusTypeExtensions.cs.meta
new file mode 100644
index 0000000..2a79dbd
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Api/ApiPoseStatusTypeExtensions.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: 11e5f2ca787664315bfb00fe6d513b9b
+timeCreated: 1502400396
+licenseType: Free
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/GoogleARCore/SDK/Scripts/Api/ApiServiceErrorStatus.cs b/Assets/GoogleARCore/SDK/Scripts/Api/ApiServiceErrorStatus.cs
new file mode 100644
index 0000000..f9c82c4
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Api/ApiServiceErrorStatus.cs
@@ -0,0 +1,61 @@
+//-----------------------------------------------------------------------
+// <copyright file="ApiServiceErrorStatus.cs" company="Google">
+//
+// Copyright 2016 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+namespace GoogleARCoreInternal
+{
+ using System.Collections;
+ using UnityEngine;
+
+ /// <summary>
+ /// Error status codes returned by Tango API functions.
+ /// </summary>
+ public enum ApiServiceErrorStatus
+ {
+ /// <summary>
+ /// No error, success.
+ /// </summary>
+ Success = 0,
+
+ /// <summary>
+ /// General error state.
+ /// </summary>
+ Error = -1,
+
+ /// <summary>
+ /// General invalid state.
+ /// </summary>
+ Invalid = -2,
+
+ /// <summary>
+ /// Motion tracking not allowed.
+ /// </summary>
+ NoMotionTrackingPermission = -3,
+
+ /// <summary>
+ /// ADF access not allowed.
+ /// </summary>
+ NoAdfPermission = -4,
+
+ /// <summary>
+ /// Camera access not allowed.
+ /// </summary>
+ NoCameraPermission = -5,
+ }
+}
diff --git a/Assets/GoogleARCore/SDK/Scripts/Api/ApiServiceErrorStatus.cs.meta b/Assets/GoogleARCore/SDK/Scripts/Api/ApiServiceErrorStatus.cs.meta
new file mode 100644
index 0000000..0fc3e84
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Api/ApiServiceErrorStatus.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: 346e5277913214a07a9b49e26e88e929
+timeCreated: 1502400396
+licenseType: Free
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/GoogleARCore/SDK/Scripts/Api/ApiServiceErrorStatusExtensions.cs b/Assets/GoogleARCore/SDK/Scripts/Api/ApiServiceErrorStatusExtensions.cs
new file mode 100644
index 0000000..c7e760a
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Api/ApiServiceErrorStatusExtensions.cs
@@ -0,0 +1,50 @@
+//-----------------------------------------------------------------------
+// <copyright file="ApiServiceErrorStatusExtensions.cs" company="Google">
+//
+// Copyright 2017 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+namespace GoogleARCoreInternal
+{
+ using GoogleARCore;
+
+ /// <summary>
+ /// A class containing utility extension methods.
+ /// </summary>
+ public static class ApiServiceErrorStatusExtensions
+ {
+ /// <summary>
+ /// Checks if an integer is equal to TANGO_SUCCESS.
+ /// </summary>
+ /// <param name="status">The status integer.</param>
+ /// <returns><c>true</c> if the calling integer is TANGO_SUCCESS, otherwise <c>false</c>.</returns>
+ public static bool IsTangoSuccess(this ApiServiceErrorStatus status)
+ {
+ return status == ApiServiceErrorStatus.Success;
+ }
+
+ /// <summary>
+ /// Checks if an integer is NOT equal to TANGO_SUCCESS.
+ /// </summary>
+ /// <param name="status">The status integer.</param>
+ /// <returns><c>true</c> if the calling integer is NOT TANGO_SUCCESS, otherwise <c>false</c>.</returns>
+ public static bool IsTangoFailure(this ApiServiceErrorStatus status)
+ {
+ return status != ApiServiceErrorStatus.Success;
+ }
+ }
+}
diff --git a/Assets/GoogleARCore/SDK/Scripts/Api/ApiServiceErrorStatusExtensions.cs.meta b/Assets/GoogleARCore/SDK/Scripts/Api/ApiServiceErrorStatusExtensions.cs.meta
new file mode 100644
index 0000000..5426e7b
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Api/ApiServiceErrorStatusExtensions.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: 52118147dd6f84274984a53858fc8e85
+timeCreated: 1502400396
+licenseType: Free
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/GoogleARCore/SDK/Scripts/Api/ApiTangoEvent.cs b/Assets/GoogleARCore/SDK/Scripts/Api/ApiTangoEvent.cs
new file mode 100644
index 0000000..7d05df0
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Api/ApiTangoEvent.cs
@@ -0,0 +1,52 @@
+//-----------------------------------------------------------------------
+// <copyright file="ApiTangoEvent.cs" company="Google">
+//
+// Copyright 2017 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+namespace GoogleARCoreInternal
+{
+ using System.Runtime.InteropServices;
+
+ [StructLayout(LayoutKind.Sequential)]
+ public struct ApiTangoEvent
+ {
+ /// <summary>
+ /// Timestamp, in seconds, of the event.
+ /// </summary>
+ [MarshalAs(UnmanagedType.R8)]
+ public double timestamp;
+
+ /// <summary>
+ /// Type of event.
+ /// </summary>
+ [MarshalAs(UnmanagedType.I4)]
+ public ApiTangoEventType type;
+
+ /// <summary>
+ /// Description of the event key.
+ /// </summary>
+ [MarshalAs(UnmanagedType.LPStr)]
+ public string key;
+
+ /// <summary>
+ /// Description of the event value.
+ /// </summary>
+ [MarshalAs(UnmanagedType.LPStr)]
+ public string value;
+ }
+}
diff --git a/Assets/GoogleARCore/SDK/Scripts/Api/ApiTangoEvent.cs.meta b/Assets/GoogleARCore/SDK/Scripts/Api/ApiTangoEvent.cs.meta
new file mode 100644
index 0000000..8765642
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Api/ApiTangoEvent.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: b44e1f7bbf57d47beab095f819f5d104
+timeCreated: 1502985794
+licenseType: Free
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/GoogleARCore/SDK/Scripts/Api/ApiTangoEventType.cs b/Assets/GoogleARCore/SDK/Scripts/Api/ApiTangoEventType.cs
new file mode 100644
index 0000000..07dd3b6
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Api/ApiTangoEventType.cs
@@ -0,0 +1,63 @@
+//-----------------------------------------------------------------------
+// <copyright file="ApiTangoEventType.cs" company="Google">
+//
+// Copyright 2017 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+namespace GoogleARCoreInternal
+{
+ /// <summary>
+ /// Tango Event types.
+ /// </summary>
+ public enum ApiTangoEventType
+ {
+ /// <summary>
+ /// Unclassified Event Type.
+ /// </summary>
+ Unknown = 0,
+
+ /// <summary>
+ /// General callbacks not otherwise categorized.
+ /// </summary>
+ General,
+
+ /// <summary>
+ /// Fisheye Camera Event.
+ /// </summary>
+ CameraFisheye,
+
+ /// <summary>
+ /// Color Camera Event.
+ /// </summary>
+ CameraColor,
+
+ /// <summary>
+ /// IMU Event.
+ /// </summary>
+ IMU,
+
+ /// <summary>
+ /// Feature Tracking Event.
+ /// </summary>
+ FeatureTracking,
+
+ /// <summary>
+ /// Area Learning Event.
+ /// </summary>
+ AreaLearning,
+ }
+}
\ No newline at end of file
diff --git a/Assets/GoogleARCore/SDK/Scripts/Api/ApiTangoEventType.cs.meta b/Assets/GoogleARCore/SDK/Scripts/Api/ApiTangoEventType.cs.meta
new file mode 100644
index 0000000..d47779a
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Api/ApiTangoEventType.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: c349842a9d0e54af581d69c927d85ad6
+timeCreated: 1502985794
+licenseType: Free
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/GoogleARCore/SDK/Scripts/Api/TangoClientApi.cs b/Assets/GoogleARCore/SDK/Scripts/Api/TangoClientApi.cs
new file mode 100644
index 0000000..791923c
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Api/TangoClientApi.cs
@@ -0,0 +1,184 @@
+//-----------------------------------------------------------------------
+// <copyright file="TangoClientApi.cs" company="Google">
+//
+// Copyright 2017 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+namespace GoogleARCoreInternal
+{
+ using System;
+ using System.Collections.Generic;
+ using System.Diagnostics.CodeAnalysis;
+ using System.Runtime.InteropServices;
+ using GoogleARCore;
+
+ /// <summary>
+ /// Implementation of ITangoClientApi for Android.
+ /// </summary>
+ public class TangoClientApi
+ {
+ /// <summary>
+ /// Tango video overlay C callback function signature.
+ /// </summary>
+ /// <param name="callbackContext">The callback context.</param>
+ /// <param name="tangoEvent">Tango event.</param>
+ [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
+ private delegate void ApiOnEventAvailable(IntPtr callbackContext, ref ApiTangoEvent tangoEvent);
+
+ /// <summary>
+ /// Tango pose C callback function signature.
+ /// </summary>
+ /// <param name="callbackContext">Callback context.</param>
+ /// <param name="pose">Pose data.</param>
+ [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
+ private delegate void ApiOnPoseAvailable(IntPtr callbackContext, ref ApiPoseData pose);
+
+ private const string TANGO_CLIENT_API2_DLL = "tango_client_api2";
+
+ private static ApiOnEventAvailable m_onEventAvailable;
+
+ private static Queue<ApiTangoEvent> m_eventQueue;
+
+ private static object m_eventQueueLock;
+
+ private static ApiOnPoseAvailable m_onPoseAvailable;
+
+ private static Queue<ApiPoseData> m_poseQueue;
+
+ private static object m_poseQueueLock;
+
+ public static ApiServiceErrorStatus ConnectOnEventAvailable(Queue<ApiTangoEvent> eventQueue,
+ object eventQueueLock)
+ {
+ m_onEventAvailable = new ApiOnEventAvailable(_OnEventAvailableAsync);
+ m_eventQueue = eventQueue;
+ m_eventQueueLock = eventQueueLock;
+
+ return ExternApi.TangoService_connectOnTangoEvent(m_onEventAvailable);
+ }
+
+ public static ApiServiceErrorStatus ResetOnEventAvailable()
+ {
+ m_onEventAvailable = null;
+ return ExternApi.TangoService_connectOnTangoEvent(null);
+ }
+
+ public static ApiServiceErrorStatus ConnectOnPoseAvailable(ApiCoordinateFramePair[] framePairs,
+ Queue<ApiPoseData> poseQueue, object poseQueueLock)
+ {
+ m_onPoseAvailable = new ApiOnPoseAvailable(_OnPoseAvailableAsync);
+ m_poseQueue = poseQueue;
+ m_poseQueueLock = poseQueueLock;
+
+ return ExternApi.TangoService_connectOnPoseAvailable(framePairs.Length, framePairs, m_onPoseAvailable);
+ }
+
+ public static ApiServiceErrorStatus ResetOnPoseAvailable()
+ {
+ m_onPoseAvailable = null;
+ return ExternApi.TangoService_connectOnPoseAvailable(0, null, null);
+ }
+
+ public static ApiServiceErrorStatus TangoService_Experimental_getPlanes(ref IntPtr planes, ref int planeCount)
+ {
+ return ExternApi.TangoService_Experimental_getPlanes(ref planes, ref planeCount);
+ }
+
+ public static ApiServiceErrorStatus TangoPlaneData_free(IntPtr planes, int planeCount)
+ {
+ return ExternApi.TangoPlaneData_free(planes, planeCount);
+ }
+
+ public static ApiServiceErrorStatus TangoService_getPixelIntensity(
+ IntPtr yImage, int width, int height, int rowStride, out float value)
+ {
+ return ExternApi.TangoService_getPixelIntensity(yImage, width, height, rowStride,
+ out value);
+ }
+
+ public static ApiServiceErrorStatus TangoService_getLuminance(
+ long exposureDurationNs, int sensitivityIso, float lensAperature,
+ out float value)
+ {
+ return ExternApi.TangoService_getLuminance(exposureDurationNs, sensitivityIso,
+ lensAperature, out value);
+ }
+
+ public static ApiServiceErrorStatus TangoService_IsSupported(
+ out bool isSupported)
+ {
+ isSupported = false;
+ return ExternApi.TangoService_isSupported(ref isSupported);
+ }
+
+ public static bool CallsToConnectWithoutMatchingDisconnect()
+ {
+ return ExternApi.CallsToConnectWithoutMatchingDisconnect();
+ }
+
+ [AOT.MonoPInvokeCallback(typeof(ApiOnEventAvailable))]
+ private static void _OnEventAvailableAsync(IntPtr callbackContext, ref ApiTangoEvent tangoEvent)
+ {
+ lock (m_eventQueueLock)
+ {
+ m_eventQueue.Enqueue(tangoEvent);
+ }
+ }
+
+ [AOT.MonoPInvokeCallback(typeof(ApiOnPoseAvailable))]
+ private static void _OnPoseAvailableAsync(IntPtr callbackContext, ref ApiPoseData pose)
+ {
+ lock (m_poseQueueLock)
+ {
+ m_poseQueue.Enqueue(pose);
+ }
+ }
+
+ private struct ExternApi
+ {
+ [DllImport(TANGO_CLIENT_API2_DLL)]
+ public static extern ApiServiceErrorStatus TangoService_connectOnTangoEvent(ApiOnEventAvailable callback);
+
+ [DllImport(TANGO_CLIENT_API2_DLL)]
+ public static extern ApiServiceErrorStatus TangoService_connectOnPoseAvailable(int count,
+ ApiCoordinateFramePair[] framePairs, ApiOnPoseAvailable callback);
+
+ [DllImport(TANGO_CLIENT_API2_DLL)]
+ public static extern ApiServiceErrorStatus TangoService_Experimental_getPlanes(ref IntPtr planes,
+ ref int planeCount);
+
+ [DllImport(TANGO_CLIENT_API2_DLL)]
+ public static extern ApiServiceErrorStatus TangoPlaneData_free(IntPtr planes, int planeCount);
+
+ [DllImport(TANGO_CLIENT_API2_DLL)]
+ public static extern ApiServiceErrorStatus TangoService_getPixelIntensity(
+ IntPtr yImage, int width, int height, int rowStride, out float value);
+
+ [DllImport(TANGO_CLIENT_API2_DLL)]
+ public static extern ApiServiceErrorStatus TangoService_getLuminance(
+ long exposureDurationNs, int sensitivityIso, float lensAperature,
+ out float value);
+
+ [DllImport(TANGO_CLIENT_API2_DLL)]
+ public static extern ApiServiceErrorStatus TangoService_isSupported(
+ ref bool isSupported);
+
+ [DllImport(TANGO_CLIENT_API2_DLL)]
+ public static extern bool CallsToConnectWithoutMatchingDisconnect();
+ }
+ }
+}
diff --git a/Assets/GoogleARCore/SDK/Scripts/Api/TangoClientApi.cs.meta b/Assets/GoogleARCore/SDK/Scripts/Api/TangoClientApi.cs.meta
new file mode 100644
index 0000000..b8068c5
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Api/TangoClientApi.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: c29cddd02045a4177bef0daf62a5acea
+timeCreated: 1502400396
+licenseType: Free
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/GoogleARCore/SDK/Scripts/Async.meta b/Assets/GoogleARCore/SDK/Scripts/Async.meta
new file mode 100644
index 0000000..7f08641
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Async.meta
@@ -0,0 +1,10 @@
+fileFormatVersion: 2
+guid: b3aabcae5f79543dea8251d640bde6ad
+folderAsset: yes
+timeCreated: 1502330118
+licenseType: Free
+DefaultImporter:
+ externalObjects: {}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/GoogleARCore/SDK/Scripts/Async/WaitForTaskCompletionYieldInstruction.cs b/Assets/GoogleARCore/SDK/Scripts/Async/WaitForTaskCompletionYieldInstruction.cs
new file mode 100644
index 0000000..eb33f16
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Async/WaitForTaskCompletionYieldInstruction.cs
@@ -0,0 +1,61 @@
+//-----------------------------------------------------------------------
+// <copyright file="WaitForTaskCompletionYieldInstruction.cs" company="Google">
+//
+// Copyright 2017 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+namespace GoogleARCoreInternal
+{
+ using System.Diagnostics.CodeAnalysis;
+ using UnityEngine;
+ using GoogleARCore;
+
+ /// <summary>
+ /// A yield instruction that blocks a coroutine until an AsyncTask has completed.
+ /// </summary>
+ /// <typeparam name="T">The type of the AsyncTask result.</typeparam>
+ public class WaitForTaskCompletionYieldInstruction<T> : CustomYieldInstruction
+ {
+ /// <summary>
+ /// The AsyncTask the yield instruction waits on.
+ /// </summary>
+ private AsyncTask<T> m_task;
+
+ /// <summary>
+ /// Constructor for WaitForTaskCompletionYieldInstruction.
+ /// </summary>
+ /// <param name="task">The task to wait for completion.</param>
+ public WaitForTaskCompletionYieldInstruction(AsyncTask<T> task)
+ {
+ m_task = task;
+ }
+
+ /// <summary>
+ /// Gets a value indicating whether the coroutine instruction should keep waiting.
+ /// </summary>
+ /// <value><c>true</c> if the task is incomplete, otherwise <c>false</c>.</value>
+ [SuppressMessage("StyleCop.CSharp.NamingRules", "SA1300:ElementMustBeginWithUpperCaseLetter",
+ Justification = "Overridden method.")]
+ public override bool keepWaiting
+ {
+ get
+ {
+ return !m_task.IsComplete;
+ }
+ }
+ }
+}
diff --git a/Assets/GoogleARCore/SDK/Scripts/Async/WaitForTaskCompletionYieldInstruction.cs.meta b/Assets/GoogleARCore/SDK/Scripts/Async/WaitForTaskCompletionYieldInstruction.cs.meta
new file mode 100644
index 0000000..4d911ed
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Async/WaitForTaskCompletionYieldInstruction.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: 2ba38d18d01304b4ab5105846c55aff1
+timeCreated: 1502330118
+licenseType: Free
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/GoogleARCore/SDK/Scripts/AsyncTask.cs b/Assets/GoogleARCore/SDK/Scripts/AsyncTask.cs
new file mode 100644
index 0000000..c92dcc8
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/AsyncTask.cs
@@ -0,0 +1,191 @@
+//-----------------------------------------------------------------------
+// <copyright file="AsyncTask.cs" company="Google">
+//
+// Copyright 2017 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+namespace GoogleARCore
+{
+ using System;
+ using System.Collections.Generic;
+ using System.Threading;
+ using UnityEngine;
+ using GoogleARCoreInternal;
+
+ /// <summary>
+ /// A class used for monitoring the status of an asynchronous task.
