Have you found a way to use occlusion with SceneKit and Lidar meshes?
arView.environment.sceneUnderstanding.options.insert(.occlusion) still doesn't exist in SceneKit, does it?
Also, here's some code I'm using to get geometry from ARMeshAnchors:
@available(iOS 13.4, *)
extension SCNGeometry {
/**
Constructs an SCNGeometry element from an ARMeshAnchor.
if setColors, will set colors automatically on each face based on ARMeshClassification above/
public static func fromAnchor(meshAnchor: ARMeshAnchor, setColors: Bool) - SCNGeometry {
let meshGeometry = meshAnchor.geometry
let vertices = meshGeometry.vertices
let normals = meshGeometry.normals
let faces = meshGeometry.faces
// use the MTL buffer that ARKit gives us
let vertexSource = SCNGeometrySource(buffer: vertices.buffer, vertexFormat: vertices.format, semantic: .vertex, vertexCount: vertices.count, dataOffset: vertices.offset, dataStride: vertices.stride)
let normalsSource = SCNGeometrySource(buffer: normals.buffer, vertexFormat: normals.format, semantic: .normal, vertexCount: normals.count, dataOffset: normals.offset, dataStride: normals.stride)
// Copy bytes as we may use them later
let faceData = Data(bytes: faces.buffer.contents(), count: faces.buffer.length)
// create the geometry element
let geometryElement = SCNGeometryElement(data: faceData, primitiveType: .of(faces.primitiveType), primitiveCount: faces.count, bytesPerIndex: faces.bytesPerIndex)
let geometry : SCNGeometry
if setColors {
// calculate colors for each indivudal face, instead of the entire mesh
var colors = [SIMD4Float]()
for i in 0..faces.count {
colors.append(meshGeometry.classificationOf(faceWithIndex: i).colorVector)
}
let colorSource = SCNGeometrySource(data: Data(bytes: &colors, count: colors.count * SIMD4_FLOAT_STRIDE),
semantic: .color,
vectorCount: colors.count,
usesFloatComponents: true,
componentsPerVector: 4,
bytesPerComponent: FLOAT_STRIDE,
dataOffset: 0,
dataStride: SIMD4_FLOAT_STRIDE
)
geometry = SCNGeometry(sources: [vertexSource, normalsSource, colorSource], elements: [geometryElement])
}
else {
geometry = SCNGeometry(sources: [vertexSource, normalsSource], elements: [geometryElement])
}
return geometry;
}
}
let SIMD4_FLOAT_STRIDE = MemoryLayoutSIMD4Float.stride
let FLOAT_STRIDE = MemoryLayoutFloat.stride
let VECTOR_WHITE : SIMD4Float = SIMD4Float(1.0, 1.0, 1.0, 1.0)
let VECTOR_YELLOW: SIMD4Float = SIMD4Float(1.0, 1.0, 0, 1.0)
let VECTOR_BLUE: SIMD4Float = SIMD4Float(0, 0, 1.0, 1.0)
@available(iOS 13.4, *)
extension ARMeshClassification {
var description: String {
switch self {
case .ceiling: return "Ceiling"
case .door: return "Door"
case .floor: return "Floor"
case .seat: return "Seat"
case .table: return "Table"
case .wall: return "Wall"
case .window: return "Window"
case .none: return "None"
@unknown default: return "Unknown"
}
}
// make more or less same vertical/horizontal colors as planes
var color: UIColor {
switch self {
case .ceiling: return .blue
case .door: return .white
case .floor: return .blue
case .seat: return .white
case .table: return .white
case .wall: return .yellow
case .window: return .white
case .none: return .white
@unknown default: return .white
}
}
var colorVector: SIMD4Float {
switch self {
case .ceiling: return VECTOR_BLUE
case .door: return VECTOR_WHITE
case .floor: return VECTOR_BLUE
case .seat: return VECTOR_WHITE
case .table: return VECTOR_WHITE
case .wall: return VECTOR_YELLOW
case .window: return VECTOR_WHITE
case .none: return VECTOR_WHITE
@unknown default: return VECTOR_WHITE
}
}
}
