android - 如何在ARCore中检查与对象的光线相交

有没有办法检查我是否触摸了屏幕上的物体？据我所知，hitResult类允许我检查是否接触了已识别和映射的曲面。但我想检查一下，我碰到了表面上的物体。

最佳答案

Arcore实际上没有对象的概念，所以我们不能直接提供。我建议从ray-sphere tests开始。
但是，我可以帮助获取光线本身（添加到HelloArActivity）：

/**
 * Returns a world coordinate frame ray for a screen point.  The ray is
 * defined using a 6-element float array containing the head location
 * followed by a normalized direction vector.
 */
float[] screenPointToWorldRay(float xPx, float yPx, Frame frame) {
    float[] points = new float[12];  // {clip query, camera query, camera origin}
    // Set up the clip-space coordinates of our query point
    // +x is right:
    points[0] = 2.0f * xPx / mSurfaceView.getMeasuredWidth() - 1.0f;
    // +y is up (android UI Y is down):
    points[1] = 1.0f - 2.0f * yPx / mSurfaceView.getMeasuredHeight();
    points[2] = 1.0f; // +z is forwards (remember clip, not camera)
    points[3] = 1.0f; // w (homogenous coordinates)

    float[] matrices = new float[32];  // {proj, inverse proj}
    // If you'll be calling this several times per frame factor out
    // the next two lines to run when Frame.isDisplayRotationChanged().
    mSession.getProjectionMatrix(matrices, 0, 1.0f, 100.0f);
    Matrix.invertM(matrices, 16, matrices, 0);
    // Transform clip-space point to camera-space.
    Matrix.multiplyMV(points, 4, matrices, 16, points, 0);
    // points[4,5,6] is now a camera-space vector.  Transform to world space to get a point
    // along the ray.
    float[] out = new float[6];
    frame.getPose().transformPoint(points, 4, out, 3);
    // use points[8,9,10] as a zero vector to get the ray head position in world space.
    frame.getPose().transformPoint(points, 8, out, 0);
    // normalize the direction vector:
    float dx = out[3] - out[0];
    float dy = out[4] - out[1];
    float dz = out[5] - out[2];
    float scale = 1.0f / (float) Math.sqrt(dx*dx + dy*dy + dz*dz);
    out[3] = dx * scale;
    out[4] = dy * scale;
    out[5] = dz * scale;
    return out;
}

如果每帧调用几次，请查看有关getProjectionMatrix和invertM调用的注释。