+ /// </summary>
+ /// <typeparam name="T">The resultant type of the task.</typeparam>
+ public class AsyncTask<T>
+ {
+ /// <summary>
+ /// A collection of actons to perform on the main Unity thread after the task is complete.
+ /// </summary>
+ private List<Action<T>> actionsUponTaskCompletion;
+
+ /// @cond EXCLUDE_FROM_DOXYGEN
+ /// <summary>
+ /// Constructor for AsyncTask.
+ /// </summary>
+ /// <param name="asyncOperationComplete">A callback that, when invoked, changes the status of the task to
+ /// complete and sets the result based on the argument supplied.</param>
+ public AsyncTask(out Action<T> asyncOperationComplete)
+ {
+ IsComplete = false;
+ asyncOperationComplete = delegate(T result)
+ {
+ Result = result;
+ IsComplete = true;
+ if (actionsUponTaskCompletion != null)
+ {
+ AsyncTask.PerformActionInUpdate(() =>
+ {
+ for (int i = 0; i < actionsUponTaskCompletion.Count; i++)
+ {
+ actionsUponTaskCompletion[i](result);
+ }
+ });
+ }
+ };
+ }
+ /// @endcond
+
+ /// @cond EXCLUDE_FROM_DOXYGEN
+ /// <summary>
+ /// Constructor for AsyncTask that creates a completed task.
+ /// </summary>
+ /// <param name="result">The result of the completed task.</param>
+ public AsyncTask(T result)
+ {
+ Result = result;
+ IsComplete = true;
+ }
+ /// @endcond
+
+ /// <summary>
+ /// Gets a value indicating whether the task is complete.
+ /// </summary>
+ /// <value><c>true</c> if the task is complete, otherwise <c>false</c>.</value>
+ public bool IsComplete { get; private set; }
+
+ /// <summary>
+ /// Gets the result of a completed task.
+ /// </summary>
+ /// <value>The result of the completed task.</value>
+ public T Result { get; private set; }
+
+ /// <summary>
+ /// Returns a yield instruction that monitors this task for completion within a coroutine.
+ /// </summary>
+ /// <returns>A yield instruction that monitors this task for completion.</returns>
+ public CustomYieldInstruction WaitForCompletion()
+ {
+ return new WaitForTaskCompletionYieldInstruction<T>(this);
+ }
+
+ /// <summary>
+ /// Performs an action (callback) in the first Unity Update() call after task completion.
+ /// </summary>
+ /// <param name="doAfterTaskComplete">The action to invoke when task is complete. The result of the task will
+ /// be passed as an argument to the action.</param>
+ /// <returns>The invoking asynchronous task.</returns>
+ public AsyncTask<T> ThenAction(Action<T> doAfterTaskComplete)
+ {
+ // Perform action now if task is already complete.
+ if (IsComplete)
+ {
+ doAfterTaskComplete(Result);
+ return this;
+ }
+
+ // Allocate list if needed (avoids allocation if then is not used).
+ if (actionsUponTaskCompletion == null)
+ {
+ actionsUponTaskCompletion = new List<Action<T>>();
+ }
+
+ actionsUponTaskCompletion.Add(doAfterTaskComplete);
+ return this;
+ }
+ }
+
+ /// @cond EXCLUDE_FROM_DOXYGEN
+ /// <summary>
+ /// Helper methods for dealing with asynchronous tasks.
+ /// </summary>
+ public class AsyncTask
+ {
+ private static Queue<Action> actionQueue = new Queue<Action>();
+
+ private static object lock_object = new object();
+
+ /// <summary>
+ /// Encapsulates a delegate method in a thread and returns a task that monitors completion.
+ /// </summary>
+ /// <param name="taskMethod">The method to perform in a thread.</param>
+ /// <typeparam name="T">The resultant type of the task.</typeparam>
+ /// <returns>A task that will complete when the supplied method has completed.</returns>
+ public static AsyncTask<T> DoTaskInThread<T>(Func<T> taskMethod)
+ {
+ Action<T> asyncTaskComplete;
+ var task = new AsyncTask<T>(out asyncTaskComplete);
+
+ // Spawn thread to perform the task.
+ new Thread(() =>
+ {
+ try
+ {
+ T result = taskMethod();
+ asyncTaskComplete(result);
+ }
+ catch (Exception e)
+ {
+ ARDebug.LogErrorFormat("An AsyncTask task produced an uncaught exception::{0}", e.ToString());
+ asyncTaskComplete(default(T));
+ }
+ }).Start();
+
+ return task;
+ }
+
+ /// <summary>
+ /// Queues an action to be performed on Unity thread in Update(). This method can be called by any thread.
+ /// </summary>
+ /// <param name="action">The action to perform.</param>
+ public static void PerformActionInUpdate(Action action)
+ {
+ lock(lock_object)
+ {
+ actionQueue.Enqueue(action);
+ }
+ }
+
+ /// <summary>
+ /// An Update handler called from the ARCore SessionComponent in the scene.
+ /// </summary>
+ public static void EarlyUpdate()
+ {
+ int count = actionQueue.Count;
+ for (int i = 0; i < count; i++)
+ {
+ Action action = actionQueue.Dequeue();
+ action();
+ }
+ }
+ }
+ /// @endcond
+}
diff --git a/Assets/GoogleARCore/SDK/Scripts/AsyncTask.cs.meta b/Assets/GoogleARCore/SDK/Scripts/AsyncTask.cs.meta
new file mode 100644
index 0000000..62982e1
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/AsyncTask.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: d48675563f8a14e85bb73c0a6d45d9f0
+timeCreated: 1503943281
+licenseType: Free
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/GoogleARCore/SDK/Scripts/EnvironmentalLight.cs b/Assets/GoogleARCore/SDK/Scripts/EnvironmentalLight.cs
new file mode 100644
index 0000000..a85184c
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/EnvironmentalLight.cs
@@ -0,0 +1,75 @@
+//-----------------------------------------------------------------------
+// <copyright file="EnvironmentalLight.cs" company="Google">
+//
+// Copyright 2017 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+namespace GoogleARCore
+{
+ using UnityEngine;
+ using UnityEngine.Rendering;
+
+ /// <summary>
+ /// A component that automatically adjust lighting settings for the scene
+ /// to be inline with those estimated by ARCore.
+ /// </summary>
+ [ExecuteInEditMode]
+ public class EnvironmentalLight : MonoBehaviour
+ {
+ /// <summary>
+ /// Unity update method that sets global light estimation shader constant to match
+ /// ARCore's calculated values.
+ /// </summary>
+ public void Update()
+ {
+#if UNITY_EDITOR
+ // Set _GlobalLightEstimation to 1 in editor, if the value is not set, all materials
+ // using light estimation shaders will be black.
+ Shader.SetGlobalFloat("_GlobalLightEstimation", 1.0f);
+#else
+ if (Frame.TrackingState != FrameTrackingState.Tracking)
+ {
+ return;
+ }
+
+ // Use the following function to compute color scale:
+ // * linear growth from (0.0, 0.0) to (1.0, LinearRampThreshold)
+ // * slow growth from (1.0, LinearRampThreshold)
+ const float LinearRampThreshold = 0.8f;
+ const float MiddleGray = 0.18f;
+ const float Inclination = 0.4f;
+
+ float normalizedIntensity = Frame.LightEstimate.PixelIntensity / MiddleGray;
+ float colorScale = 1.0f;
+
+ if (normalizedIntensity < 1.0f)
+ {
+ colorScale = normalizedIntensity * LinearRampThreshold;
+ }
+ else
+ {
+ float b = LinearRampThreshold / Inclination - 1.0f;
+ float a = (b + 1.0f) / b * LinearRampThreshold;
+ colorScale = a * (1.0f - (1.0f / (b * normalizedIntensity + 1.0f)));
+ }
+
+ Shader.SetGlobalFloat("_GlobalLightEstimation", colorScale);
+#endif
+ }
+ }
+}
+
diff --git a/Assets/GoogleARCore/SDK/Scripts/EnvironmentalLight.cs.meta b/Assets/GoogleARCore/SDK/Scripts/EnvironmentalLight.cs.meta
new file mode 100644
index 0000000..987327f
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/EnvironmentalLight.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: 92a4cf446a0c7334aaceb5457be27894
+timeCreated: 1502753977
+licenseType: Pro
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/GoogleARCore/SDK/Scripts/Frame.cs b/Assets/GoogleARCore/SDK/Scripts/Frame.cs
new file mode 100644
index 0000000..59c36a9
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Frame.cs
@@ -0,0 +1,135 @@
+//-----------------------------------------------------------------------
+// <copyright file="CurrentFrame.cs" company="Google">
+//
+// Copyright 2017 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+namespace GoogleARCore
+{
+ using System.Collections.Generic;
+ using UnityEngine;
+ using GoogleARCoreInternal;
+
+ /// <summary>
+ /// Provides a snapshot of the state of ARCore at a specific timestamp
+ /// associated with the current frame. Frame holds information
+ /// about ARCore's state including tracking status, the pose of the camera
+ /// relative to the world, estimated lighting parameters, and information
+ /// on updates to objects (like Planes or Point Clouds) that ARCore is
+ /// tracking.
+ /// </summary>
+ public class Frame
+ {
+ /// <summary>
+ /// Gets the tracking state of the frame.
+ /// </summary>
+ public static FrameTrackingState TrackingState
+ {
+ get
+ {
+ if (SessionManager.ConnectionState != SessionConnectionState.Connected)
+ {
+ return FrameTrackingState.TrackingNotInitialized;
+ }
+
+ Pose junkPose;
+ double junkTimestamp;
+ bool isTracking = SessionManager.Instance.MotionTrackingManager.TryGetLatestPose(out junkPose,
+ out junkTimestamp);
+
+ if (isTracking)
+ {
+ return FrameTrackingState.Tracking;
+ }
+ else
+ {
+ return FrameTrackingState.LostTracking;
+ }
+ }
+ }
+
+ /// <summary>
+ /// Gets the pose of the device's camera in the world coordinate frame
+ /// at the time of capture of the current frame.
+ /// </summary>
+ public static Pose Pose
+ {
+ get
+ {
+ Pose pose;
+ double timestamp;
+ SessionManager.Instance.MotionTrackingManager.TryGetLatestPose(out pose, out timestamp);
+ return pose;
+ }
+ }
+
+ /// <summary>
+ /// Gets the current light estimate for this frame.
+ /// </summary>
+ public static LightEstimate LightEstimate
+ {
+ get
+ {
+ return SessionManager.Instance.LightEstimateManager.GetLatestLightEstimate();
+ }
+ }
+
+ /// <summary>
+ /// Get the ARCore device's point cloud for the current ARCore frame.
+ /// </summary>
+ public static PointCloud PointCloud
+ {
+ get
+ {
+ return SessionManager.Instance.PointCloudManager.GetLatestPointCloud();
+ }
+ }
+
+ /// <summary>
+ /// Gets the hardware timestamp of the current ARCore frame.
+ /// </summary>
+ public static double Timestamp
+ {
+ get
+ {
+ Pose pose;
+ double timestamp;
+ SessionManager.Instance.MotionTrackingManager.TryGetLatestPose(out pose, out timestamp);
+ return timestamp;
+ }
+ }
+
+ /// <summary>
+ /// Gets planes newly detected in the current ARCore frame.
+ /// </summary>
+ /// <param name="newPlanes">A list reference that to be filled with planes detected in the current frame.
+ /// </param>
+ public static void GetNewPlanes(ref List<TrackedPlane> newPlanes)
+ {
+ SessionManager.Instance.TrackedPlaneManager.GetNewPlanes(ref newPlanes);
+ }
+
+ /// <summary>
+ /// Gets all TrackedPlane objects that have been detected in the session.
+ /// </summary>
+ /// <param name="planes">A list of TrackedPlane to be filled by the method call.</param>
+ public static void GetAllPlanes(ref List<TrackedPlane> planes)
+ {
+ SessionManager.Instance.TrackedPlaneManager.GetAllPlanes(ref planes);
+ }
+ }
+}
diff --git a/Assets/GoogleARCore/SDK/Scripts/Frame.cs.meta b/Assets/GoogleARCore/SDK/Scripts/Frame.cs.meta
new file mode 100644
index 0000000..5921558
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Frame.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: f23179d83fac54b6898d7f842a3ecf83
+timeCreated: 1503161028
+licenseType: Free
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/GoogleARCore/SDK/Scripts/FrameTrackingState.cs b/Assets/GoogleARCore/SDK/Scripts/FrameTrackingState.cs
new file mode 100644
index 0000000..83ee191
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/FrameTrackingState.cs
@@ -0,0 +1,45 @@
+//-----------------------------------------------------------------------
+// <copyright file="FrameTrackingState.cs" company="Google">
+//
+// Copyright 2017 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+namespace GoogleARCore
+{
+ /// <summary>
+ /// The tracking state for an ARCore frame.
+ /// </summary>
+ public enum FrameTrackingState
+ {
+ /// <summary>
+ /// The motion tracking system is not initialized. The frame is invalid.
+ /// </summary>
+ TrackingNotInitialized = 0,
+
+ /// <summary>
+ /// The motion tracking system has lost tracking. This can happen for various reasons including poor
+ /// lighting conditions or a lack of visually distinct features in the camera frame. ARCore will attempt
+ /// to re-establish tracking, but the frame is invalid.
+ /// </summary>
+ LostTracking,
+
+ /// <summary>
+ /// The motion tracking system is tracking and the frame is valid.
+ /// </summary>
+ Tracking,
+ }
+}
\ No newline at end of file
diff --git a/Assets/GoogleARCore/SDK/Scripts/FrameTrackingState.cs.meta b/Assets/GoogleARCore/SDK/Scripts/FrameTrackingState.cs.meta
new file mode 100644
index 0000000..3a22007
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/FrameTrackingState.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: 47754eb92209f45c5ab036367ed42822
+timeCreated: 1503161028
+licenseType: Free
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/GoogleARCore/SDK/Scripts/InvalidSessionAccessException.cs b/Assets/GoogleARCore/SDK/Scripts/InvalidSessionAccessException.cs
new file mode 100644
index 0000000..51adeac
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/InvalidSessionAccessException.cs
@@ -0,0 +1,35 @@
+//-----------------------------------------------------------------------
+// <copyright file="InvalidSessionAccessException.cs" company="Google">
+//
+// Copyright 2017 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+namespace GoogleARCore
+{
+ using System;
+
+ /// <summary>
+ /// An exception indicating that the ARCore session resources have been accessed while in an invalid state. This
+ /// will happen when the session is not connected but the developer has accessed the Session or Frame.
+ /// </summary>
+ public class InvalidSessionAccessException : Exception
+ {
+ public InvalidSessionAccessException(string message) : base(message) {}
+
+ public InvalidSessionAccessException(string message, Exception inner) : base(message, inner) {}
+ }
+}
\ No newline at end of file
diff --git a/Assets/GoogleARCore/SDK/Scripts/InvalidSessionAccessException.cs.meta b/Assets/GoogleARCore/SDK/Scripts/InvalidSessionAccessException.cs.meta
new file mode 100644
index 0000000..8376676
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/InvalidSessionAccessException.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: 50b150a1f3f1d43eb8e315720b41b952
+timeCreated: 1503527569
+licenseType: Free
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/GoogleARCore/SDK/Scripts/LightEstimate.cs b/Assets/GoogleARCore/SDK/Scripts/LightEstimate.cs
new file mode 100644
index 0000000..d0549d6
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/LightEstimate.cs
@@ -0,0 +1,51 @@
+//-----------------------------------------------------------------------
+// <copyright file="LightEstimate.cs" company="Google">
+//
+// Copyright 2017 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+namespace GoogleARCore
+{
+ using UnityEngine;
+ /// @cond EXCLUDE_FROM_DOXYGEN
+ using UnityTango = GoogleAR.UnityNative;
+ /// @endcond
+
+ /// <summary>
+ /// An estimate of lighting conditions in the environment corresponding to
+ /// an AR frame.
+ /// </summary>
+ public struct LightEstimate
+ {
+ /// <summary>
+ /// Return an average pixel intensity. Values range from 0.0 to 1.0, where 0.0
+ /// represents black and 1.0 represents white.
+ /// </summary>
+ public float PixelIntensity { get; private set; }
+
+ /// <summary>
+ /// Constructor for a LightEstimate.
+ /// </summary>
+ /// <param name="pixelIntensity">Average pixel intensity. Values range from 0.0
+ /// to 1.0, where 0.0 represents black and 1.0 represents white.
+ /// </param>
+ public LightEstimate(float pixelIntensity)
+ {
+ PixelIntensity = pixelIntensity;
+ }
+ }
+}
diff --git a/Assets/GoogleARCore/SDK/Scripts/LightEstimate.cs.meta b/Assets/GoogleARCore/SDK/Scripts/LightEstimate.cs.meta
new file mode 100644
index 0000000..d70fb42
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/LightEstimate.cs.meta
@@ -0,0 +1,13 @@
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+guid: fda591ded80f4d6489368b5527603e86
+timeCreated: 1502160887
+licenseType: Pro
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/GoogleARCore/SDK/Scripts/Managers.meta b/Assets/GoogleARCore/SDK/Scripts/Managers.meta
new file mode 100644
index 0000000..e4ba6c7
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Managers.meta
@@ -0,0 +1,10 @@
+fileFormatVersion: 2
+guid: dce186e1ec2f84d108a7e1543b19e958
+folderAsset: yes
+timeCreated: 1502400947
+licenseType: Free
+DefaultImporter:
+ externalObjects: {}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/GoogleARCore/SDK/Scripts/Managers/AnchorManager.cs b/Assets/GoogleARCore/SDK/Scripts/Managers/AnchorManager.cs
new file mode 100644
index 0000000..a4ccb8a
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Managers/AnchorManager.cs
@@ -0,0 +1,197 @@
+//-----------------------------------------------------------------------
+// <copyright file="AnchorManager.cs" company="Google">
+//
+// Copyright 2017 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+namespace GoogleARCoreInternal
+{
+ using System;
+ using System.Collections.Generic;
+ using GoogleARCore;
+ using UnityEngine;
+ using UnityTango = UnityEngine.XR.Tango;
+
+ public class AnchorManager
+ {
+ public enum AnchorManagerTrackingState
+ {
+ Tracking,
+ TrackingNotLocalized,
+ TrackingLost,
+ TrackingStopped,
+ }
+
+ private List<AnchorRecord> m_anchors = new List<AnchorRecord>();
+
+ private List<AnchorRecord> m_nonLocalizedAnchors = new List<AnchorRecord>();
+
+ public AnchorManagerTrackingState m_trackingState = AnchorManagerTrackingState.TrackingStopped;
+
+ /// <summary>
+ /// ARCore drift correction may shift the virtual coordinate frame as motion tracking estimates are refined;
+ /// this method creates an anchor that attempts to represent <c>position</c> and <c>rotation</c> relative to the
+ /// "real world" coordinate compensating for drift correction updates.
