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<!doctype html>
<!--
Copyright 2018 The Immersive Web Community Group
Permission is hereby granted, free of charge, to any person obtaining a copy of
this software and associated documentation files (the "Software"), to deal in
the Software without restriction, including without limitation the rights to
use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
the Software, and to permit persons to whom the Software is furnished to do so,
subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
-->
<html>
<head>
<meta charset='utf-8'>
<meta name='viewport' content='width=device-width, initial-scale=1, user-scalable=no'>
<meta name='mobile-web-app-capable' content='yes'>
<meta name='apple-mobile-web-app-capable' content='yes'>
<!-- Origin Trial Token, feature = WebXR Device API, origin = https://immersive-web.github.io, expires = 2018-08-28 -->
<meta http-equiv="origin-trial" data-feature="WebXR Device API" data-expires="2018-08-28" content="AnNpu7ceXvLew05ccD8Zr1OZsdZiB2hLQKK82kTTMDwF7oRKtP3QEJ4RzkeHrmB8Sq0vSV6ZNmszpBCZ0I8p9gAAAABceyJvcmlnaW4iOiJodHRwczovL2ltbWVyc2l2ZS13ZWIuZ2l0aHViLmlvOjQ0MyIsImZlYXR1cmUiOiJXZWJYUkRldmljZSIsImV4cGlyeSI6MTUzNTQxNDQwMH0=">
<title>AR Plane Detection</title>
<link href='../css/common.css' rel='stylesheet'></link>
<!--The polyfill is not needed for browser that have native API support,
but is linked by these samples for wider compatibility.-->
<!--script src='https://cdn.jsdelivr.net/npm/webxr-polyfill@latest/build/webxr-polyfill.js'></script-->
<script src='../js/xrray-polyfill.js' type='module'></script>
<script src='../js/webxr-polyfill.js'></script>
<script src='../js/webxr-button.js'></script>
</head>
<body>
<header>
<details open>
<summary>AR Plane Detection with Anchors</summary>
This sample demonstrates using the Plane Detection feature with Anchors,
including implementation of synchronous hit test in JavaScript
leveraging obtained plane data and anchors API to position objects.
<p>
<input id="useReticle" type="checkbox" checked>
<label for="useReticle">Use reticle for placement</label><br/>
<input id="useReticleRays" type="checkbox" checked>
<label for="useReticleRays">Hit-test rays visible</label><br/>
<input id="useReticleOrigin" type="checkbox" checked>
<label for="useReticleOrigin">Reticle coordinate system visible</label><br/>
<input id="usePlaneOrigin" type="checkbox" checked>
<label for="usePlaneOrigin">Plane coordinate system visible</label><br/>
<input id="enlargedPlanesEnabled" type="checkbox">
<label for="enlargedPlanesEnabled">Extend planes by 20cm</label><br/>
<input id="extendPlanesEnabled" type="checkbox">
<label for="extendPlanesEnabled">Extend bottom-most plane to infinity</label><br/>
<input id="useDomOverlay" type="checkbox" checked>
<label for="useDomOverlay">Enable DOM Overlay</label><br/>
<a class="back" href="./index.html">Back</a>
</p>
</details>
</header>
<script type="module">
import {hitTest, filterHitTestResults, extendPolygon, transform_point_by_matrix} from '../js/hit-test.js';
import {Scene} from '../js/cottontail/src/scenes/scene.js';
import {Renderer, createWebGLContext} from '../js/cottontail/src/core/renderer.js';
import {Gltf2Node} from '../js/cottontail/src/nodes/gltf2.js';
import {PlaneNode} from '../js/cottontail/src/nodes/plane-node.js';
import {RayNode} from '../js/cottontail/src/nodes/ray-node.js';
import {QueryArgs} from '../js/cottontail/src/util/query-args.js';
import {FallbackHelper} from '../js/cottontail/src/util/fallback-helper.js';
import {Node} from '../js/cottontail/src/core/node.js';
import {DropShadowNode} from '../js/cottontail/src/nodes/drop-shadow.js';
import {vec3, vec4} from '../js/cottontail/src/math/gl-matrix.js';
import {runUnitTests} from '../js/hit-test-unittests.js';
import {DebugSources} from '../js/debug-sources.js';
runUnitTests();
// If requested, initialize the WebXR polyfill
if (QueryArgs.getBool('allowPolyfill', false)) {
var polyfill = new WebXRPolyfill();
}
let debugSources;
if (QueryArgs.getBool('debugSources', false)) {
debugSources = new DebugSources();
