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refactor: impl world tracking source feature + broken motion tracking
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,17 @@ | ||
| // | ||
| // WorldTrackingSource.swift | ||
| // ALVRClient | ||
| // | ||
| // Created by Viktor Varenik on 23.02.2024. | ||
| // | ||
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| import Foundation | ||
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| protocol WorldTrackingSource { | ||
| func getLinearVelocity() -> (Float, Float, Float) | ||
| func getPosition() -> (Float, Float, Float) | ||
| func getRotation() -> (Float, Float, Float) | ||
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| func start() | ||
| func stop() | ||
| } |
83 changes: 83 additions & 0 deletions
83
ALVRClient/WorldTrackingSources/ARWorldTrackingSource.swift
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,83 @@ | ||
| // | ||
| // ARWorldTrackingSource.swift | ||
| // ALVRClient | ||
| // | ||
| // Created by Viktor Varenik on 23.02.2024. | ||
| // | ||
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| import ARKit | ||
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| class ARWorldTrackingSource: NSObject, ARSessionDelegate, WorldTrackingSource { | ||
| private let dispatchQueue: DispatchQueue | ||
| private let configuration: ARWorldTrackingConfiguration // or AROrientationTrackingConfiguration | ||
| private let arSession: ARSession | ||
| // ARSession have very big impact for battery | ||
| // Maybe i should use CoreMotion? | ||
| // But ARSession can track position in space | ||
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| private var lastTickTime: Int64 = 0 | ||
| private var tps = 0 | ||
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| // FIXME: Monkey code | ||
| private var linearVelocity: (Float, Float, Float) = (Float.zero, Float.zero, Float.zero) | ||
| private var position: (Float, Float, Float) = (Float.zero, Float.zero, Float.zero) | ||
| private var rotation: (Float, Float, Float) = (Float.zero, Float.zero, Float.zero) | ||
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| override init() { | ||
| dispatchQueue = .init(label: "ARWorldTrackingSource", qos: .background) | ||
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| configuration = .init() | ||
| configuration.planeDetection = .horizontal | ||
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| arSession = ARSession() | ||
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| super.init() | ||
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| arSession.delegate = self | ||
| } | ||
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| func session(_ session: ARSession, didUpdate frame: ARFrame) { | ||
| // TODO: linearVelocity | ||
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| if let framePosition = arSession.currentFrame?.camera.transform.columns.3 { | ||
| // FIXME: Need to calibrate y offset | ||
| // One metter offset just matched for initial position on my desk | ||
| position = (framePosition.x, framePosition.y + 1.0 /* 1 metter offset */, framePosition.z) | ||
| } | ||
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| if let frameEuler = arSession.currentFrame?.camera.eulerAngles { | ||
| rotation = (frameEuler.x, frameEuler.y, frameEuler.z) | ||
| } | ||
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| tps += 1 | ||
| if Int64.getCurrentMillis() - lastTickTime > 1000 { | ||
| lastTickTime = Int64.getCurrentMillis() | ||
| // print("World tracker tps is \(tps)") | ||
| tps = 0 | ||
| } | ||
| } | ||
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| func start() { | ||
| // Start ar session | ||
| dispatchQueue.async { [weak self] in | ||
| guard let self = self else { return } | ||
| self.arSession.run(self.configuration) | ||
| } | ||
| } | ||
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| func stop() { | ||
| arSession.pause() | ||
| } | ||
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| func getLinearVelocity() -> (Float, Float, Float) { | ||
| return linearVelocity | ||
| } | ||
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| func getPosition() -> (Float, Float, Float) { | ||
| return position | ||
| } | ||
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| func getRotation() -> (Float, Float, Float) { | ||
| return rotation | ||
| } | ||
| } |
60 changes: 60 additions & 0 deletions
60
ALVRClient/WorldTrackingSources/MotionWorldTrackingSource.swift
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,60 @@ | ||
| // | ||
| // MotionWorldTrackingSource.swift | ||
| // ALVRClient | ||
| // | ||
| // Created by Viktor Varenik on 23.02.2024. | ||
| // | ||
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| import CoreMotion | ||
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| // FIXME: Not working yet! | ||
| class MotionWorldTrackingSource: NSObject, WorldTrackingSource { | ||
| private let dispatchQueue: DispatchQueue | ||
| private let motionManager: CMMotionManager | ||
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| private var lastTickTime: Int64 = 0 | ||
| private var tps = 0 | ||
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| // FIXME: Monkey code | ||
| private var linearVelocity: (Float, Float, Float) = (Float.zero, Float.zero, Float.zero) | ||
| private var position: (Float, Float, Float) = (Float.zero, Float.zero, Float.zero) | ||
| private var rotation: (Float, Float, Float) = (Float.zero, Float.zero, Float.zero) | ||
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| override init() { | ||
| dispatchQueue = .init(label: "ARWorldTrackingSource", qos: .background) | ||
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| motionManager = .init() | ||
| motionManager.deviceMotionUpdateInterval = 1000 / 30 // 30 tps | ||
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| super.init() | ||
| } | ||
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| func start() { | ||
| motionManager.startDeviceMotionUpdates(to: .main) { [weak self] motion, error in | ||
| if error != nil { return } | ||
| guard let self = self else { return } | ||
| guard let motion = motion else { return } | ||
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| let attitude = motion.attitude | ||
| rotation = (Float(attitude.roll), Float(attitude.pitch), Float(attitude.yaw)) | ||
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| position.2 = 1.7 | ||
| } | ||
| } | ||
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| func stop() { | ||
| motionManager.stopDeviceMotionUpdates() | ||
| } | ||
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| func getLinearVelocity() -> (Float, Float, Float) { | ||
| return linearVelocity | ||
| } | ||
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| func getPosition() -> (Float, Float, Float) { | ||
| return position | ||
| } | ||
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| func getRotation() -> (Float, Float, Float) { | ||
| return rotation | ||
| } | ||
| } |