+ /// </summary>
+ /// <param name="position">The position to anchor.</param>
+ /// <param name="rotation">The rotation to anchor.</param>
+ /// <returns>A newly created anchor tracking <c>position</c> and <c>rotation</c> if successful, otherwise
+ /// <c>null</c>.</returns>
+ public Anchor CreateAnchor(Vector3 position, Quaternion rotation)
+ {
+ Action<double> updateTracking;
+ Action<AnchorTrackingState> updateTrackingState;
+ var newAnchor = Anchor.InstantiateAnchor(position, rotation, out updateTracking, out updateTrackingState);
+ var newAnchorRecord = new AnchorRecord(newAnchor, updateTracking, updateTrackingState);
+ if (SessionManager.Instance.MotionTrackingManager.IsLocalized)
+ {
+ m_anchors.Add(newAnchorRecord);
+ }
+ else
+ {
+ m_nonLocalizedAnchors.Add(newAnchorRecord);
+ }
+
+ return newAnchor;
+ }
+
+ /// <summary>
+ /// Updates the tracking of all anchors.
+ /// </summary>
+ public void EarlyUpdate()
+ {
+ _SetNewTrackingState(Frame.TrackingState, SessionManager.Instance.MotionTrackingManager.IsLocalized);
+
+ const string POSE_HISTORY_EVENT_KEY = "EXPERIMENTAL_PoseHistoryChanged";
+ double earliestTimestamp = double.MaxValue;
+ for (int i = 0; i < SessionManager.Instance.TangoEvents.Count; i++)
+ {
+ var tangoEvent = SessionManager.Instance.TangoEvents[i];
+ if (tangoEvent.key == POSE_HISTORY_EVENT_KEY && double.Parse(tangoEvent.value) < earliestTimestamp)
+ {
+ earliestTimestamp = double.Parse(tangoEvent.value);
+ }
+ }
+
+ // Update the pose of anchors.
+ if (earliestTimestamp < double.MaxValue)
+ {
+ for (int i = 0; i < m_anchors.Count; i++)
+ {
+ m_anchors[i].m_updateTracking(earliestTimestamp);
+ }
+
+ for (int i = 0; i < m_nonLocalizedAnchors.Count; i++)
+ {
+ m_nonLocalizedAnchors[i].m_updateTracking(earliestTimestamp);
+ }
+ }
+ }
+
+ public void OnApplicationPause(bool isPaused)
+ {
+ if (isPaused)
+ {
+ _UpdateAnchorTrackingState(AnchorTrackingState.StoppedTracking, m_anchors);
+ _UpdateAnchorTrackingState(AnchorTrackingState.StoppedTracking, m_nonLocalizedAnchors);
+ m_anchors.Clear();
+ m_nonLocalizedAnchors.Clear();
+ }
+ }
+
+ private void _SetNewTrackingState(FrameTrackingState frameTrackingState, bool localized)
+ {
+ AnchorManagerTrackingState oldTrackingState = m_trackingState;
+
+ if (frameTrackingState == FrameTrackingState.LostTracking)
+ {
+ m_trackingState = AnchorManagerTrackingState.TrackingLost;
+ }
+ else if (frameTrackingState == FrameTrackingState.TrackingNotInitialized)
+ {
+ m_trackingState = AnchorManagerTrackingState.TrackingStopped;
+ }
+ else if (!localized)
+ {
+ m_trackingState = AnchorManagerTrackingState.TrackingNotLocalized;
+ }
+ else
+ {
+ m_trackingState = AnchorManagerTrackingState.Tracking;
+ }
+
+ _HandleTrackingStateChange(oldTrackingState, m_trackingState);
+ }
+
+ private void _HandleTrackingStateChange(AnchorManagerTrackingState oldState,
+ AnchorManagerTrackingState newState)
+ {
+ if (oldState == newState)
+ {
+ // There is no state change to process.
+ return;
+ }
+ else if (newState == AnchorManagerTrackingState.Tracking)
+ {
+ // Tracking has been (re-)established, any non-localized anchors that were not lost become localized and
+ // all localized anchors become tracked.
+ m_anchors.AddRange(m_nonLocalizedAnchors);
+ m_nonLocalizedAnchors.Clear();
+ _UpdateAnchorTrackingState(AnchorTrackingState.Tracking, m_anchors);
+ }
+ else if (newState == AnchorManagerTrackingState.TrackingNotLocalized)
+ {
+ // The device is tracking but not localized; meaning the device is on a separate map from localized
+ // anchors. Thus, localized anchors are lost.
+ _UpdateAnchorTrackingState(AnchorTrackingState.LostTracking, m_anchors);
+ }
+ else if (newState == AnchorManagerTrackingState.TrackingLost)
+ {
+ // Tracking is now lost and localized anchors should move to not tracking. Any non-localized anchors
+ // are now lost forever (stopped).
+ _UpdateAnchorTrackingState(AnchorTrackingState.LostTracking, m_anchors);
+ _UpdateAnchorTrackingState(AnchorTrackingState.StoppedTracking, m_nonLocalizedAnchors);
+ m_nonLocalizedAnchors.Clear();
+ }
+ }
+
+ private void _UpdateAnchorTrackingState(AnchorTrackingState trackingState, List<AnchorRecord> anchorRecords)
+ {
+ for (int i = 0; i < anchorRecords.Count; i++)
+ {
+ anchorRecords[i].m_updateTrackingState(trackingState);
+ }
+ }
+
+ private struct AnchorRecord
+ {
+ public Anchor m_anchor;
+
+ public Action<double> m_updateTracking;
+
+ public Action<AnchorTrackingState> m_updateTrackingState;
+
+ public AnchorRecord(Anchor anchor, Action<double> updateTracking,
+ Action<AnchorTrackingState> updateTrackingState)
+ {
+ m_anchor = anchor;
+ m_updateTracking = updateTracking;
+ m_updateTrackingState = updateTrackingState;
+ }
+ }
+ }
+}
diff --git a/Assets/GoogleARCore/SDK/Scripts/Managers/AnchorManager.cs.meta b/Assets/GoogleARCore/SDK/Scripts/Managers/AnchorManager.cs.meta
new file mode 100644
index 0000000..3a4e2e0
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Managers/AnchorManager.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: 05c032f157c6b416f8d2bbcdef61456f
+timeCreated: 1502925769
+licenseType: Free
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/GoogleARCore/SDK/Scripts/Managers/LightEstimateManager.cs b/Assets/GoogleARCore/SDK/Scripts/Managers/LightEstimateManager.cs
new file mode 100644
index 0000000..6d2c165
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Managers/LightEstimateManager.cs
@@ -0,0 +1,88 @@
+//-----------------------------------------------------------------------
+// <copyright file="LightEstimateManager.cs" company="Google">
+//
+// Copyright 2017 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+namespace GoogleARCoreInternal
+{
+ using System;
+ using System.Runtime.InteropServices;
+ using GoogleARCore;
+ using UnityEngine;
+ using UnityTango = GoogleAR.UnityNative;
+
+ /// <summary>
+ /// A manager for light estimate state.
+ /// </summary>
+ public class LightEstimateManager
+ {
+ /// <summary>
+ /// The latest light estimate for this frame.
+ /// </summary>
+ private LightEstimate m_latestLightEstimate;
+
+ /// <summary>
+ /// The unity frame count where <c>m_latestLightEstimate</c> was last updated.
+ /// </summary>
+ private int m_latestLightEstimateFrame = 0;
+
+ /// <summary>
+ /// Get the most recent light estimate.
+ /// </summary>
+ /// <returns></returns>
+ public LightEstimate GetLatestLightEstimate()
+ {
+ // Maintain frame consistency.
+ if (Time.frameCount == m_latestLightEstimateFrame)
+ {
+ return m_latestLightEstimate;
+ }
+
+ m_latestLightEstimateFrame = Time.frameCount;
+
+ UnityTango.NativeImage nativeImage = new UnityTango.NativeImage();
+ if (!UnityTango.Device.TryAcquireLatestImageBuffer(ref nativeImage))
+ {
+ Debug.LogError("Unable to acquire image buffer.");
+ return m_latestLightEstimate;
+ }
+
+ // The Y plane is always the first one.
+ var yPlaneInfo = nativeImage.planeInfos[0];
+ IntPtr yPlaneStart = new IntPtr(nativeImage.planeData.ToInt64() + yPlaneInfo.offset);
+ float intensity;
+ ApiServiceErrorStatus status = TangoClientApi.TangoService_getPixelIntensity(
+ yPlaneStart,
+ (int)nativeImage.width,
+ (int)nativeImage.height,
+ nativeImage.planeInfos[0].rowStride,
+ out intensity);
+ if (status != ApiServiceErrorStatus.Success)
+ {
+ Debug.LogErrorFormat("Call to getPixelIntensity failed: {0}.", status);
+ return m_latestLightEstimate;
+ }
+
+ m_latestLightEstimate = new LightEstimate(intensity);
+
+ UnityTango.Device.ReleaseImageBuffer(nativeImage);
+
+ return m_latestLightEstimate;
+ }
+ }
+}
diff --git a/Assets/GoogleARCore/SDK/Scripts/Managers/LightEstimateManager.cs.meta b/Assets/GoogleARCore/SDK/Scripts/Managers/LightEstimateManager.cs.meta
new file mode 100644
index 0000000..28672af
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Managers/LightEstimateManager.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: 88655108d6b234793bc9238ffeb5c260
+timeCreated: 1502418261
+licenseType: Free
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/GoogleARCore/SDK/Scripts/Managers/MotionTrackingManager.cs b/Assets/GoogleARCore/SDK/Scripts/Managers/MotionTrackingManager.cs
new file mode 100644
index 0000000..45fb121
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Managers/MotionTrackingManager.cs
@@ -0,0 +1,113 @@
+//-----------------------------------------------------------------------
+// <copyright file="MotionTrackingManager.cs" company="Google">
+//
+// Copyright 2017 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+namespace GoogleARCoreInternal
+{
+ using UnityEngine;
+ using UnityTango = GoogleAR.UnityNative;
+ using System.Collections.Generic;
+
+ /// <summary>
+ /// A manager for motion tracking.
+ /// </summary>
+ public class MotionTrackingManager
+ {
+ private Pose m_latestPose = new Pose();
+
+ private bool m_latestPoseValid;
+
+ private int m_latestPoseFrame = 0;
+
+ private double m_latestTimestamp = 0.0f;
+
+ private Queue<ApiPoseData> m_poseQueue = new Queue<ApiPoseData>();
+
+ private object m_poseQueueLock = new object();
+
+ public bool IsLocalized { get; private set; }
+
+ public MotionTrackingManager()
+ {
+ ApiCoordinateFramePair[] framePairs = new ApiCoordinateFramePair[]
+ {
+ new ApiCoordinateFramePair()
+ {
+ baseFrame = ApiCoordinateFrameType.AreaDescription,
+ targetFrame = ApiCoordinateFrameType.StartOfService,
+ }
+ };
+
+ TangoClientApi.ConnectOnPoseAvailable(framePairs, m_poseQueue, m_poseQueueLock);
+ }
+
+ public void EarlyUpdate()
+ {
+ lock (m_poseQueueLock)
+ {
+ while (m_poseQueue.Count > 0)
+ {
+ ApiPoseData pose = m_poseQueue.Dequeue();
+ if (pose.framePair.baseFrame == ApiCoordinateFrameType.AreaDescription &&
+ pose.framePair.targetFrame == ApiCoordinateFrameType.StartOfService)
+ {
+ IsLocalized = pose.statusCode == ApiPoseStatusType.Valid;
+ }
+ }
+ }
+ }
+
+ /// <summary>
+ /// Attempts to get the most recent valid pose produced by ARCore motion tracking. This will be frame
+ /// consistent with Unity.
+ /// </summary>
+ /// <param name="pose">The latest pose.</param>
+ /// <param name="timestamp">The timestamp of the latest pose.</param>
+ /// <returns><c>true</c> if the ARCore could produce a latest pose, otherwise <c>false</c>.</returns>
+ public bool TryGetLatestPose(out Pose pose, out double timestamp)
+ {
+ // Maintain frame consistency.
+ if (Time.frameCount == m_latestPoseFrame)
+ {
+ pose = m_latestPose;
+ timestamp = m_latestTimestamp;
+ return m_latestPoseValid;
+ }
+
+ m_latestPoseFrame = Time.frameCount;
+
+ UnityTango.PoseData poseData;
+ bool getPoseSuccess = UnityTango.InputTracking.TryGetPoseAtTime(
+ out poseData, UnityTango.CoordinateFrame.StartOfService, UnityTango.CoordinateFrame.CameraColor, 0.0f);
+ if (!getPoseSuccess || (poseData.statusCode != UnityTango.PoseStatus.Valid))
+ {
+ m_latestPose = pose = new Pose();
+ timestamp = 0.0d;
+ m_latestPoseValid = false;
+ return false;
+ }
+
+ // Update latest pose with new valid pose.
+ m_latestPose = pose = new Pose(poseData.position, poseData.rotation);
+ m_latestTimestamp = timestamp = poseData.timestamp;
+ m_latestPoseValid = true;
+ return true;
+ }
+ }
+}
diff --git a/Assets/GoogleARCore/SDK/Scripts/Managers/MotionTrackingManager.cs.meta b/Assets/GoogleARCore/SDK/Scripts/Managers/MotionTrackingManager.cs.meta
new file mode 100644
index 0000000..c5fdbe9
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Managers/MotionTrackingManager.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: f1d37069342944497bc25265eb5e71b7
+timeCreated: 1502330118
+licenseType: Free
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/GoogleARCore/SDK/Scripts/Managers/PointCloudManager.cs b/Assets/GoogleARCore/SDK/Scripts/Managers/PointCloudManager.cs
new file mode 100644
index 0000000..2b37f1d
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Managers/PointCloudManager.cs
@@ -0,0 +1,68 @@
+//-----------------------------------------------------------------------
+// <copyright file="DepthCameraManager.cs" company="Google">
+//
+// Copyright 2017 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+namespace GoogleARCoreInternal
+{
+ using GoogleARCore;
+ using UnityEngine;
+ using UnityTango = GoogleAR.UnityNative;
+
+ /// <summary>
+ /// A manager for the depth camera.
+ /// </summary>
+ public class PointCloudManager
+ {
+ /// <summary>
+ /// The latest raw point cloud data.
+ /// </summary>
+ private PointCloud m_latestRawPointCloud = new PointCloud(null);
+
+ /// <summary>
+ /// The unity frame count where <c>m_latestPose</c> was last updated.
+ /// </summary>
+ private int m_latestPointCloudFrame = 0;
+
+ /// <summary>
+ /// Gets the latest point cloud from the depth camera.
+ /// </summary>
+ /// <returns>The latest point cloud from the depth camera.</returns>
+ public PointCloud GetLatestPointCloud()
+ {
+ // Maintain frame consistency.
+ if (Time.frameCount == m_latestPointCloudFrame)
+ {
+ return m_latestRawPointCloud;
+ }
+
+ // Attempt to query latest point cloud.
+ UnityTango.PointCloudData rawPointCloud = new UnityTango.PointCloudData();
+ if (!UnityTango.Device.TryGetLatestPointCloud(ref rawPointCloud))
+ {
+ return m_latestRawPointCloud;
+ }
+
+ // Update the latest point cloud.
+ m_latestRawPointCloud = new PointCloud(rawPointCloud);
+ m_latestPointCloudFrame = Time.frameCount;
+
+ return m_latestRawPointCloud;
+ }
+ }
+}
diff --git a/Assets/GoogleARCore/SDK/Scripts/Managers/PointCloudManager.cs.meta b/Assets/GoogleARCore/SDK/Scripts/Managers/PointCloudManager.cs.meta
new file mode 100644
index 0000000..f9933f3
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Managers/PointCloudManager.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: 51d2d9ca3d4c740f8b68bfd58bffad4a
+timeCreated: 1502414771
+licenseType: Pro
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/GoogleARCore/SDK/Scripts/Managers/RaycastManager.cs b/Assets/GoogleARCore/SDK/Scripts/Managers/RaycastManager.cs
new file mode 100644
index 0000000..97be1d6
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Managers/RaycastManager.cs
@@ -0,0 +1,235 @@
+//-----------------------------------------------------------------------
+// <copyright file="RaycastManager.cs" company="Google">
+//
+// Copyright 2017 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+namespace GoogleARCoreInternal
+{
+ using System.Collections.Generic;
+ using GoogleARCore;
+ using UnityEngine;
+
+ public class RaycastManager
+ {
+ private List<TrackedPlane> m_allPlanes = new List<TrackedPlane>();
+
+ private List<Vector3> m_tmpPolygonPoints = new List<Vector3>();
+
+ /// <summary>
+ /// Hit test against all detected planes. If point cloud hit flag is enabled, it will return point
+ /// cloud hit if there's no plane hit found.
+ /// </summary>
+ /// <param name="screenUV">Touch UV point in Unity screen space.