}
const useReticle = document.getElementById('useReticle');
const useReticleRays = document.getElementById('useReticleRays');
const useReticleOrigin = document.getElementById('useReticleOrigin');
const usePlaneOrigin = document.getElementById('usePlaneOrigin');
const enlargedPlanesEnabled = document.getElementById('enlargedPlanesEnabled');
const extendPlanesEnabled = document.getElementById('extendPlanesEnabled');
const useDomOverlay = document.getElementById('useDomOverlay');
const flowerEnabled = true;
let all_plane_origins = [];
let all_extended_planes = [];
usePlaneOrigin.addEventListener('input', element =>{
console.log("Changing state of plane origins, count:", all_plane_origins.length);
all_plane_origins.forEach(ray => {
ray.visible = usePlaneOrigin.checked
for (let child of ray.children) {
child.visible = usePlaneOrigin.checked;
}
});
});
// Suppress XR events for interactions with the DOM overlay
document.querySelector('header').addEventListener('beforexrselect', (ev) => {
console.log(ev.type);
ev.preventDefault();
});
enlargedPlanesEnabled.addEventListener('input', element => {
console.log("Changing state of enlarged planes, count:", all_extended_planes.length);
all_extended_planes.forEach(plane => plane.visible = enlargedPlanesEnabled.checked);
});
// XR globals.
let xrButton = null;
let xrRefSpace = null;
// WebGL scene globals.
let gl = null;
let renderer = null;
let scene = new Scene();
scene.enableStats(false);
// Visualise the origin.
{
let xRay = new RayNode({direction : [5, 0, 0], baseColor : [1, 0, 0, 1]});
let yRay = new RayNode({direction : [0, 5, 0], baseColor : [0, 1, 0, 1]});
let zRay = new RayNode({direction : [0, 0, 5], baseColor : [0, 0, 1, 1]});
scene.addNode(xRay);
scene.addNode(yRay);
scene.addNode(zRay);
}
// ------------------------------
// Create "crosshair" out of 4 rays for debugging
let rayObject = new Node();
rayObject.visible = useReticleRays.checked;
// top
let ray1 = new RayNode({ baseColor : [0, 0, 1, 1] });
vec3.set(ray1.translation, 0, 0.05, 0);
rayObject.addNode(ray1);
// left
let ray2 = new RayNode({ baseColor : [0, 1, 0, 1] });
vec3.set(ray2.translation, -0.05, 0, 0);
rayObject.addNode(ray2);
// right
let ray3 = new RayNode({ baseColor : [1, 0, 0, 1] });
vec3.set(ray3.translation, 0.05, 0, 0);
rayObject.addNode(ray3);
// bottom
let ray4 = new RayNode({ baseColor : [1, 1, 0, 1] });
vec3.set(ray4.translation, 0, -0.05, 0);
rayObject.addNode(ray4);
scene.addNode(rayObject);
useReticleRays.addEventListener('input', element => {
console.log("Changing state of reticle rays", useReticleRays.checked);
rayObject.visible = useReticleRays.checked;
for (let child of rayObject.children) {
child.visible = useReticleRays.checked;
}
});
// ------------------------------
let arObject = new Node();
arObject.visible = false;
let reticle = new DropShadowNode({
baseColor : [1, 0, 0],
shadow_inner_alpha : 0.6,
shadow_inner_radius : 0.2,
shadow_outer_radius : 0.4,
});
vec3.set(reticle.scale, 0.3, 0.3, 0.3);
arObject.addNode(reticle);
// Create reticle's frame of reference out of 3 rays for debugging
let reticleFrameOfReference = new Node();
reticleFrameOfReference.visible = useReticleOrigin.checked;
let xRay = new RayNode({direction : [5, 0, 0], baseColor : [1, 0, 0, 1]});
let yRay = new RayNode({direction : [0, 5, 0], baseColor : [0, 1, 0, 1]});
let zRay = new RayNode({direction : [0, 0, 5], baseColor : [0, 0, 1, 1]});
reticleFrameOfReference.addNode(xRay);
reticleFrameOfReference.addNode(yRay);
reticleFrameOfReference.addNode(zRay);
arObject.addNode(reticleFrameOfReference);
scene.addNode(arObject);
useReticleOrigin.addEventListener('input', element =>{
console.log("Changing state of reticle origins", useReticleOrigin.checked);
reticleFrameOfReference.visible = useReticleOrigin.checked;
});
let flowerNode = new Node();
flowerNode.visible = false;
if(flowerEnabled) {
let flower = new Gltf2Node({url: '../../media/gltf/sunflower/sunflower.gltf'});
flowerNode.addNode(flower);
// Having a really simple drop shadow underneath an object helps ground
// it in the world without adding much complexity.