+ /// The bottom-left of the screen is (0,0); the right-top is (pixelWidth,pixelHeight).</param>
+ /// <param name="hitTestType">Hit test method used.</param>
+ /// <param name="hitPose">Output pose if hit test is successful.</param>
+ /// <returns>Return true if hit test is successful, otherwise false.</returns>
+ public bool Raycast(Ray ray, TrackableHitFlag filter, out TrackableHit hitResult)
+ {
+ TrackableHit? closestHit = null;
+ Frame.GetAllPlanes(ref m_allPlanes);
+
+ for (int i = 0; i < m_allPlanes.Count; i++)
+ {
+ TrackableHit? currentHit = null;
+
+ if (!m_allPlanes[i].IsValid || m_allPlanes[i].SubsumedBy != null)
+ {
+ continue;
+ }
+
+ TrackableHit hit;
+ if (HitTestPlane(ray, filter, m_allPlanes[i], out hit))
+ {
+ currentHit = hit;
+ }
+
+ if (currentHit != null && (closestHit == null || Vector3.Distance(ray.origin, currentHit.Value.Point)
+ < Vector3.Distance(ray.origin, closestHit.Value.Point)))
+ {
+ closestHit = currentHit;
+ }
+ }
+
+ if (closestHit != null)
+ {
+ hitResult = closestHit.Value;
+ return true;
+ }
+ else
+ {
+ if (_HasFlag(filter, TrackableHitFlag.PointCloud))
+ {
+ Vector3 hitpoint = new Vector3();
+ if (_IsRayIntersectingPoint(ray, Frame.PointCloud, ref hitpoint))
+ {
+ hitResult = new TrackableHit(hitpoint, Vector3.up, Vector3.Distance(hitpoint, ray.origin),
+ TrackableHitFlag.PointCloud, null);
+ return true;
+ }
+ }
+ }
+
+ hitResult = new TrackableHit(Vector3.zero, Vector3.zero, 0.0f, 0, null);
+ return false;
+ }
+
+ public bool HitTestPlane(Ray ray, TrackableHitFlag hitFilterFlags, TrackedPlane plane, out TrackableHit hit)
+ {
+ Plane unityPlane = new Plane(plane.Rotation * Vector3.up, plane.Position);
+ float distance;
+
+ if (unityPlane.Raycast(ray, out distance))
+ {
+ Vector3 hitPoint = ray.GetPoint(distance);
+ TrackableHitFlag hitResultFlags = TrackableHitFlag.None;
+
+ if (_HasFlag(hitFilterFlags, TrackableHitFlag.PlaneWithinBounds) &&
+ _IsPointInBoundingBox(hitPoint, plane))
+ {
+ hitResultFlags = hitResultFlags | TrackableHitFlag.PlaneWithinBounds;
+ }
+
+ if (_HasFlag(hitFilterFlags, TrackableHitFlag.PlaneWithinPolygon) && _IsPointInPolygon(hitPoint, plane))
+ {
+ hitResultFlags |= TrackableHitFlag.PlaneWithinPolygon;
+ }
+
+ if (_HasFlag(hitFilterFlags, TrackableHitFlag.PlaneWithinInfinity))
+ {
+ hitResultFlags |= TrackableHitFlag.PlaneWithinInfinity;
+ }
+
+ if (hitResultFlags != TrackableHitFlag.None)
+ {
+ hit = new TrackableHit(hitPoint, unityPlane.normal, distance, hitResultFlags, plane);
+ return true;
+ }
+ }
+
+ hit = new TrackableHit(Vector3.zero, Vector3.zero, 0.0f, 0, null);
+ return false;
+ }
+
+ /// <summary>
+ /// Check if a point is within a TrackedPlane polygon's boundary. This function assume the polygon
+ /// to be convex.
+ /// </summary>
+ /// <param name="point">3D point in world space.</param>
+ /// <param name="plane">A TrackedPlane reference detected by ARCore.</param>
+ private bool _IsPointInPolygon(Vector3 point, TrackedPlane plane)
+ {
+ List<Vector3> polygonPoints = m_tmpPolygonPoints;
+ plane.GetBoundaryPolygon(ref m_tmpPolygonPoints);
+
+ int count = polygonPoints.Count;
+ if (count < 3)
+ {
+ return false;
+ }
+
+ Vector3 lastUp = Vector3.zero;
+
+ for (int i = 0; i < count; ++i)
+ {
+ Vector3 v0 = point - polygonPoints[i];
+ Vector3 v1;
+ if (i == count - 1)
+ {
+ v1 = polygonPoints[0] - polygonPoints[i];
+ }
+ else
+ {
+ v1 = polygonPoints[i + 1] - polygonPoints[i];
+ }
+
+ Vector3 up = Vector3.Cross(v0, v1);
+ if (i != 0)
+ {
+ float sign = Vector3.Dot(up, lastUp);
+ if (sign < 0)
+ {
+ return false;
+ }
+ }
+
+ lastUp = up;
+ }
+ return true;
+ }
+
+ /// <summary>
+ /// Check if a point is within a TrackedPlane bounding box.
+ /// </summary>
+ /// <param name="point">3D point in world space.</param>
+ /// <param name="plane">A TrackedPlane reference detected by ARCore.</param>
+ private bool _IsPointInBoundingBox(Vector3 point, TrackedPlane plane)
+ {
+ Matrix4x4 world_T_plane = Matrix4x4.TRS(plane.Position, plane.Rotation, Vector3.one);
+ Vector3 pointInPlane = world_T_plane.inverse.MultiplyPoint3x4(point);
+
+ if (-0.5f * plane.Bounds.x <= pointInPlane.x && pointInPlane.x <= 0.5f * plane.Bounds.x &&
+ -0.5f * plane.Bounds.y <= pointInPlane.z && pointInPlane.z <= 0.5f * plane.Bounds.y)
+ {
+ return true;
+ }
+
+ return false;
+ }
+
+ /// <summary>
+ /// Check if a ray hit point with the point cloud.
+ /// </summary>
+ /// <param name="ray">A ray start from tracked position.</param>
+ /// <param name="pointcloud">A point cloud to hit aginst.</param>
+ /// <param name="hitPoint">The hit point's position.</param>
+ private static bool _IsRayIntersectingPoint(Ray ray, PointCloud pointcloud, ref Vector3 hitPoint)
+ {
+ int pointcloudCount = pointcloud.PointCount;
+ if (pointcloudCount == 0)
+ {
+ ARDebug.LogError("point cloud count is zero");
+ return false;
+ }
+
+ float min = float.MaxValue;
+ bool isPointFound = false;
+ for(int i = 0; i < pointcloudCount; ++i)
+ {
+ Vector3 point = pointcloud.GetPoint(i);
+ Vector3 v0 = point - ray.origin;
+ Vector3 v1 = ray.direction;
+ float angle = Vector3.Angle(v0, v1);
+
+ const float TOUCH_SEARCH_ANGLE_DEGREE = 5.0f;
+
+ if (angle < TOUCH_SEARCH_ANGLE_DEGREE && angle < min)
+ {
+ isPointFound = true;
+ hitPoint = point;
+ }
+ }
+ return isPointFound;
+ }
+
+ private bool _HasFlag(TrackableHitFlag filter, TrackableHitFlag flag)
+ {
+ return (filter & flag) != TrackableHitFlag.None;
+ }
+ }
+}
\ No newline at end of file
diff --git a/Assets/GoogleARCore/SDK/Scripts/Managers/RaycastManager.cs.meta b/Assets/GoogleARCore/SDK/Scripts/Managers/RaycastManager.cs.meta
new file mode 100644
index 0000000..d2f2429
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Managers/RaycastManager.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: 154f7afa7be4542a9a0328f7fe4f60ce
+timeCreated: 1502330118
+licenseType: Free
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/GoogleARCore/SDK/Scripts/Managers/SessionManager.cs b/Assets/GoogleARCore/SDK/Scripts/Managers/SessionManager.cs
new file mode 100644
index 0000000..226f3b6
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Managers/SessionManager.cs
@@ -0,0 +1,125 @@
+//-----------------------------------------------------------------------
+// <copyright file="SessionManager.cs" company="Google">
+//
+// Copyright 2017 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+namespace GoogleARCoreInternal
+{
+ using System.Collections.Generic;
+ using GoogleARCore;
+ using UnityEngine;
+ using UnityTango = GoogleAR.UnityNative;
+
+ /// <summary>
+ /// A container for internal ARCore session managers.
+ /// </summary>
+ public class SessionManager
+ {
+ private static SessionManager m_instance;
+
+ private static SessionConnectionState m_connectionState = SessionConnectionState.Uninitialized;
+
+ public static SessionManager Instance
+ {
+ get
+ {
+ if (m_instance == null)
+ {
+ throw new InvalidSessionAccessException(
+ "Attempted to access the ARCore Session while not connected.");
+ }
+
+ return m_instance;
+ }
+ }
+
+ public static SessionConnectionState ConnectionState
+ {
+ get
+ {
+ return m_connectionState;
+ }
+ set
+ {
+ if (value == SessionConnectionState.Connected)
+ {
+ m_instance = new SessionManager();
+ }
+
+ Debug.LogFormat("Connection state became {0}", value);
+ m_connectionState = value;
+ }
+ }
+
+ private Queue<ApiTangoEvent> m_eventQueue = new Queue<ApiTangoEvent>();
+
+ private object m_eventQueueLockObject = new object();
+
+ public AnchorManager AnchorManager { get; private set; }
+
+ public LightEstimateManager LightEstimateManager { get; private set; }
+
+ public MotionTrackingManager MotionTrackingManager { get; private set; }
+
+ public PointCloudManager PointCloudManager { get; private set; }
+
+ public RaycastManager RaycastManager { get; private set; }
+
+ public TrackedPlaneManager TrackedPlaneManager { get; private set; }
+
+ public List<ApiTangoEvent> TangoEvents { get; private set; }
+
+ public SessionManager()
+ {
+ AnchorManager = new AnchorManager();
+ LightEstimateManager = new LightEstimateManager();
+ MotionTrackingManager = new MotionTrackingManager();
+ PointCloudManager = new PointCloudManager();
+ RaycastManager = new RaycastManager();
+ TrackedPlaneManager = new TrackedPlaneManager();
+ TangoEvents = new List<ApiTangoEvent>();
+ TangoClientApi.ConnectOnEventAvailable(m_eventQueue, m_eventQueueLockObject);
+ }
+
+ public void EarlyUpdate()
+ {
+ _ProcessEventQueue();
+ MotionTrackingManager.EarlyUpdate();
+ AnchorManager.EarlyUpdate();
+ TrackedPlaneManager.EarlyUpdate();
+ }
+
+ public void OnApplicationPause(bool isPaused)
+ {
+ AnchorManager.OnApplicationPause(isPaused);
+ TrackedPlaneManager.OnApplicationPause(isPaused);
+ }
+
+ private void _ProcessEventQueue()
+ {
+ TangoEvents.Clear();
+ lock (m_eventQueueLockObject)
+ {
+ while (m_eventQueue.Count > 0)
+ {
+ TangoEvents.Add(m_eventQueue.Dequeue());
+ }
+ }
+ }
+ }
+}
diff --git a/Assets/GoogleARCore/SDK/Scripts/Managers/SessionManager.cs.meta b/Assets/GoogleARCore/SDK/Scripts/Managers/SessionManager.cs.meta
new file mode 100644
index 0000000..b449cf7
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Managers/SessionManager.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: e8f67b896e9424397b805fab574bbdd7
+timeCreated: 1502927358
+licenseType: Free
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/GoogleARCore/SDK/Scripts/Managers/TrackedPlaneManager.cs b/Assets/GoogleARCore/SDK/Scripts/Managers/TrackedPlaneManager.cs
new file mode 100644
index 0000000..6bc3ed3
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Managers/TrackedPlaneManager.cs
@@ -0,0 +1,222 @@
+//-----------------------------------------------------------------------
+// <copyright file="TrackedPlaneManager.cs" company="Google">
+//
+// Copyright 2017 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+namespace GoogleARCoreInternal
+{
+ using System;
+ using System.Collections.Generic;
+ using System.Runtime.InteropServices;
+ using GoogleARCore;
+ using UnityEngine;
+
+ public class TrackedPlaneManager
+ {
+ private List<TrackedPlaneRecord> m_allPlaneRecords = new List<TrackedPlaneRecord>();
+
+ private List<TrackedPlaneRecord> m_newPlaneRecords = new List<TrackedPlaneRecord>();
+
+ private float m_lastUpdateTime;
+
+ private List<ApiPlaneData> m_mostRecentApiPlanes = new List<ApiPlaneData>();
+
+ private HashSet<int> m_tmpLastestPlanesHash = new HashSet<int>();
+
+ public void GetNewPlanes(ref List<TrackedPlane> newPlanes)
+ {
+ newPlanes.Clear();
+ for (int i = 0; i < m_newPlaneRecords.Count; i++)
+ {
+ newPlanes.Add(m_newPlaneRecords[i].m_plane);
+ }
+ }
+
+ public void GetAllPlanes(ref List<TrackedPlane> allPlanes)
+ {
+ allPlanes.Clear();
+ for (int i = 0; i < m_allPlaneRecords.Count; i++)
+ {
+ allPlanes.Add(m_allPlaneRecords[i].m_plane);
+ }
+ }
+
+ public void OnApplicationPause(bool isPaused)
+ {
+ if (!isPaused)
+ {
+ return;
+ }
+
+ for (int i = 0; i < m_allPlaneRecords.Count; i++)
+ {
+ ApiPlaneData invalidPlane = new ApiPlaneData();
+ invalidPlane.id = m_allPlaneRecords[i].m_planeData.id;
+ m_allPlaneRecords[i].m_updatePlane(invalidPlane, null, true);
+ }
+ }
+
+ public void EarlyUpdate()
+ {
+ m_newPlaneRecords.Clear();
+
+ const float MIN_DELTA_BETWEEN_UPDATES = .1f;
+ if ((Time.time - m_lastUpdateTime) < MIN_DELTA_BETWEEN_UPDATES)
+ {
+ return;
+ }
+
+ // We are performing an update of the planes, update the time/frame tracking and clear the new planes list.
+ m_lastUpdateTime = Time.time;
+
+ var forceUpdate = _UpdateMostRecentApiPlanes();
+ _UpdatePlanes(m_mostRecentApiPlanes, m_newPlaneRecords, m_allPlaneRecords, forceUpdate);
+
+ return;
+ }
+
+ private bool _UpdateMostRecentApiPlanes()
+ {
+ IntPtr apiPlanesPtr = IntPtr.Zero;
+ int planeCount = 0;
+ if (TangoClientApi.TangoService_Experimental_getPlanes(ref apiPlanesPtr, ref planeCount).IsTangoFailure())
+ {
+ for (int i =0; i < m_mostRecentApiPlanes.Count; i++)
+ {
+ ApiPlaneData planeData = m_mostRecentApiPlanes[i];
+ planeData.isValid = false;
+ m_mostRecentApiPlanes[i] = planeData;
+ }
+
+ return true;
+ }
+
+ // The planes api is handling a COM reset, and the current state is not available. Leave the most recent
+ // Api planes collection unchanged.
+ if (apiPlanesPtr == null)
+ {
+ return false;
+ }
+
+ // Marshal the most recent planes returned from the Api into m_mostRecentApiPlanes.
+ m_mostRecentApiPlanes.Clear();
+ MarshalingHelper.AddUnmanagedStructArrayToList<ApiPlaneData>(apiPlanesPtr, planeCount,
+ m_mostRecentApiPlanes);
+
+ if (TangoClientApi.TangoPlaneData_free(apiPlanesPtr, planeCount).IsTangoFailure())
+ {
+ ARDebug.LogErrorFormat("Failed to deallocate planes from the ARCore API.");
+ }
+
+ return false;
+ }
+
+ private void _UpdatePlanes(List<ApiPlaneData> latestPlaneData, List<TrackedPlaneRecord> newPlaneRecords,
+ List<TrackedPlaneRecord> planeRecords, bool forceUpdate)
+ {
+ // Add latest planedata to a convenient hash on ID (note: not hashing plane itself to avoid potential boxing
+ // of the struct on comparison overloads).
+ m_tmpLastestPlanesHash.Clear();
+ for (int i = 0; i < latestPlaneData.Count; i++)
+ {
+ m_tmpLastestPlanesHash.Add(latestPlaneData[i].id);
+ }
+
+ // Create or update all planes that appear in latestPlaneData.
+ newPlaneRecords.Clear();
+ for (int i = 0; i < latestPlaneData.Count; i++)
+ {
+ int planeRecordIndex = _FindPlaneRecordById(latestPlaneData[i].id, planeRecords);
+ if (planeRecordIndex != -1)
+ {
+ planeRecords[planeRecordIndex] = new TrackedPlaneRecord(planeRecords[planeRecordIndex].m_plane,
+ latestPlaneData[i], planeRecords[planeRecordIndex].m_updatePlane);
+ planeRecords[planeRecordIndex].m_updatePlane(latestPlaneData[i], null, forceUpdate);
+ }
+ else
+ {
+ Action<ApiPlaneData, TrackedPlane, bool> updatePlane;
+ var trackedPlane = new TrackedPlane(latestPlaneData[i], out updatePlane);
+ newPlaneRecords.Add(new TrackedPlaneRecord(trackedPlane, latestPlaneData[i], updatePlane));
+ }
+ }
+
+ // Add new planes into plane records
+ for (int i = 0; i < newPlaneRecords.Count; i++)
+ {
+ planeRecords.Add(newPlaneRecords[i]);
+ }
+
+ // Invalidate planes that were previously tracking but not present in latestPlaneData. Delete planes that
+ // are invalid or subsumed.
+ for (int i = planeRecords.Count - 1; i >= 0; i--)
+ {
+ if (!m_tmpLastestPlanesHash.Contains(planeRecords[i].m_planeData.id))
+ {
+ ApiPlaneData invalidPlane = new ApiPlaneData();
+ invalidPlane.id = planeRecords[i].m_planeData.id;
+ planeRecords[i].m_updatePlane(invalidPlane, null, true);
+ planeRecords.RemoveAt(i);
+ }
+ else if (planeRecords[i].m_planeData.subsumedBy > -1)
+ {
+ int subsumerIndex = _FindPlaneRecordById(planeRecords[i].m_planeData.subsumedBy, planeRecords);
+ if (subsumerIndex == -1)
+ {
+ ARDebug.LogError("Failed to find a record of the subsuming plane.");
+ continue;
+ }
+
+ planeRecords[i].m_updatePlane(planeRecords[i].m_planeData, planeRecords[subsumerIndex].m_plane,
+ true);
+ planeRecords.RemoveAt(i);
+ }
+ }
+ }
+
+ private int _FindPlaneRecordById(int id, List<TrackedPlaneRecord> planeRecords)
+ {
+ for (int i = 0; i < planeRecords.Count; i++)
+ {
+ if (planeRecords[i].m_planeData.id == id)
+ {
+ return i;
+ }
+ }
+
+ return -1;
+ }
+
+ private struct TrackedPlaneRecord
+ {
+ public TrackedPlane m_plane;
+
+ public ApiPlaneData m_planeData;
+
+ public Action<ApiPlaneData, TrackedPlane, bool> m_updatePlane;
+
+ public TrackedPlaneRecord(TrackedPlane plane, ApiPlaneData planeData,
+ Action<ApiPlaneData, TrackedPlane, bool> updatePlane)
+ {
+ m_plane = plane;
+ m_planeData = planeData;
+ m_updatePlane = updatePlane;
+ }
+ }
+ }
+}
diff --git a/Assets/GoogleARCore/SDK/Scripts/Managers/TrackedPlaneManager.cs.meta b/Assets/GoogleARCore/SDK/Scripts/Managers/TrackedPlaneManager.cs.meta
new file mode 100644
index 0000000..660cec2
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Managers/TrackedPlaneManager.cs.meta
@@ -0,0 +1,13 @@
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+guid: 6455d6e08ef1b47a99b84a3171ec9804
+timeCreated: 1502330118
+licenseType: Free
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
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diff --git a/Assets/GoogleARCore/SDK/Scripts/Math.meta b/Assets/GoogleARCore/SDK/Scripts/Math.meta
new file mode 100644
index 0000000..edbc83b
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Math.meta
@@ -0,0 +1,10 @@
+fileFormatVersion: 2
+guid: 759b1cc6b382d4c23af9cb7205b0c587
+folderAsset: yes
+timeCreated: 1502400914
+licenseType: Free
+DefaultImporter:
+ externalObjects: {}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/GoogleARCore/SDK/Scripts/Math/DMatrix4x4.cs b/Assets/GoogleARCore/SDK/Scripts/Math/DMatrix4x4.cs
new file mode 100644
index 0000000..71b841d
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Math/DMatrix4x4.cs
@@ -0,0 +1,661 @@
+//-----------------------------------------------------------------------
+// <copyright file="DMatrix4x4.cs" company="Google">
+//
+// Copyright 2017 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+namespace GoogleARCore
+{
+ using System;
+ using System.Collections;
+ using GoogleARCoreInternal;
+ using UnityEngine;
+
+ /// <summary>
+ /// Double percision matrix class.
+ /// </summary>
+ public struct DMatrix4x4
+ {
+ // Column major matrix.
+ // Row is first number, column is the second number.
+ public double m00;
+ public double m10;
+ public double m20;
+ public double m30;
+ public double m01;
+ public double m11;
+ public double m21;
+ public double m31;
+ public double m02;
+ public double m12;
+ public double m22;
+ public double m32;
+ public double m03;
+ public double m13;
+ public double m23;
+ public double m33;
+
+ /// <summary>
+ /// Element wise construction.
+ /// </summary>
+ [System.Diagnostics.CodeAnalysis.SuppressMessage("StyleCop.CSharp.ReadabilityRules",
+ "SA1107:CodeMustNotContainMultipleStatementsOnOneLine",
+ Justification = "Matrix layout.")]
+ [System.Diagnostics.CodeAnalysis.SuppressMessage("StyleCop.CSharp.DocumentationRules",
+ "SA1611:ElementParametersMustBeDocumented",
+ Justification = "Matrix layout.")]
+ public DMatrix4x4(double m00, double m01, double m02, double m03,
+ double m10, double m11, double m12, double m13,
+ double m20, double m21, double m22, double m23,
+ double m30, double m31, double m32, double m33)
+ {
+ this.m00 = m00; this.m01 = m01; this.m02 = m02; this.m03 = m03;
+ this.m10 = m10; this.m11 = m11; this.m12 = m12; this.m13 = m13;
+ this.m20 = m20; this.m21 = m21; this.m22 = m22; this.m23 = m23;
+ this.m30 = m30; this.m31 = m31; this.m32 = m32; this.m33 = m33;
+ }
+
+ /// <summary>
+ /// Creates a new double-precision matrix from the given
+ /// single-precision matrix.
+ /// </summary>
+ /// <param name="matrix">A single-precision matrix.</param>
+ public DMatrix4x4(Matrix4x4 matrix)
+ {
+ m00 = matrix.m00;
+ m10 = matrix.m10;
+ m20 = matrix.m20;
+ m30 = matrix.m30;
+
+ m01 = matrix.m01;
+ m11 = matrix.m11;
+ m21 = matrix.m21;
+ m31 = matrix.m31;
+
+ m02 = matrix.m02;
+ m12 = matrix.m12;
+ m22 = matrix.m22;
+ m32 = matrix.m32;
+
+ m03 = matrix.m03;
+ m13 = matrix.m13;
+ m23 = matrix.m23;
+ m33 = matrix.m33;
+ }
+
+ /// <summary>
+ /// Construct matrix from array.
+ /// </summary>
+ /// <param name="arr">Array of matrix's elements.</param>
+ public DMatrix4x4(double[] arr)
+ {
+ m00 = arr[0];
+ m10 = arr[1];
+ m20 = arr[2];
+ m30 = arr[3];
+
+ m01 = arr[4];
+ m11 = arr[5];
+ m21 = arr[6];
+ m31 = arr[7];
+
+ m02 = arr[8];
+ m12 = arr[9];
+ m22 = arr[10];
+ m32 = arr[11];
+
+ m03 = arr[12];
+ m13 = arr[13];
+ m23 = arr[14];
+ m33 = arr[15];
+ }
+
+ /// <summary>
+ /// Gets identity matrix.
+ /// </summary>
+ /// <value>DMatrix4x4 value.</value>
+ [System.Diagnostics.CodeAnalysis.SuppressMessage("StyleCop.CSharp.ReadabilityRules",
+ "SA1107:CodeMustNotContainMultipleStatementsOnOneLine",
+ Justification = "Matrix layout.")]
+ public static DMatrix4x4 Identity
+ {
+ get
+ {
+ return new DMatrix4x4
+ {
+ m00 = 1.0, m01 = 0.0, m02 = 0.0, m03 = 0.0,
+ m10 = 0.0, m11 = 1.0, m12 = 0.0, m13 = 0.0,
+ m20 = 0.0, m21 = 0.0, m22 = 1.0, m23 = 0.0,
+ m30 = 0.0, m31 = 0.0, m32 = 0.0, m33 = 1.0
+ };
+ }
+ }
+
+ /// <summary>
+ /// Gets inverse matrix.
+ /// </summary>
+ /// <value>DMatrix4x4 value.</value>
+ public DMatrix4x4 Inverse
+ {
+ get
+ {
+ // Invert a 4 x 4 matrix using Cramer's Rule
+ DMatrix4x4 ret = new DMatrix4x4();
+
+ // transpose matrix
+ double src0 = m00;
+ double src4 = m10;
+ double src8 = m20;
+ double src12 = m30;
+
+ double src1 = m01;
+ double src5 = m11;
+ double src9 = m21;
+ double src13 = m31;
+
+ double src2 = m02;
+ double src6 = m12;
+ double src10 = m22;
+ double src14 = m32;
+
+ double src3 = m03;
+ double src7 = m13;
+ double src11 = m23;
+ double src15 = m33;
+
+ // calculate pairs for first 8 elements (cofactors)
+ double atmp0 = src10 * src15;
+ double atmp1 = src11 * src14;
+ double atmp2 = src9 * src15;
+ double atmp3 = src11 * src13;
+ double atmp4 = src9 * src14;
+ double atmp5 = src10 * src13;
+ double atmp6 = src8 * src15;
+ double atmp7 = src11 * src12;
+ double atmp8 = src8 * src14;
+ double atmp9 = src10 * src12;
+ double atmp10 = src8 * src13;
+ double atmp11 = src9 * src12;
+
+ // calculate first 8 elements (cofactors)
+ double dst0 = ((atmp0 * src5) + (atmp3 * src6) + (atmp4 * src7)) -
+ ((atmp1 * src5) + (atmp2 * src6) + (atmp5 * src7));
+ double dst1 = ((atmp1 * src4) + (atmp6 * src6) + (atmp9 * src7))
+ - ((atmp0 * src4) + (atmp7 * src6) + (atmp8 * src7));
+ double dst2 = ((atmp2 * src4) + (atmp7 * src5) + (atmp10 * src7))
+ - ((atmp3 * src4) + (atmp6 * src5) + (atmp11 * src7));
+ double dst3 = ((atmp5 * src4) + (atmp8 * src5) + (atmp11 * src6))
+ - ((atmp4 * src4) + (atmp9 * src5) + (atmp10 * src6));
+ double dst4 = ((atmp1 * src1) + (atmp2 * src2) + (atmp5 * src3))
+ - ((atmp0 * src1) + (atmp3 * src2) + (atmp4 * src3));
+ double dst5 = ((atmp0 * src0) + (atmp7 * src2) + (atmp8 * src3))
+ - ((atmp1 * src0) + (atmp6 * src2) + (atmp9 * src3));
+ double dst6 = ((atmp3 * src0) + (atmp6 * src1) + (atmp11 * src3))
+ - ((atmp2 * src0) + (atmp7 * src1) + (atmp10 * src3));
+ double dst7 = ((atmp4 * src0) + (atmp9 * src1) + (atmp10 * src2))
+ - ((atmp5 * src0) + (atmp8 * src1) + (atmp11 * src2));
+
+ // calculate pairs for second 8 elements (cofactors)
+ double btmp0 = src2 * src7;
+ double btmp1 = src3 * src6;
+ double btmp2 = src1 * src7;
+ double btmp3 = src3 * src5;
+ double btmp4 = src1 * src6;
+ double btmp5 = src2 * src5;
+ double btmp6 = src0 * src7;
+ double btmp7 = src3 * src4;
+ double btmp8 = src0 * src6;
+ double btmp9 = src2 * src4;
+ double btmp10 = src0 * src5;
+ double btmp11 = src1 * src4;
+
+ // calculate second 8 elements (cofactors)
+ double dst8 = ((btmp0 * src13) + (btmp3 * src14) + (btmp4 * src15))
+ - ((btmp1 * src13) + (btmp2 * src14) + (btmp5 * src15));
+ double dst9 = ((btmp1 * src12) + (btmp6 * src14) + (btmp9 * src15))
+ - ((btmp0 * src12) + (btmp7 * src14) + (btmp8 * src15));
+ double dst10 = ((btmp2 * src12) + (btmp7 * src13) + (btmp10 * src15))
+ - ((btmp3 * src12) + (btmp6 * src13) + (btmp11 * src15));
+ double dst11 = ((btmp5 * src12) + (btmp8 * src13) + (btmp11 * src14))
+ - ((btmp4 * src12) + (btmp9 * src13) + (btmp10 * src14));
+ double dst12 = ((btmp2 * src10) + (btmp5 * src11) + (btmp1 * src9))
+ - ((btmp4 * src11) + (btmp0 * src9) + (btmp3 * src10));
+ double dst13 = ((btmp8 * src11) + (btmp0 * src8) + (btmp7 * src10))
+ - ((btmp6 * src10) + (btmp9 * src11) + (btmp1 * src8));
+ double dst14 = ((btmp6 * src9) + (btmp11 * src11) + (btmp3 * src8))
+ - ((btmp10 * src11) + (btmp2 * src8) + (btmp7 * src9));
+ double dst15 = ((btmp10 * src10) + (btmp4 * src8) + (btmp9 * src9))
+ - ((btmp8 * src9) + (btmp11 * src10) + (btmp5 * src8));
+
+ // calculate determinant
+ double det = (src0 * dst0) + (src1 * dst1) + (src2 * dst2) + (src3 * dst3);
+
+ if (det == 0.0)
+ {
+ ARDebug.LogError("Matrix is not invertable.");
+ return new DMatrix4x4();
+ }
+
+ // calculate matrix inverse
+ double invdet = 1.0 / det;
+ ret.m00 = dst0 * invdet;
+ ret.m10 = dst1 * invdet;
+ ret.m20 = dst2 * invdet;
+ ret.m30 = dst3 * invdet;
+
+ ret.m01 = dst4 * invdet;
+ ret.m11 = dst5 * invdet;
+ ret.m21 = dst6 * invdet;
+ ret.m31 = dst7 * invdet;
+
+ ret.m02 = dst8 * invdet;
+ ret.m12 = dst9 * invdet;
+ ret.m22 = dst10 * invdet;
+ ret.m32 = dst11 * invdet;
+
+ ret.m03 = dst12 * invdet;
+ ret.m13 = dst13 * invdet;
+ ret.m23 = dst14 * invdet;
+ ret.m33 = dst15 * invdet;
+
+ return ret;
+ }
+ }
+
+ /// <summary>
+ /// Matrix indexer based on row and colmn index.
+ /// </summary>
+ /// <param name="row">Row index.</param>
+ /// <param name="column">Column index.</param>
+ /// <returns>Specific element's value.</returns>
+ public double this[int row, int column]
+ {
+ get
+ {
+ return this[row + (column * 4)];
+ }
+
+ set
+ {
+ this[row + (column * 4)] = value;
+ }
+ }
+
+ /// <summary>
+ /// Matrix indexer.
+ /// </summary>
+ /// <param name="index">Index number.</param>
+ /// <returns>Specific index's value.</returns>
+ public double this[int index]
+ {
+ get
+ {
+ switch (index)
+ {
+ case 0:
+ return this.m00;
+ case 1:
+ return this.m10;
+ case 2:
+ return this.m20;
+ case 3:
+ return this.m30;
+ case 4:
+ return this.m01;
+ case 5:
+ return this.m11;
+ case 6:
+ return this.m21;
+ case 7:
+ return this.m31;
+ case 8:
+ return this.m02;
+ case 9:
+ return this.m12;
+ case 10:
+ return this.m22;
+ case 11:
+ return this.m32;
+ case 12:
+ return this.m03;
+ case 13:
+ return this.m13;
+ case 14:
+ return this.m23;
+ case 15:
+ return this.m33;
+ default:
+ throw new IndexOutOfRangeException("Invalid matrix index!");
+ }
+ }
+
+ set
+ {
+ switch (index)
+ {
+ case 0:
+ this.m00 = value;
+ break;
+ case 1:
+ this.m10 = value;
+ break;
+ case 2:
+ this.m20 = value;
+ break;
+ case 3:
+ this.m30 = value;
+ break;
+ case 4:
+ this.m01 = value;
+ break;
+ case 5:
+ this.m11 = value;
+ break;
+ case 6:
+ this.m21 = value;
+ break;
+ case 7:
+ this.m31 = value;
+ break;
+ case 8:
+ this.m02 = value;
+ break;
+ case 9:
+ this.m12 = value;
+ break;
+ case 10:
+ this.m22 = value;
+ break;
+ case 11:
+ this.m32 = value;
+ break;
+ case 12:
+ this.m03 = value;
+ break;
+ case 13:
+ this.m13 = value;
+ break;
+ case 14:
+ this.m23 = value;
+ break;
+ case 15:
+ this.m33 = value;
+ break;
+ default:
+ throw new IndexOutOfRangeException("Invalid matrix index!");
+ }
+ }
+ }
+
+ /// <summary>
+ /// Create a translation and rotation matrix.
+ /// </summary>
+ /// <param name="translation">Translation in unity vector.</param>
+ /// <param name="orientation">Orientation in unity quaternion.</param>
+ /// <returns>Double matrix.</returns>
+ public static DMatrix4x4 TR(Vector3 translation, Quaternion orientation)
+ {
+ Double[] dTranslation = new double[3];
+ Double[] dOrientation = new double[4];
+
+ dTranslation[0] = translation.x;
+ dTranslation[1] = translation.y;
+ dTranslation[2] = translation.z;
+
+ dOrientation[0] = orientation.x;
+ dOrientation[1] = orientation.y;
+ dOrientation[2] = orientation.z;
+ dOrientation[3] = orientation.w;
+
+ return DMatrix4x4.TR(dTranslation, dOrientation);
+ }
+
+ /// <summary>
+ /// Create a translation and rotation matrix.
+ /// </summary>
+ /// <param name="translation">Translation as 3 doubles in a DVector3 struct.</param>
+ /// <param name="orientation">Orientation as 4 doubles in a DVector4 struct.</param>
+ /// <returns>Double matrix.</returns>
+ public static DMatrix4x4 TR(DVector3 translation, DVector4 orientation)
+ {
+ double[] dTranslation = new double[3];
+ double[] dOrientation = new double[4];
+
+ dTranslation[0] = translation.x;
+ dTranslation[1] = translation.y;
+ dTranslation[2] = translation.z;
+
+ dOrientation[0] = orientation.x;
+ dOrientation[1] = orientation.y;
+ dOrientation[2] = orientation.z;
+ dOrientation[3] = orientation.w;
+
+ return DMatrix4x4.TR(dTranslation, dOrientation);
+ }
+
+ /// <summary>
+ /// Multiplication operator overloading.
+ /// </summary>
+ /// <param name="lhs">Matrix on the left.</param>
+ /// <param name="rhs">Matrix on the right.</param>
+ /// <returns>Result matrix.</returns>
+ public static DMatrix4x4 operator *(DMatrix4x4 lhs, DMatrix4x4 rhs)
+ {
+ return new DMatrix4x4
+ {
+ m00 = (lhs.m00 * rhs.m00) + (lhs.m01 * rhs.m10) + (lhs.m02 * rhs.m20) + (lhs.m03 * rhs.m30),
+ m01 = (lhs.m00 * rhs.m01) + (lhs.m01 * rhs.m11) + (lhs.m02 * rhs.m21) + (lhs.m03 * rhs.m31),
+ m02 = (lhs.m00 * rhs.m02) + (lhs.m01 * rhs.m12) + (lhs.m02 * rhs.m22) + (lhs.m03 * rhs.m32),
+ m03 = (lhs.m00 * rhs.m03) + (lhs.m01 * rhs.m13) + (lhs.m02 * rhs.m23) + (lhs.m03 * rhs.m33),
+ m10 = (lhs.m10 * rhs.m00) + (lhs.m11 * rhs.m10) + (lhs.m12 * rhs.m20) + (lhs.m13 * rhs.m30),
+ m11 = (lhs.m10 * rhs.m01) + (lhs.m11 * rhs.m11) + (lhs.m12 * rhs.m21) + (lhs.m13 * rhs.m31),
+ m12 = (lhs.m10 * rhs.m02) + (lhs.m11 * rhs.m12) + (lhs.m12 * rhs.m22) + (lhs.m13 * rhs.m32),
+ m13 = (lhs.m10 * rhs.m03) + (lhs.m11 * rhs.m13) + (lhs.m12 * rhs.m23) + (lhs.m13 * rhs.m33),
+ m20 = (lhs.m20 * rhs.m00) + (lhs.m21 * rhs.m10) + (lhs.m22 * rhs.m20) + (lhs.m23 * rhs.m30),
+ m21 = (lhs.m20 * rhs.m01) + (lhs.m21 * rhs.m11) + (lhs.m22 * rhs.m21) + (lhs.m23 * rhs.m31),
+ m22 = (lhs.m20 * rhs.m02) + (lhs.m21 * rhs.m12) + (lhs.m22 * rhs.m22) + (lhs.m23 * rhs.m32),
+ m23 = (lhs.m20 * rhs.m03) + (lhs.m21 * rhs.m13) + (lhs.m22 * rhs.m23) + (lhs.m23 * rhs.m33),
+ m30 = (lhs.m30 * rhs.m00) + (lhs.m31 * rhs.m10) + (lhs.m32 * rhs.m20) + (lhs.m33 * rhs.m30),
+ m31 = (lhs.m30 * rhs.m01) + (lhs.m31 * rhs.m11) + (lhs.m32 * rhs.m21) + (lhs.m33 * rhs.m31),
+ m32 = (lhs.m30 * rhs.m02) + (lhs.m31 * rhs.m12) + (lhs.m32 * rhs.m22) + (lhs.m33 * rhs.m32),
+ m33 = (lhs.m30 * rhs.m03) + (lhs.m31 * rhs.m13) + (lhs.m32 * rhs.m23) + (lhs.m33 * rhs.m33)
+ };
+ }
+
+ /// <summary>
+ /// Convert from float matrix to double matrix.