let shadow = new DropShadowNode();
vec3.set(shadow.scale, 0.15, 0.15, 0.15);
flowerNode.addNode(shadow);
}
arObject.addNode(flowerNode);
const MAX_FLOWERS = 30;
let flowers = [];
// Ensure the background is transparent for AR.
scene.clear = false;
function initXR() {
xrButton = new XRDeviceButton({
onRequestSession: onRequestSession,
onEndSession: onEndSession,
textEnterXRTitle: "START AR",
textXRNotFoundTitle: "AR NOT FOUND",
textExitXRTitle: "EXIT AR",
supportedSessionTypes: ['immersive-ar'],
height: 36,
});
document.querySelector('header').appendChild(xrButton.domElement);
}
function onRequestSession() {
let sessionInit = {
requiredFeatures: ['anchors', 'plane-detection'],
optionalFeatures: [],
};
if (useDomOverlay.checked) {
sessionInit.optionalFeatures.push('dom-overlay');
sessionInit.domOverlay = {root: document.body};
}
navigator.xr.requestSession('immersive-ar', sessionInit).then((session) => {
session.mode = 'immersive-ar';
xrButton.setSession(session);
onSessionStarted(session);
});
}
function onSessionStarted(session) {
useDomOverlay.disabled = true;
session.addEventListener('end', onSessionEnded);
session.addEventListener('select', onSelect);
if (debugSources) debugSources.startSession(session);
if (!gl) {
gl = createWebGLContext({
xrCompatible: true,
alpha : true,
});
renderer = new Renderer(gl);
gl.lineWidth(5);
scene.setRenderer(renderer);
}
session.updateRenderState({
baseLayer: new XRWebGLLayer(session, gl)
});
session.requestReferenceSpace('local').then((refSpace) => {
xrRefSpace = refSpace;
session.requestAnimationFrame(onXRFrame);
});
}
function onEndSession(session) {
session.end();
}
function onSessionEnded(event) {
useDomOverlay.disabled = false;
xrButton.setSession(null);
}
function onCreateAnchor(anchor) {
console.debug("Anchor created");
anchor.context = {};
let sceneObject = flowerNode.clone();
sceneObject.visible = false;
let xRay = new RayNode({direction : [5, 0, 0], baseColor : [1, 0, 0, 1]});
let yRay = new RayNode({direction : [0, 5, 0], baseColor : [0, 1, 0, 1]});
let zRay = new RayNode({direction : [0, 0, 5], baseColor : [0, 0, 1, 1]});
sceneObject.addNode(xRay);
sceneObject.addNode(yRay);
sceneObject.addNode(zRay);
scene.addNode(sceneObject);
flowers.push(sceneObject);
anchor.context.sceneObject = sceneObject;
sceneObject.anchor = anchor;
// For performance reasons if we add too many objects start
// removing the oldest ones to keep the scene complexity
// from growing too much.
if (flowers.length > MAX_FLOWERS) {
let oldFlower = flowers.shift();
oldFlower.anchor.delete();
scene.removeNode(oldFlower);
}
}
// Creates new anchor for object and places it there.