+ /// </summary>
+ /// <param name="m">Float matrix.</param>
+ /// <returns>Double matrix.</returns>
+ public static DMatrix4x4 FromMatrix4x4(Matrix4x4 m)
+ {
+ DMatrix4x4 dm = new DMatrix4x4((double)m.m00, (double)m.m01, (double)m.m02, (double)m.m03,
+ (double)m.m10, (double)m.m11, (double)m.m12, (double)m.m13,
+ (double)m.m20, (double)m.m21, (double)m.m22, (double)m.m23,
+ (double)m.m30, (double)m.m31, (double)m.m32, (double)m.m33);
+ return dm;
+ }
+
+ /// <summary>
+ /// Returns a column of the matrix.
+ ///
+ /// The i-th column is returned as a DVector4. i must be from 0 to 3 inclusive.
+ /// </summary>
+ /// <param name="i">Column index.</param>
+ /// <returns>The i-th column as a DVector4.</returns>
+ public DVector4 GetColumn(int i)
+ {
+ return new DVector4(this[0, i], this[1, i], this[2, i], this[3, i]);
+ }
+
+ /// <summary>
+ /// Returns a row of the matrix.
+ ///
+ /// The i-th column is returned as a DVector4. i must be from 0 to 3 inclusive.
+ /// </summary>
+ /// <param name="i">Row index.</param>
+ /// <returns>The i-th column as a DVector4.</returns>
+ public DVector4 GetRow(int i)
+ {
+ return new DVector4(this[i, 0], this[i, 1], this[i, 2], this[i, 3]);
+ }
+
+ /// <summary>
+ /// Transforms a position by this matrix (generic).
+ ///
+ /// Returns a position v transformed by the current fully arbitrary matrix. If the matrix is a regular 3D
+ /// transformation matrix, it is much faster to use MultiplyPoint3x4 instead. MultiplyPoint is slower, but can
+ /// handle projective transformations as well.
+ /// </summary>
+ /// <returns>The transformed point.</returns>
+ /// <param name="v">The point to be transformed.</param>
+ public DVector3 MultiplyPoint(DVector3 v)
+ {
+ DVector3 transformed = new DVector3(
+ (this.m00 * v.x) + (this.m01 * v.y) + (this.m02 * v.z) + this.m03,
+ (this.m10 * v.x) + (this.m11 * v.y) + (this.m12 * v.z) + this.m13,
+ (this.m20 * v.x) + (this.m21 * v.y) + (this.m22 * v.z) + this.m23);
+
+ double proj = (this.m30 * v.x) + (this.m31 * v.y) + (this.m32 * v.z) + this.m33;
+ transformed.x /= proj;
+ transformed.y /= proj;
+ transformed.z /= proj;
+ return transformed;
+ }
+
+ /// <summary>
+ /// Transforms a position by this matrix (fast).
+ ///
+ /// Returns a position transformed by the current transformation matrix. This function is a faster version of
+ /// MultiplyPoint; but it can only handle regular 3D transformations. MultiplyPoint is slower, but can handle
+ /// projective transformations as well.
+ ///
+ /// </summary>
+ /// <returns>The transformed position.</returns>
+ /// <param name="v">The position to transform.</param>
+ public DVector3 MultiplyPoint3x4(DVector3 v)
+ {
+ DVector3 transformed = new DVector3(
+ (this.m00 * v.x) + (this.m01 * v.y) + (this.m02 * v.z) + this.m03,
+ (this.m10 * v.x) + (this.m11 * v.y) + (this.m12 * v.z) + this.m13,
+ (this.m20 * v.x) + (this.m21 * v.y) + (this.m22 * v.z) + this.m23);
+ return transformed;
+ }
+
+ /// <summary>
+ /// Convert DMatrix4x4 to unity Matrix4x4.
+ /// </summary>
+ /// <returns>Matrix in float.</returns>
+ public Matrix4x4 ToMatrix4x4()
+ {
+ Matrix4x4 mat = new Matrix4x4();
+ mat.m00 = (float)m00;
+ mat.m01 = (float)m01;
+ mat.m02 = (float)m02;
+ mat.m03 = (float)m03;
+
+ mat.m10 = (float)m10;
+ mat.m11 = (float)m11;
+ mat.m12 = (float)m12;
+ mat.m13 = (float)m13;
+
+ mat.m20 = (float)m20;
+ mat.m21 = (float)m21;
+ mat.m22 = (float)m22;
+ mat.m23 = (float)m23;
+
+ mat.m30 = (float)m30;
+ mat.m31 = (float)m31;
+ mat.m32 = (float)m32;
+ mat.m33 = (float)m33;
+ return mat;
+ }
+
+ /// <summary>
+ /// Format to string for output.
+ /// </summary>
+ /// <returns>String of this matrix.</returns>
+ public override string ToString()
+ {
+ return string.Format("{0}, {1}, {2}, {3}\n" +
+ "{4}, {5}, {6}, {7}\n" +
+ "{8}, {9}, {10}, {11}\n" +
+ "{12}, {13}, {14}, {15}\n",
+ m00.ToString("F3"), m01.ToString("F3"), m02.ToString("F3"), m03.ToString("F3"),
+ m10.ToString("F3"), m11.ToString("F3"), m12.ToString("F3"), m13.ToString("F3"),
+ m20.ToString("F3"), m21.ToString("F3"), m22.ToString("F3"), m23.ToString("F3"),
+ m30.ToString("F3"), m31.ToString("F3"), m32.ToString("F3"), m33.ToString("F3"));
+ }
+
+ /// <summary>
+ /// Convert matrix's elements to an array.
+ /// </summary>
+ /// <returns>Double array of matrix's elements.</returns>
+ public double[] ToArray()
+ {
+ double[] arr = new double[16];
+ for (int i = 0; i < 16; ++i)
+ {
+ arr[i] = this[i];
+ }
+
+ return arr;
+ }
+
+ /// <summary>
+ /// Retrive translation vector from matrix.
+ /// </summary>
+ /// <param name="translation">Translation in vector double array, x, y, z.</param>
+ /// <param name="orientation">Orientation in quaternion double array, x, y, z, w.</param>
+ /// <returns>Double matrix.</returns>
+ private static DMatrix4x4 TR(double[] translation, double[] orientation)
+ {
+ DMatrix4x4 dmat = new DMatrix4x4();
+ double sqw = orientation[3] * orientation[3];
+ double sqx = orientation[0] * orientation[0];
+ double sqy = orientation[1] * orientation[1];
+ double sqz = orientation[2] * orientation[2];
+
+ // invs (inverse square length) is only required if quaternion is not already normalised
+ double invs = 1 / (sqx + sqy + sqz + sqw);
+ dmat.m00 = (sqx - sqy - sqz + sqw) * invs;
+ dmat.m11 = (-sqx + sqy - sqz + sqw) * invs;
+ dmat.m22 = (-sqx - sqy + sqz + sqw) * invs;
+
+ double tmp1 = orientation[0] * orientation[1];
+ double tmp2 = orientation[2] * orientation[3];
+ dmat.m10 = 2.0 * (tmp1 + tmp2) * invs;
+ dmat.m01 = 2.0 * (tmp1 - tmp2) * invs;
+
+ tmp1 = orientation[0] * orientation[2];
+ tmp2 = orientation[1] * orientation[3];
+ dmat.m20 = 2.0 * (tmp1 - tmp2) * invs;
+ dmat.m02 = 2.0 * (tmp1 + tmp2) * invs;
+ tmp1 = orientation[1] * orientation[2];
+ tmp2 = orientation[0] * orientation[3];
+ dmat.m21 = 2.0 * (tmp1 + tmp2) * invs;
+ dmat.m12 = 2.0 * (tmp1 - tmp2) * invs;
+
+ dmat.m03 = translation[0];
+ dmat.m13 = translation[1];
+ dmat.m23 = translation[2];
+ dmat.m33 = 1.0;
+
+ return dmat;
+ }
+ }
+}
diff --git a/Assets/GoogleARCore/SDK/Scripts/Math/DMatrix4x4.cs.meta b/Assets/GoogleARCore/SDK/Scripts/Math/DMatrix4x4.cs.meta
new file mode 100644
index 0000000..9908916
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Math/DMatrix4x4.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: 41f1d4d1d75da471982989c3b3236957
+timeCreated: 1502330118
+licenseType: Free
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/GoogleARCore/SDK/Scripts/Math/DVector3.cs b/Assets/GoogleARCore/SDK/Scripts/Math/DVector3.cs
new file mode 100644
index 0000000..874439c
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Math/DVector3.cs
@@ -0,0 +1,201 @@
+//-----------------------------------------------------------------------
+// <copyright file="DVector3.cs" company="Google">
+//
+// Copyright 2017 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+namespace GoogleARCore
+{
+ using System;
+ using System.Runtime.InteropServices;
+ using UnityEngine;
+
+ /// <summary>
+ /// Double precision vector in 3D.
+ /// </summary>
+ [StructLayout(LayoutKind.Sequential)]
+ public struct DVector3
+ {
+ [MarshalAs(UnmanagedType.R8)]
+ public double x;
+ [MarshalAs(UnmanagedType.R8)]
+ public double y;
+ [MarshalAs(UnmanagedType.R8)]
+ public double z;
+
+ /// <summary>
+ /// Creates a new double-precision vector with given x, y, z components.
+ /// </summary>
+ /// <param name="x">The x component.</param>
+ /// <param name="y">The y component.</param>
+ /// <param name="z">The z component.</param>
+ public DVector3(double x, double y, double z)
+ {
+ this.x = x;
+ this.y = y;
+ this.z = z;
+ }
+
+ /// <summary>
+ /// Creates a new double-precision vector from a given Vector3.
+ /// </summary>
+ /// <param name="copy">The Vector3 to copy.</param>
+ public DVector3(Vector3 copy)
+ {
+ this.x = copy.x;
+ this.y = copy.y;
+ this.z = copy.z;
+ }
+
+ /// <summary>
+ /// Gets zero DVector3.
+ /// </summary>
+ /// <value>Zero DVector3.</value>
+ public static DVector3 Zero
+ {
+ get { return new DVector3(0.0, 0.0, 0.0); }
+ }
+
+ /// <summary>
+ /// Gets the length of this vector (Read Only).
+ /// </summary>
+ /// <value>The length.</value>
+ public double Magnitude
+ {
+ get { return Math.Sqrt(SqrMagnitude); }
+ }
+
+ /// <summary>
+ /// Gets the squared length of this vector (Read Only).
+ /// </summary>
+ /// <value>The squared length.</value>
+ public double SqrMagnitude
+ {
+ get { return (x * x) + (y * y) + (z * z); }
+ }
+
+ /// <summary>
+ /// Get or set x,y,z components (double) as 0,1,2 - other values throw an IndexOutOfRange exception.
+ /// </summary>
+ /// <param name="index">Set a component of the quaternion by int index.</param>
+ /// <returns>
+ /// A <see cref="System.Double"/> in the quaternion.
+ /// </returns>
+ public double this[int index]
+ {
+ get
+ {
+ switch (index)
+ {
+ case 0:
+ return x;
+ case 1:
+ return y;
+ case 2:
+ return z;
+ default:
+ throw new System.IndexOutOfRangeException();
+ }
+ }
+
+ set
+ {
+ switch (index)
+ {
+ case 0:
+ x = value;
+ return;
+ case 1:
+ y = value;
+ return;
+ case 2:
+ z = value;
+ return;
+ default:
+ throw new System.IndexOutOfRangeException();
+ }
+ }
+ }
+
+ /// <summary>
+ /// Returns the distance between a and b.
+ /// </summary>
+ /// <returns>Euclidean distance as a double.</returns>
+ /// <param name="a">First vector.</param>
+ /// <param name="b">Second vector.</param>
+ public static double Distance(DVector3 a, DVector3 b)
+ {
+ return (a - b).Magnitude;
+ }
+
+ /// <summary>
+ /// Dot Product of two vectors.
+ /// </summary>
+ /// <returns>Dot product as a double.</returns>
+ /// <param name="a">First vector.</param>
+ /// <param name="b">Second vector.</param>
+ public static double Dot(DVector3 a, DVector3 b)
+ {
+ return (a.x * b.x) + (a.y * b.y) + (a.z * b.z);
+ }
+
+ /// <summary>
+ /// Subtracts one vector from another.
+ ///
+ /// Subtracts each component of b from a.
+ /// </summary>
+ /// <returns>Subtraction result.</returns>
+ /// <param name="a">First vector.</param>
+ /// <param name="b">Second vector.</param>
+ public static DVector3 operator -(DVector3 a, DVector3 b)
+ {
+ return new DVector3(a.x - b.x, a.y - b.y, a.z - b.z);
+ }
+
+ /// <summary>
+ /// Adds two vectors.
+ ///
+ /// Adds corresponding components together.
+ /// </summary>
+ /// <returns>Addition result.</returns>
+ /// <param name="a">First vector.</param>
+ /// <param name="b">Second vector.</param>
+ public static DVector3 operator +(DVector3 a, DVector3 b)
+ {
+ return new DVector3(a.x + b.x, a.y + b.y, a.z + b.z);
+ }
+
+ /// <summary>
+ /// Returns a single-precision vector representation of this
+ /// double-precision vector.
+ /// </summary>
+ /// <returns>A single-precision vector.</returns>
+ public Vector3 ToVector3()
+ {
+ return new Vector3((float)x, (float)y, (float)z);
+ }
+
+ /// <summary>
+ /// Overrided ToString function to formatted DVector3 string output.
+ /// </summary>
+ /// <returns>Formatted string of this DVector3.</returns>
+ public override string ToString()
+ {
+ return string.Format("{0}, {1}, {2}", x, y, z);
+ }
+ }
+}
diff --git a/Assets/GoogleARCore/SDK/Scripts/Math/DVector3.cs.meta b/Assets/GoogleARCore/SDK/Scripts/Math/DVector3.cs.meta
new file mode 100644
index 0000000..72f2cb2
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Math/DVector3.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: 769fadb0d8af8488b8f88cd5b6b0a4b7
+timeCreated: 1502330118
+licenseType: Free
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/GoogleARCore/SDK/Scripts/Math/DVector4.cs b/Assets/GoogleARCore/SDK/Scripts/Math/DVector4.cs
new file mode 100644
index 0000000..eb09100
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Math/DVector4.cs
@@ -0,0 +1,211 @@
+//-----------------------------------------------------------------------
+// <copyright file="DVector4.cs" company="Google">
+//
+// Copyright 2016 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+namespace GoogleARCore
+{
+ using System;
+ using System.Runtime.InteropServices;
+ using UnityEngine;
+
+ /// <summary>
+ /// Double precision vector in 4D.
+ /// </summary>
+ [StructLayout(LayoutKind.Sequential)]
+ public struct DVector4
+ {
+ [MarshalAs(UnmanagedType.R8)]
+ public double x;
+ [MarshalAs(UnmanagedType.R8)]
+ public double y;
+ [MarshalAs(UnmanagedType.R8)]
+ public double z;
+ [MarshalAs(UnmanagedType.R8)]
+ public double w;
+
+ /// <summary>
+ /// Creates a new double-precision vector with given x, y, z, w components.
+ /// </summary>
+ /// <param name="x">The x component.</param>
+ /// <param name="y">The y component.</param>
+ /// <param name="z">The z component.</param>
+ /// <param name="w">The w component.</param>
+ public DVector4(double x, double y, double z, double w)
+ {
+ this.x = x;
+ this.y = y;
+ this.z = z;
+ this.w = w;
+ }
+
+ /// <summary>
+ /// Creates a new double-precision vector with given Vector4.
+ /// </summary>
+ /// <param name="copy">The Vector4 to copy.</param>
+ public DVector4(UnityEngine.Vector4 copy)
+ {
+ this.x = copy.x;
+ this.y = copy.y;
+ this.z = copy.z;
+ this.w = copy.w;
+ }
+
+ /// <summary>
+ /// Gets identity quaternion in DVector4 format.
+ /// </summary>
+ /// <value>Identity quaternion.</value>
+ public static DVector4 IdentityQuaternion
+ {
+ get { return new DVector4(0.0, 0.0, 0.0, 1.0); }
+ }
+
+ /// <summary>
+ /// Gets the length of this vector (Read Only).
+ /// </summary>
+ /// <value>The length.</value>
+ public double Magnitude
+ {
+ get { return Math.Sqrt(SqrMagnitude); }
+ }
+
+ /// <summary>
+ /// Gets the squared length of this vector (Read Only).
+ /// </summary>
+ /// <value>The squared length.</value>
+ public double SqrMagnitude
+ {
+ get { return (x * x) + (y * y) + (z * z) + (w * w); }
+ }
+
+ /// <summary>
+ /// Get or set x,y,z,w components (double) as 0,1,2,3 - other values throw an IndexOutOfRange exception.
+ /// </summary>
+ /// <param name="index">Set a component of the quaternion by int index.</param>
+ /// <returns>
+ /// A <see cref="System.Double"/> in the quaternion.
+ /// </returns>
+ public double this[int index]
+ {
+ get
+ {
+ switch (index)
+ {
+ case 0:
+ return x;
+ case 1:
+ return y;
+ case 2:
+ return z;
+ case 3:
+ return w;
+ default:
+ throw new System.IndexOutOfRangeException();
+ }
+ }
+
+ set
+ {
+ switch (index)
+ {
+ case 0:
+ x = value;
+ return;
+ case 1:
+ y = value;
+ return;
+ case 2:
+ z = value;
+ return;
+ case 3:
+ w = value;
+ return;
+ default:
+ throw new System.IndexOutOfRangeException();
+ }
+ }
+ }
+
+ /// <summary>
+ /// Returns the distance between a and b.
+ /// </summary>
+ /// <returns>Euclidean distance as a double.</returns>
+ /// <param name="a">First vector.</param>
+ /// <param name="b">Second vector.</param>
+ public static double Distance(DVector4 a, DVector4 b)
+ {
+ return (a - b).Magnitude;
+ }
+
+ /// <summary>
+ /// Dot Product of two vectors.
+ /// </summary>
+ /// <returns>Dot product as a double.</returns>
+ /// <param name="a">First vector.</param>
+ /// <param name="b">Second vector.</param>
+ public static double Dot(DVector4 a, DVector4 b)
+ {
+ return (a.x * b.x) + (a.y * b.y) + (a.z * b.z) + (a.w * b.w);
+ }
+
+ /// <summary>
+ /// Subtracts one vector from another.
+ ///
+ /// Subtracts each component of b from a.
+ /// </summary>
+ /// <returns>Subtraction result.</returns>
+ /// <param name="a">First vector.</param>
+ /// <param name="b">Second vector.</param>
+ public static DVector4 operator -(DVector4 a, DVector4 b)
+ {
+ return new DVector4(a.x - b.x, a.y - b.y, a.z - b.z, a.w - b.w);
+ }
+
+ /// <summary>
+ /// Adds two vectors.
+ ///
+ /// Adds corresponding components together.
+ /// </summary>
+ /// <returns>Addition result.</returns>
+ /// <param name="a">First vector.</param>
+ /// <param name="b">Second vector.</param>
+ public static DVector4 operator +(DVector4 a, DVector4 b)
+ {
+ return new DVector4(a.x + b.x, a.y + b.y, a.z + b.z, a.w + b.w);
+ }
+
+ /// <summary>
+ /// Returns a single-precision quaternion representation of this
+ /// double-precision vector.
+ /// </summary>
+ /// <returns>A single-precision vector.</returns>
+ public Quaternion ToQuaternion()
+ {
+ return new Quaternion((float)x, (float)y, (float)z, (float)w);
+ }
+
+ /// <summary>
+ /// Overrided ToString function to formatted DVector4 string output.
+ /// </summary>
+ /// <returns>Formatted string of this DVector4.</returns>
+ public override string ToString()
+ {
+ return string.Format("{0}, {1}, {2}, {3}", x, y, z, w);
+ }
+ }
+}
diff --git a/Assets/GoogleARCore/SDK/Scripts/Math/DVector4.cs.meta b/Assets/GoogleARCore/SDK/Scripts/Math/DVector4.cs.meta
new file mode 100644
index 0000000..6e7f7a4
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Math/DVector4.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: de0c8767c79834ad4a3e1f7cac9eb468
+timeCreated: 1502330118
+licenseType: Free
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/GoogleARCore/SDK/Scripts/PointCloud.cs b/Assets/GoogleARCore/SDK/Scripts/PointCloud.cs
new file mode 100644
index 0000000..8047e7a
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/PointCloud.cs
@@ -0,0 +1,155 @@
+//-----------------------------------------------------------------------
+// <copyright file="PointCloud.cs" company="Google">
+//
+// Copyright 2017 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+namespace GoogleARCore
+{
+ using System;
+ using System.Collections;
+ using System.Collections.Generic;
+ using System.Runtime.InteropServices;
+ using GoogleARCoreInternal;
+ using UnityEngine;
+ /// @cond EXCLUDE_FROM_DOXYGEN
+ using UnityTango = GoogleAR.UnityNative;
+ /// @endcond
+
+ /// <summary>
+ /// A point cloud is a set of observed 3D points and associated confidence
+ /// values that correspond to the feature points tracked by ARCore.
+ /// </summary>
+ public struct PointCloud
+ {
+ /// <summary>
+ /// The point cloud in Depth Coordinates being wrapped.
+ /// </summary>
+ private UnityTango.PointCloudData m_rawPointCloud;
+
+ /// <summary>
+ /// The matrix converting between unity world and depth camera coordinate frames.
+ /// </summary>
+ private Matrix4x4 m_unityWorldTDepthCamera;
+
+ private const string TANGO_CLIENT_API_DLL = "tango_client_api2";
+
+ /// <summary>
+ /// Constructor for a new PointCloud wrapping <c>rawPointCloud</c>.
+ /// </summary>
+ /// <param name="rawPointCloud">The raw point cloud to wrap. If <c>rawPointCloud</c> is null, the
+ /// resulting PointCloud will have <c>IsValid</c> set to false.</param>
+ public PointCloud(UnityTango.PointCloudData? rawPointCloud)
+ {
+ if (rawPointCloud == null)
+ {
+ IsValid = false;
+ m_rawPointCloud = new UnityTango.PointCloudData();
+ Pose = new Pose();
+ m_unityWorldTDepthCamera = Matrix4x4.identity;
+ return;
+ }
+
+ IsValid = true;
+ m_rawPointCloud = rawPointCloud.Value;
+ Pose = new Pose();
+ m_unityWorldTDepthCamera = Matrix4x4.identity;
+
+ ApiPoseData apiPoseData = new ApiPoseData();
+ if (ExternApi.TangoService_getPoseAtTime(m_rawPointCloud.timestamp,
+ new ApiCoordinateFramePair(Constants.START_SERVICE_T_DEPTH_FRAME_PAIR),
+ ref apiPoseData) == ApiServiceErrorStatus.Success)
+ {
+ Matrix4x4 ss_T_depth = Matrix4x4.TRS(apiPoseData.translation.ToVector3(),
+ apiPoseData.orientation.ToQuaternion(), Vector3.one);
+ m_unityWorldTDepthCamera = Constants.UNITY_WORLD_T_START_SERVICE * ss_T_depth;
+ Vector3 translation = m_unityWorldTDepthCamera.GetColumn(3);
+ Quaternion rotation = Quaternion.LookRotation(m_unityWorldTDepthCamera.GetColumn(2),
+ m_unityWorldTDepthCamera.GetColumn(1));
+ Pose = new Pose(translation, rotation);
+ }
+ else
+ {
+ ARDebug.LogError("Could not retrieve a pose for the point cloud.");
+ Pose = new Pose();
+ m_unityWorldTDepthCamera = Matrix4x4.identity;
+ }
+ }
+
+ /// <summary>
+ /// Returns whether this point cloud stores valid data. May be false
+ /// when ARCore is not in a tracking state.
+ /// </summary>
+ public bool IsValid { get; private set; }
+
+ /// <summary>
+ /// Gets the number of points in the point cloud.
+ /// </summary>
+ public int PointCount
+ {
+ get
+ {
+ if (m_rawPointCloud.points == null)
+ {
+ return 0;
+ }
+ return m_rawPointCloud.points.Count;
+ }
+ }
+
+ /// <summary>
+ /// Gets the pose associated with the point cloud in world space. The
+ /// points in this cloud are defined relative to this pose.
+ /// {@link #GetPoint} can be used to access each point in the cloud in Unity
+ /// Coordinates, automatically transforming them properly.
+ /// </summary>
+ public Pose Pose { get; private set; }
+
+ /// <summary>
+ /// Gets the timestamp of when the point cloud was observed.
+ /// </summary>
+ public double Timestamp
+ {
+ get
+ {
+ return m_rawPointCloud.timestamp;
+ }
+ }
+
+ /// <summary>
+ /// Gets a point from the point cloud in Unity Coordinates.
+ /// </summary>
+ /// <param name="index">The index of the point to access.</param>
+ /// <returns>The point cloud point at <c>index</c>.</returns>
+ public Vector3 GetPoint(int index)
+ {
+ return m_unityWorldTDepthCamera.MultiplyPoint3x4(m_rawPointCloud.points[index]);
+ }
+
+ /// <summary>
+ /// Interface to tango client API. This interface used as a temporary workaround for the screen rotation bug in
+ /// TangoInputTracking.TryGetPoseAtTime.
+ /// </summary>=
+ private struct ExternApi
+ {
+ [DllImport(TANGO_CLIENT_API_DLL)]
+ public static extern ApiServiceErrorStatus TangoService_getPoseAtTime(double timestamp, ApiCoordinateFramePair framePair,
+ ref ApiPoseData poseData);
+ }
+
+ }
+}
diff --git a/Assets/GoogleARCore/SDK/Scripts/PointCloud.cs.meta b/Assets/GoogleARCore/SDK/Scripts/PointCloud.cs.meta
new file mode 100644
index 0000000..9aa6549
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/PointCloud.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: ac6505e7dc69e4437be28a9de4383afd
+timeCreated: 1502414771
+licenseType: Pro
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/GoogleARCore/SDK/Scripts/Session.cs b/Assets/GoogleARCore/SDK/Scripts/Session.cs
new file mode 100644
index 0000000..f45e7d2
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Session.cs
@@ -0,0 +1,73 @@
+//-----------------------------------------------------------------------
+// <copyright file="Session.cs" company="Google">
+//
+// Copyright 2017 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+namespace GoogleARCore
+{
+ using System.Collections.Generic;
+ using GoogleARCoreInternal;
+ using UnityEngine;
+
+ /// <summary>
+ /// Represents an ARCore session, which is an attachment point from the app
+ /// to the ARCore service. Holds information about the global state for
+ /// ARCore, manages tracking of Anchors and Planes, and performs hit tests
+ /// against objects ARCore is tracking in the world.
+ /// </summary>
+ public static class Session
+ {
+ public static SessionConnectionState ConnectionState
+ {
+ get
+ {
+ return SessionManager.ConnectionState;
+ }
+ }
+
+ /// <summary>
+ /// Creates an anchor in the current ARCore session.
+ ///
+ /// Anchors a gameobject to a position/rotation in the Unity world relative to ARCore's understanding of the
+ /// physical world. ARCore may periodically perform operations that affect the mapping of Unity world coordinates
+ /// to the physical world; an example of such being drift correction. Anchors allow GameObjects to retain their
+ /// physical world location when these operations occur.
+ /// </summary>
+ /// <param name="position">The position to anchor.</param>
+ /// <param name="rotation">The rotation to anchor.</param>
+ /// <returns>A newly created anchor tracking <c>position</c> and <c>rotation</c> if successful, otherwise
+ /// <c>null</c>.</returns>
+ public static Anchor CreateAnchor(Vector3 position, Quaternion rotation)
+ {
+ return SessionManager.Instance.AnchorManager.CreateAnchor(position, rotation);
+ }
+
+ /// <summary>
+ /// Performs a raycast against physical objects being tracked by ARCore.
+ /// </summary>
+ /// <param name="ray">The starting point and direction of the ray.</param>
+ /// <param name="filter">A filter bitmask where each <c>TrackableHitFlag</c> which is set represents a category
+ /// of raycast hits the method call should consider valid.</param>
+ /// <param name="hitResult">A <c>TrackableHit</c> that will be set if the raycast is successful.</param>
+ /// <returns><c>true</c> if the raycast had a hit, otherwise <c>false</c>.</returns>
+ public static bool Raycast(Ray ray, TrackableHitFlag filter, out TrackableHit hitResult)
+ {
+ return SessionManager.Instance.RaycastManager.Raycast(ray, filter, out hitResult);
+ }
+ }
+}
diff --git a/Assets/GoogleARCore/SDK/Scripts/Session.cs.meta b/Assets/GoogleARCore/SDK/Scripts/Session.cs.meta
new file mode 100644
index 0000000..d1b0198
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/Session.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: 37d4175d892ef4e6190e38f26d22434c
+timeCreated: 1502156672
+licenseType: Free
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/GoogleARCore/SDK/Scripts/SessionComponent.cs b/Assets/GoogleARCore/SDK/Scripts/SessionComponent.cs
new file mode 100644
index 0000000..e0091cf
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/SessionComponent.cs
@@ -0,0 +1,348 @@
+//-----------------------------------------------------------------------
+// <copyright file="SessionComponent.cs" company="Google">
+//
+// Copyright 2017 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+namespace GoogleARCore
+{
+ using System;
+ using System.Collections;
+ using System.Collections.Generic;
+ using UnityEngine;
+ using GoogleARCoreInternal;
+ /// @cond EXCLUDE_FROM_DOXYGEN
+ using UnityTango = GoogleAR.UnityNative;
+ /// @endcond
+
+ /// <summary>
+ /// A component that manages the ARCore Session in a Unity scene.
+ /// </summary>
+ public class SessionComponent : MonoBehaviour
+ {
+ /// <summary>
+ /// A scriptable object specifying tango service connection settings.
+ /// </summary>
+ [Tooltip("A scriptable object specifying tango service connection settings.")]
+ public SessionConfig m_arSessionConfig;
+
+ /// <summary>
+ /// A camera used to render the scene from a first person view from the device.
+ /// </summary>
+ [Tooltip("A camera used to render the first person view from the Tango device.")]
+ public Camera m_firstPersonCamera;
+
+ /// <summary>
+ /// Toggles whether the tango service should be automatically connected upon Awake.
+ /// </summary>
+ [Tooltip("Toggles whether the tango service should be automatically connected upon Awake.")]
+ public bool m_connectOnAwake = true;
+
+ /// <summary>
+ /// The last known screen orientation.
+ /// </summary>
+ private ScreenOrientation m_cachedScreenOrientation = ScreenOrientation.Unknown;
+
+ /// <summary>
+ /// Indicates if the AR background is set up.
+ /// </summary>
+ private bool m_arBackgroundSetup = false;
+
+ private int m_numberOfRecoveryAttempts;
+
+ /// <summary>
+ /// Gets a value indicating whether the first person camera is active.
+ /// </summary>
+ private bool IsFirstPersonCameraActive
+ {
+ get
+ {
+ return m_firstPersonCamera != null && m_firstPersonCamera.gameObject.activeInHierarchy;
+ }
+ }
+
+ /// <summary>
+ /// Unity Awake method.
+ /// </summary>
+ public void Awake()
+ {
+ if (FindObjectsOfType<SessionComponent>().Length > 1)
+ {
+ ARDebug.LogError("Multiple SessionComponents present in the game scene. Destroying the gameobject " +
+ "of the newest one.");
+ Destroy(gameObject);
+ return;
+ }
+
+ // Launches a temporary recovery daemon for a known race condition in ARCore connection code.
+ StartCoroutine(_AttemptRecoverIfInvalidState());
+
+ if (m_connectOnAwake)
+ {
+ Connect();
+ }
+ }
+
+ /// <summary>
+ /// Unity Update method.
+ /// </summary>
+ public void Update()
+ {
+ // Unity defaults to targeting 30fps on Android which makes the color image look stuttery since it does
+ // not come in at a perfect every 33ms and so every so often misses a frame. Target an extremely high
+ // frame rate so that Unity instead updates every vblank.
+ Application.targetFrameRate = 300;
+ QualitySettings.vSyncCount = 0;
+
+ AsyncTask.EarlyUpdate();
+
+ if (SessionManager.ConnectionState != SessionConnectionState.Connected)
+ {
+ return;
+ }
+
+ SessionManager.Instance.EarlyUpdate();
+
+ // Handle camera FOV changes needed upon orientation change when using the video overlay.
+ if (m_arBackgroundSetup && m_cachedScreenOrientation != Screen.orientation)
+ {
+ _UpdateCameraFOV();
+ }
+ }
+
+ public void OnApplicationPause(bool isPaused)
+ {
+ if (SessionManager.ConnectionState != SessionConnectionState.Connected)
+ {
+ return;
+ }
+
+ SessionManager.Instance.OnApplicationPause(isPaused);
+ }
+
+ /// <summary>
+ /// Connects an ARSession using <c>m_arSessionConfig</c> configuration. Note that if user permissions are needed
+ ///they will be requested and thus this is an asynchronous method.
+ /// </summary>
+ /// <returns>An <c>AsyncTask</c> that completes when the connection has been made or failed. </returns>
+
+ public AsyncTask<SessionConnectionState> Connect()
+ {
+ return Connect(m_arSessionConfig);
+ }
+
+ /// <summary>
+ /// Connects an ARSession. Note that if user permissions are needed they will be requested and thus this is an
+ /// asynchronous method.
+ /// </summary>
+ /// <param name="sessionConfig">The session configuration.</param>
+ /// <returns>An <c>AsyncTask</c> that completes when the connection has been made or failed. </returns>
+ public AsyncTask<SessionConnectionState> Connect(SessionConfig sessionConfig)
+ {
+ const string ANDROID_CAMERA_PERMISSION_NAME = "android.permission.CAMERA";
+
+ if (sessionConfig == null)
+ {
+ ARDebug.LogError("Unable to connect ARSession session due to missing ARSessionConfig.");
+ SessionManager.ConnectionState = SessionConnectionState.MissingConfiguration;
+ return new AsyncTask<SessionConnectionState>(SessionManager.ConnectionState);
+ }
+
+ bool isSupported;
+ ApiServiceErrorStatus status = TangoClientApi.TangoService_IsSupported(out isSupported);
+ if (status.IsTangoFailure())
+ {
+ ARDebug.LogError("There was an error accessing the ARCore API.");
+ SessionManager.ConnectionState = SessionConnectionState.ConnectToServiceFailed;
+ return new AsyncTask<SessionConnectionState>(SessionManager.ConnectionState);
+ }
+ if (!isSupported)
+ {
+ ARDebug.LogError("Device does not support ARCore.");
+ SessionManager.ConnectionState = SessionConnectionState.DeviceNotSupported;
+ return new AsyncTask<SessionConnectionState>(SessionManager.ConnectionState);
+ }
+
+ // We have already connected at least once.
+ if (SessionManager.ConnectionState != SessionConnectionState.Uninitialized)
+ {
+ ARDebug.LogError("Multiple attempts to connect to the ARSession. Note that the ARSession connection " +
+ "spans the lifetime of the application and cannot be reconfigured. This will change in future " +
+ "versions of ARCore.");
+ return new AsyncTask<SessionConnectionState>(SessionManager.ConnectionState);
+ }
+
+ // Create an asynchronous task for the potential permissions flow and service connection.
+ Action<SessionConnectionState> onTaskComplete;
+ var returnTask = new AsyncTask<SessionConnectionState>(out onTaskComplete);
+
+ // Attempt service connection immediately if permissions are granted.