function addARObjectAt(frame, pose, space) {
console.debug("Creating anchor", pose, space);
frame.createAnchor(pose, space).then(onCreateAnchor);
}
function onSelect(event) {
if (useReticle.checked && arObject.visible) {
// If we're using the reticle then we've already got a mesh positioned
// at the latest hit point and we should just use its matrix to save
// an unnecessary requestHitTest call.
addARObjectAt(event.frame,
new XRRigidTransform(arObject.hitPoint),
arObject.space);
} else {
if(!event.frame.detectedPlanes) {
console.log("No planes detected, placing an anchor at origin.");
addARObjectAt(event.frame,
new XRRigidTransform({x : 0, y : 0, z : 0, w : 1}),
xrRefSpace);
return;
}
console.log("Detected some planes, length:", event.frame.detectedPlanes.length);
// Otherwise we'll use the target ray from the input source that generated
// this event to fire off a new hit test.
let inputPose = event.frame.getPose(event.inputSource.targetRaySpace, xrRefSpace);
if (inputPose) {
const targetRay = new XRRay(inputPose.transform);
// Note: this is a plane-based, JS-side hit test:
const hitTestResults = hitTest(event.frame, targetRay, xrRefSpace);
const hitTestFiltered = filterHitTestResults(hitTestResults,
extendPlanesEnabled.checked,
false,
enlargedPlanesEnabled.checked);
if (hitTestFiltered.length) {
const hitResult = hitTestFiltered[0];
addARObjectAt(event.frame,
new XRRigidTransform(hitResult.point_on_plane),
hitResult.plane.planeSpace);
} else {
console.log("Missed everything, placing an anchor at origin.");
addARObjectAt(event.frame,
new XRRigidTransform({x : 0, y : 0, z : 0, w: 1}),
xrRefSpace);
}
}
}
}
function addPlaneToScene(frame, plane, timestamp) {
if(typeof XRPlane.counter == 'undefined') {
XRPlane.counter = 1;
XRPlane.colors = [
[0.0, 0.0, 1.0, 0.2], // blue
[1.0, 0.0, 0.0, 0.2], // red
[0.0, 1.0, 0.0, 0.2], // green
[0.0, 1.0, 1.0, 0.2], // aqua
[1.0, 0.0, 1.0, 0.2], // fuchsia
[1.0, 1.0, 0.0, 0.2], // yellow
];
}
if(typeof plane.id == 'undefined') {
// new plane
console.log("Adding plane, id:", XRPlane.counter);
plane.id = XRPlane.counter;
XRPlane.counter++;
let plane_node = new PlaneNode({
polygon : plane.polygon,
baseColor : XRPlane.colors[(plane.id - 1) % XRPlane.colors.length],
});
let planeFrameOfReference = new Node();
planeFrameOfReference.visible = usePlaneOrigin.checked;
let xRay = new RayNode({direction : [5, 0, 0], baseColor : [1, 0, 0, 1]});
let yRay = new RayNode({direction : [0, 5, 0], baseColor : [0, 1, 0, 1]});
let zRay = new RayNode({direction : [0, 0, 5], baseColor : [0, 0, 1, 1]});
plane_node.origins = planeFrameOfReference;
all_plane_origins.push(planeFrameOfReference);
planeFrameOfReference.addNode(xRay);
planeFrameOfReference.addNode(yRay);
planeFrameOfReference.addNode(zRay);
plane_node.addNode(planeFrameOfReference);
plane.scene_node = plane_node;
const planePose = frame.getPose(plane.planeSpace, xrRefSpace);
if (planePose) {
plane.scene_node.matrix = planePose.transform.matrix;
plane.scene_node.visible = true;
} else {
plane.scene_node.visible = false;
}
plane.extended_polygon = extendPolygon(plane.polygon);
plane.extended_polygon_node = new PlaneNode({
polygon : plane.extended_polygon,
baseColor : plane_node.baseColor.map(element => element * 0.6)
});
plane.extended_polygon_node.visible = enlargedPlanesEnabled.checked;
plane.scene_node.addNode(plane.extended_polygon_node);
all_extended_planes.push(plane.extended_polygon_node);
scene.addNode(plane.scene_node);
}
else if(plane.lastChangedTime == timestamp)
{
// old plane that was updated in current frame
plane.scene_node.onPlaneChanged(plane.polygon);
const planePose = frame.getPose(plane.planeSpace, xrRefSpace);
if (planePose) {
plane.scene_node.matrix = planePose.transform.matrix;
plane.scene_node.visible = true;
} else {
plane.scene_node.visible = false;
}
plane.extended_polygon = extendPolygon(plane.polygon);
plane.extended_polygon_node.onPlaneChanged(plane.extended_polygon);
}
}
// Set with all planes detected in a previous frame.