+ if (AndroidPermissionsManager.IsPermissionGranted(ANDROID_CAMERA_PERMISSION_NAME))
+ {
+ _ConnectToService(sessionConfig, onTaskComplete);
+ return returnTask;
+ }
+
+ // Request needed permissions and attempt service connection if granted.
+ var permissionsArray = new string[] { ANDROID_CAMERA_PERMISSION_NAME };
+ AndroidPermissionsManager.RequestPermission(permissionsArray).ThenAction((requestResult) => {
+ if (requestResult.IsAllGranted)
+ {
+ _ConnectToService(sessionConfig, onTaskComplete);
+ }
+ else
+ {
+ ARDebug.LogError("ARCore connection failed because a needed permission was rejected.");
+ SessionManager.ConnectionState = SessionConnectionState.UserRejectedNeededPermission;
+ onTaskComplete(SessionManager.ConnectionState);
+ }
+ });
+
+ return returnTask;
+ }
+
+ /// <summary>
+ /// Connects to the ARCore service.
+ /// </summary>
+ /// <param name="sessionConfig">The session configuration to connect with.</param>
+ /// <param name="onComplete">A callback for when the result of the connection attempt is known.</param>
+ private void _ConnectToService(SessionConfig sessionConfig, Action<SessionConnectionState> onComplete)
+ {
+ // Connect the ARCore session.
+ UnityTango.Config tangoConfig = _GetSessionTangoConfiguration(sessionConfig);
+ if (!UnityTango.Device.Connect(tangoConfig))
+ {
+ ARDebug.LogError("Failed to connect the ARSession.");
+ SessionManager.ConnectionState = SessionConnectionState.ConnectToServiceFailed;
+ onComplete(SessionConnectionState.ConnectToServiceFailed);
+ return;
+ }
+
+ if(sessionConfig.m_enableARBackground)
+ {
+ _SetupVideoOverlay();
+ }
+
+ SessionManager.ConnectionState = SessionConnectionState.Connected;
+ onComplete(SessionManager.ConnectionState);
+ }
+
+ /// <summary>
+ /// Updates the first person camera FOV to match the field of view of the video overlay.
+ /// </summary>
+ private void _UpdateCameraFOV()
+ {
+ bool qurerySuccess = false;
+ float fieldOfView;
+
+ if (Screen.orientation == ScreenOrientation.Portrait ||
+ Screen.orientation == ScreenOrientation.PortraitUpsideDown)
+ {
+ qurerySuccess = UnityTango.Device.TryGetHorizontalFov(out fieldOfView);
+ }
+ else
+ {
+ qurerySuccess = UnityTango.Device.TryGetVerticalFov(out fieldOfView);
+ }
+
+ if (qurerySuccess)
+ {
+ m_firstPersonCamera.fieldOfView = fieldOfView;
+ m_cachedScreenOrientation = Screen.orientation;
+ }
+ }
+
+ /// <summary>
+ /// Sets up the video overlay rendering.
+ /// </summary>
+ private void _SetupVideoOverlay()
+ {
+ if (m_arBackgroundSetup)
+ {
+ return;
+ }
+
+ if (!IsFirstPersonCameraActive)
+ {
+ Debug.LogError("The first person camera must be set for video overlay to work.");
+ return;
+ }
+
+ var backgroundRender = new UnityEngine.XR.ARBackgroundRenderer();
+ backgroundRender.backgroundMaterial =
+ Resources.Load("Materials/ARBackground", typeof(Material)) as Material;
+ backgroundRender.mode = UnityEngine.XR.ARRenderMode.MaterialAsBackground;
+ if (m_firstPersonCamera != null)
+ {
+ backgroundRender.camera = m_firstPersonCamera;
+ }
+
+ UnityTango.Device.backgroundRenderer = backgroundRender;
+ m_arBackgroundSetup = true;
+ }
+
+ private IEnumerator _AttemptRecoverIfInvalidState()
+ {
+ const string ANDROID_CAMERA_PERMISSION_NAME = "android.permission.CAMERA";
+ const int MAX_RECOVERY_ATTEMPTS = 10;
+ var permissionsArray = new string[] { ANDROID_CAMERA_PERMISSION_NAME };
+
+ while (true)
+ {
+ if (TangoClientApi.CallsToConnectWithoutMatchingDisconnect())
+ {
+ Debug.LogWarning("Recovery daemon detected ARCore connection problem. Cycling pause resume.");
+
+ // Asking for the camera permission we already have forces a Pause/Resume "kick".
+ AndroidPermissionsManager.RequestPermission(permissionsArray);
+
+ // This avoids thrashing on recovery attempts.
+ if (++m_numberOfRecoveryAttempts >= MAX_RECOVERY_ATTEMPTS)
+ {
+ yield break;
+ }
+ }
+
+ yield return null;
+ }
+ }
+
+ private UnityTango.Config _GetSessionTangoConfiguration(SessionConfig sessionConfig)
+ {
+ const string DRIFT_CORRECTION_FLAG = "config_enable_drift_correction";
+ const string PLANE_DETECTION_FLAG = "config_experimental_enable_plane_detection";
+ const string POINTCLOUD_FROM_VIO_FLAG = "config_experimental_enable_depth_from_vio";
+ const string POINTCLOUD_FLAG = "config_enable_depth";
+ const string POINTCLOUD_TYPE_FLAG = "config_depth_mode";
+ const int XYZC_POINTCLOUD_MODE = 0;
+ UnityTango.Config tangoConfig = new UnityTango.Config();
+
+ // Set defaults
+ tangoConfig.enableMotionTracking = true;
+ tangoConfig.enableDepth = false;
+ tangoConfig.enableColorCamera = sessionConfig.m_enableARBackground;
+ tangoConfig.areaLearningMode = UnityTango.AreaLearningMode.None;
+ tangoConfig.AddConfigParameter(DRIFT_CORRECTION_FLAG, true);
+ tangoConfig.AddConfigParameter(POINTCLOUD_FROM_VIO_FLAG, sessionConfig.m_enablePointcloud);
+ tangoConfig.AddConfigParameter(POINTCLOUD_TYPE_FLAG, XYZC_POINTCLOUD_MODE);
+ tangoConfig.AddConfigParameter(POINTCLOUD_FLAG, sessionConfig.m_enablePointcloud);
+ tangoConfig.AddConfigParameter(PLANE_DETECTION_FLAG, sessionConfig.m_enablePlaneFinding);
+
+ return tangoConfig;
+ }
+ }
+}
diff --git a/Assets/GoogleARCore/SDK/Scripts/SessionComponent.cs.meta b/Assets/GoogleARCore/SDK/Scripts/SessionComponent.cs.meta
new file mode 100644
index 0000000..1a662db
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/SessionComponent.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: 7bf3911478e8b449181ac73714fa7424
+timeCreated: 1502157890
+licenseType: Free
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: -32000
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/GoogleARCore/SDK/Scripts/SessionConfig.cs b/Assets/GoogleARCore/SDK/Scripts/SessionConfig.cs
new file mode 100644
index 0000000..0529466
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/SessionConfig.cs
@@ -0,0 +1,51 @@
+//-----------------------------------------------------------------------
+// <copyright file="SessionConfig.cs" company="Google">
+//
+// Copyright 2017 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+namespace GoogleARCore
+{
+ using UnityEngine;
+
+ /// <summary>
+ /// Holds settings that are used to configure the session.
+ /// </summary>
+ [CreateAssetMenu(fileName = "ARCoreSessionConfig", menuName = "GoogleARCore/SessionConfig", order = 1)]
+ public class SessionConfig : ScriptableObject
+ {
+ /// <summary>
+ /// Toggles whether the color camera passthrough is enabled.
+ /// </summary>
+ [Space(10), Header("Color Camera"), Space(5)]
+ [Tooltip("Toggles whether the color camera is rendered as an AR background.")]
+ public bool m_enableARBackground = true;
+
+ /// <summary>
+ /// Toggles whether plane finding is enabled.
+ /// </summary>
+ [Space(10), Header("Services"), Space(5)]
+ [Tooltip("Toggles whether plane finding is enabled.")]
+ public bool m_enablePlaneFinding = true;
+
+ /// <summary>
+ /// Toggles whether point cloud is enabled.
+ /// </summary>
+ [Tooltip("Toggles whether point cloud is enabled.")]
+ public bool m_enablePointcloud = true;
+ }
+}
diff --git a/Assets/GoogleARCore/SDK/Scripts/SessionConfig.cs.meta b/Assets/GoogleARCore/SDK/Scripts/SessionConfig.cs.meta
new file mode 100644
index 0000000..265a03d
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/SessionConfig.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: 2c267d21797034e5a82bfd30dcc038ba
+timeCreated: 1502156672
+licenseType: Free
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/GoogleARCore/SDK/Scripts/SessionConnectionState.cs b/Assets/GoogleARCore/SDK/Scripts/SessionConnectionState.cs
new file mode 100644
index 0000000..476f92c
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/SessionConnectionState.cs
@@ -0,0 +1,50 @@
+//-----------------------------------------------------------------------
+// <copyright file="SessionConnectionResult.cs" company="Google">
+//
+// Copyright 2017 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+namespace GoogleARCore
+{
+
+ /// <summary>
+ /// Possible states for the ARCore session connection.
+ /// </summary>
+ public enum SessionConnectionState
+ {
+ /// The ARCore session has not been initialized.
+ Uninitialized = 0,
+
+ /// The ARCore session is connected.
+ Connected,
+
+ /// The ARCore session failed to connect because no configuration was supplied.
+ MissingConfiguration,
+
+ /// The ARCore session failed to connect because an invalid configuration was supplied.
+ InvalidConfiguration,
+
+ /// The ARCore session failed to connect because the user rejected at least one needed permission.
+ UserRejectedNeededPermission,
+
+ /// The ARCore session failed to connect because the device is not supported.
+ DeviceNotSupported,
+
+ /// The ARCore session failed to connect for unknown reason.
+ ConnectToServiceFailed,
+ }
+}
\ No newline at end of file
diff --git a/Assets/GoogleARCore/SDK/Scripts/SessionConnectionState.cs.meta b/Assets/GoogleARCore/SDK/Scripts/SessionConnectionState.cs.meta
new file mode 100644
index 0000000..85e8f16
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/SessionConnectionState.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: 8ee375b70bec246e2ba1aa45b534a9c6
+timeCreated: 1503354175
+licenseType: Free
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/GoogleARCore/SDK/Scripts/TrackableHit.cs b/Assets/GoogleARCore/SDK/Scripts/TrackableHit.cs
new file mode 100644
index 0000000..2d3d864
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/TrackableHit.cs
@@ -0,0 +1,69 @@
+//-----------------------------------------------------------------------
+// <copyright file="TrackableHit.cs" company="Google">
+//
+// Copyright 2017 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+namespace GoogleARCore
+{
+ using UnityEngine;
+
+ /// <summary>
+ /// Contains information about a raycast hit against a physical object tracked by ARCore.
+ /// </summary>
+ public struct TrackableHit
+ {
+ /// <summary>
+ /// The location where the raycast hit the object in Unity world coordinates.
+ /// </summary>
+ public Vector3 Point { get; private set; }
+
+ /// <summary>
+ /// The normal of the hit.
+ /// </summary>
+ public Vector3 Normal { get; private set; }
+
+ /// <summary>
+ /// The distance from the origin of the ray to the hit.
+ /// </summary>
+ public float Distance { get; private set; }
+
+ /// <summary>
+ /// A bitmask where set TrackableHitFlag flags correspond to categories of objects the hit belongs to.
+ /// </summary>
+ public TrackableHitFlag Flags { get; private set; }
+
+ /// <summary>
+ /// Gets the TrackedPlane intersected by the Raycast if one exists, otherwise gets <c>null</c>.
+ /// </summary>
+ public TrackedPlane Plane { get; private set; }
+
+ /// @cond EXCLUDE_FROM_DOXYGEN
+ /// <summary>
+ /// Constructs a TrackableHit.
+ /// </summary>
+ public TrackableHit(Vector3 point, Vector3 normal, float distance, TrackableHitFlag flags, TrackedPlane plane)
+ {
+ Point = point;
+ Normal = normal;
+ Distance = distance;
+ Flags = flags;
+ Plane = plane;
+ }
+ /// @endcond
+ }
+}
diff --git a/Assets/GoogleARCore/SDK/Scripts/TrackableHit.cs.meta b/Assets/GoogleARCore/SDK/Scripts/TrackableHit.cs.meta
new file mode 100644
index 0000000..ba3ce6f
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/TrackableHit.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: f69a232195c4d4a699cc8501f6ee7649
+timeCreated: 1502302494
+licenseType: Free
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/GoogleARCore/SDK/Scripts/TrackableHitFlag.cs b/Assets/GoogleARCore/SDK/Scripts/TrackableHitFlag.cs
new file mode 100644
index 0000000..2858bee
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/TrackableHitFlag.cs
@@ -0,0 +1,59 @@
+//-----------------------------------------------------------------------
+// <copyright file="TrackableHitFlag.cs" company="Google">
+//
+// Copyright 2017 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+namespace GoogleARCore
+{
+ using UnityEngine;
+
+ /// <summary>
+ /// Flags representing categories of raycast hits.
+ /// </summary>
+ [System.Flags]
+ public enum TrackableHitFlag
+ {
+ /// <summary>
+ /// This value is returned on a TrackableHit to indicate no collision occurred.
+ ///
+ /// If you pass this into Raycast, you will not get any collision results.
+ /// </summary>
+ None = 0,
+
+ /// <summary>
+ /// The collision is within the the TrackedPlane's convex bounding polygon.
+ /// </summary>
+ PlaneWithinPolygon = 1,
+
+ /// <summary>
+ /// The collision is within the TrackedPlane's bounding box.
+ /// </summary>
+ PlaneWithinBounds = 2,
+
+ /// <summary>
+ /// The collision is on the TrackedPlane, but not limited to the bounding box or polygon.
+ /// This acts as if the plane extends out to infinity.
+ /// </summary>
+ PlaneWithinInfinity = 4,
+
+ /// <summary>
+ /// The collision is on points in the current frame's point cloud.
+ /// </summary>
+ PointCloud = 8,
+ }
+}
diff --git a/Assets/GoogleARCore/SDK/Scripts/TrackableHitFlag.cs.meta b/Assets/GoogleARCore/SDK/Scripts/TrackableHitFlag.cs.meta
new file mode 100644
index 0000000..449b096
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/TrackableHitFlag.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: a541164e523764394a27cc3803637e58
+timeCreated: 1502302494
+licenseType: Free
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/GoogleARCore/SDK/Scripts/TrackedPlane.cs b/Assets/GoogleARCore/SDK/Scripts/TrackedPlane.cs
new file mode 100644
index 0000000..4d09f8f
--- /dev/null
+++ b/Assets/GoogleARCore/SDK/Scripts/TrackedPlane.cs
@@ -0,0 +1,186 @@
+//-----------------------------------------------------------------------
+// <copyright file="TrackedPlane.cs" company="Google">
+//
+// Copyright 2017 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+namespace GoogleARCore
+{
+ using System;
+ using System.Collections.Generic;
+ using System.Runtime.InteropServices;
+ using GoogleARCoreInternal;
+ using UnityEngine;
+
+ /// <summary>
+ /// A real-world plane being tracked by ARCore.
+ /// </summary>
+ public class TrackedPlane
+ {
+ /// <summary>
+ /// Center position of the plane.
+ /// </summary>
+ public Vector3 Position { get; private set; }
+
+ /// <summary>
+ /// Rotation of the plane.
+ /// </summary>
+ public Quaternion Rotation { get; private set; }
+
+ /// <summary>
+ /// Bounding box size aligned with plane's x and z axis.
+ /// </summary>
+ public Vector2 Bounds
+ {
+ get
+ {
+ return new Vector2((float)m_apiPlaneData.width, (float)m_apiPlaneData.height);
+ }
+ }
+
+ /// <summary>
+ /// Gets a value indicating if the plane data has been updated in the current ARCore Frame.
+ /// </summary>
+ public bool IsUpdated
+ {
+ get
+ {
+ return Time.frameCount == m_lastUpdatedFrame;
+ }
+ }
+
+ /// <summary>
+ /// Gets a value indicating the plane is valid. If this is false, the plane should not be rendered.
+ /// </summary>
+ public bool IsValid
+ {
+ get
+ {
+ return m_apiPlaneData.isValid;
+ }
+ }
+
+ /// <summary>
+ /// Gets a reference to the plane subsuming this plane, if any. If not null, only the subsuming plane should be
+ /// considered valid for rendering.
+ /// </summary>
+ public TrackedPlane SubsumedBy { get; private set; }
+
+ private ApiPlaneData m_apiPlaneData;
+
+ private Matrix4x4 m_unityWorldTPlane;
+
+ private List<Vector3> m_boundaryPolygonPoints = new List<Vector3>();
+
+ private int m_lastUpdatedFrame;
+
+ private bool m_initialized;
+
+ /// @cond EXCLUDE_FROM_DOXYGEN
+ /// <summary>
+ /// Construct PlaneData from APIPlaneData.
+ /// Note that this will convert plane's pose from Tango space to Unity world space.
+ /// </summary>
+ /// <param name="apiPlaneData">ApiPlaneData source.</param>
+ /// <param name="updatePlane">A callback to update the API data of the plane.</param>
+ public TrackedPlane(ApiPlaneData apiPlaneData, out Action<ApiPlaneData, TrackedPlane, bool> updatePlane)
+ {
+ _UpdatePlaneIfNeeded(apiPlaneData, null, true);
+ updatePlane = _UpdatePlaneIfNeeded;
+ }
+ /// @endcond
+
+ /// <summary>
+ /// Gets a list of points (in clockwise order) in Unity world space representing a boundary polygon for
+ /// the plane.
+ /// </summary>
+ /// <param name="boundaryPolygonPoints">A list of <b>Vector3</b> to be filled by the method call.</param>
+ public void GetBoundaryPolygon(ref List<Vector3> boundaryPolygonPoints)
+ {
+ if (boundaryPolygonPoints == null)
+ {
+ boundaryPolygonPoints = new List<Vector3>();
+ }
+
+ boundaryPolygonPoints.Clear();
+ boundaryPolygonPoints.AddRange(m_boundaryPolygonPoints);
+ }
+
+ /// <summary>
+ /// Update the plane's data with APIPlaneData
+ /// Note that this will convert plane's pose from Tango space to Unity world space.
+ /// </summary>
+ /// <param name="apiPlaneData">ApiPlaneData source.</param>