let all_previous_planes = new Set();
// Set with all anchors tracked in a previous frame.
let all_previous_anchors = new Set();
// Called every time a XRSession requests that a new frame be drawn.
async function onXRFrame(t, frame) {
let session = frame.session;
session.requestAnimationFrame(onXRFrame);
if (debugSources) debugSources.update(frame, xrRefSpace);
let pose = frame.getViewerPose(xrRefSpace);
let detected_planes = frame.detectedPlanes;
// Check if any of the old planes is no longer present in detected planes set.
// If it's no longer present, it was removed - clean up after.
all_previous_planes.forEach(plane => {
if(!detected_planes.has(plane)) {
console.log("Removing plane, id:", plane.id);
let index = all_plane_origins.findIndex(
element => element === plane.scene_node.origins);
if(index != -1){
all_plane_origins.splice(index, 1);
}
index = all_extended_planes.findIndex(
element => element === plane.extended_polygon_node);
if(index != -1){
all_extended_planes.splice(index, 1);
}
scene.removeNode(plane.scene_node);
}
});
// Store currently detected planes to check against them in subsequent frame.
all_previous_planes = detected_planes;
// Process all currently detected planes.
detected_planes.forEach(plane => {
addPlaneToScene(frame, plane, t);
});
const tracked_anchors = frame.trackedAnchors;
if(tracked_anchors){
all_previous_anchors.forEach(anchor => {
if(!tracked_anchors.has(anchor)){
scene.removeNode(anchor.sceneObject);
}
});
tracked_anchors.forEach(anchor => {
const anchorPose = frame.getPose(anchor.anchorSpace, xrRefSpace);
if (anchorPose) {
anchor.context.sceneObject.matrix = anchorPose.transform.matrix;
anchor.context.sceneObject.visible = true;
} else {
anchor.context.sceneObject.visible = false;
}
});
all_previous_anchors = tracked_anchors;
} else {
all_previous_anchors.forEach(anchor => {
scene.removeNode(anchor.sceneObject);
});
all_previous_anchors = new Set();
}
// If requested, use the pose to cast a reticle into the scene using a
// continuous hit test. For the moment we're just using the flower
// as the "reticle".
if (useReticle.checked && pose && pose.transform.matrix) {
const ray = new XRRay(pose.transform);
rayObject.matrix = ray.matrix.slice();
rayObject.visible = true;
const hitTestResults = hitTest(frame, ray, xrRefSpace);
const hitTestFiltered = filterHitTestResults(hitTestResults,
extendPlanesEnabled.checked,
false,
enlargedPlanesEnabled.checked);
if(hitTestFiltered && hitTestFiltered.length > 0) {
// Reticle position is always up-to-date wrt the hittest result.
const hitResult = hitTestFiltered[0];
arObject.visible = true;
arObject.matrix = hitResult.hitMatrix;
// Store data that'll be needed for anchor creation.
arObject.plane = hitResult.plane;
arObject.space = hitResult.plane.planeSpace;
arObject.hitPoint = hitResult.point_on_plane;
} else {
arObject.visible = false;
}
} else {
arObject.visible = false;
rayObject.visible = false;
}
await scene.waitForComplete();
scene.startFrame();
scene.drawXRFrame(frame, pose);
scene.endFrame();
}
// Start the XR application.
initXR();
</script>
</body>
</html>
|
