Bunch of features

README.md

@@ -43,7 +43,7 @@ For ViroCore Android, HelloWorld samples should have the corresponding file at t
 
 ## Manual Building of the Renderer
 
-If you would like to modify / make changes to the renderer directly. These are the instructions for building the renderer and ViroCore platform. 
+If you would like to modify / make changes to the renderer directly. These are the instructions for building the renderer and ViroCore platform.
 
 ### Building the ViroCore platform:
 1. Follow the same prerequisite directions above from our [Quick start guide](https://virocore.viromedia.com/docs/getting-started).

ViroRenderer/VROARFrame.h

@@ -28,6 +28,7 @@
 #define VROARFrame_h
 
 #include "VROARPointCloud.h"
+#include "VROMatrix4f.h"
 
 #include <memory>
 #include <vector>
@@ -37,7 +38,7 @@
 class VROARCamera;
 class VROARAnchor;
 class VROARHitTestResult;
-class VROMatrix4f;
+class VROTexture;
 enum class VROARHitTestResultType;
 enum class VROCameraOrientation;
 
@@ -115,6 +116,48 @@ class VROARFrame {
      Retrieves the point cloud from this frame.
      */
     virtual std::shared_ptr<VROARPointCloud> getPointCloud() = 0;
+
+    /*
+     Get the depth texture for this frame, if available.
+     Returns nullptr if depth is not supported or not enabled.
+     The texture contains depth values in meters as 16-bit unsigned integers
+     (millimeters on ARCore, meters on ARKit).
+     */
+    virtual std::shared_ptr<VROTexture> getDepthTexture() { return nullptr; }
+
+    /*
+     Get the confidence texture for depth values, if available.
+     Returns nullptr if not supported. Values range from 0-255 where
+     higher values indicate higher confidence.
+     */
+    virtual std::shared_ptr<VROTexture> getDepthConfidenceTexture() { return nullptr; }
+
+    /*
+     Check if depth data is available for this frame.
+     */
+    virtual bool hasDepthData() const { return false; }
+
+    /*
+     Get the width of the depth image in pixels.
+     */
+    virtual int getDepthImageWidth() const { return 0; }
+
+    /*
+     Get the height of the depth image in pixels.
+     */
+    virtual int getDepthImageHeight() const { return 0; }
+
+    /*
+     Returns the transform matrix to convert from camera texture coordinates
+     to depth texture coordinates. The depth map may have a different
+     orientation/resolution than the camera image, so this transform is needed
+     to correctly sample the depth texture.
+
+     By default returns identity (assumes depth texture UVs match camera UVs).
+     */
+    virtual VROMatrix4f getDepthTextureTransform() const {
+        return VROMatrix4f::identity();
+    }
 };
 
 #endif /* VROARFrame_h */

ViroRenderer/VROARSession.h

@@ -96,6 +96,16 @@ enum class VROCloudAnchorProvider {
     ARCore,
 };
 
+/*
+ The occlusion mode determines how virtual content is occluded
+ by real-world objects.
+ */
+enum class VROOcclusionMode {
+    Disabled,       // No occlusion - virtual objects always render on top
+    DepthBased,     // Use depth data to occlude virtual objects behind real-world surfaces
+    PeopleOnly      // Only occlude virtual objects behind detected people (iOS 13+/Android with ARCore)
+};
+
 /*
  Manages the device camera and motion tracking for AR.
  */
@@ -311,15 +321,45 @@ class VROARSession {
      each frame.
      */
     virtual void setVisionModel(std::shared_ptr<VROVisionModel> visionModel) = 0;
-
+
+    /*
+     Set the occlusion mode for AR rendering. When enabled, virtual objects
+     will be properly occluded by real-world surfaces or people.
+     */
+    virtual void setOcclusionMode(VROOcclusionMode mode) {
+        _occlusionMode = mode;
+    }
+
+    /*
+     Get the current occlusion mode.
+     */
+    VROOcclusionMode getOcclusionMode() const {
+        return _occlusionMode;
+    }
+
+    /*
+     Returns true if occlusion is supported on this device.
+     */
+    virtual bool isOcclusionSupported() const {
+        return false;
+    }
+
+    /*
+     Returns true if the specified occlusion mode is supported on this device.
+     */
+    virtual bool isOcclusionModeSupported(VROOcclusionMode mode) const {
+        return mode == VROOcclusionMode::Disabled;
+    }
+
 protected:
 
     VROTrackingType _trackingType;
 
 private:
-    
+
     VROWorldAlignment _worldAlignment;
     VROImageTrackingImpl _imageTrackingImpl;
+    VROOcclusionMode _occlusionMode = VROOcclusionMode::Disabled;
     std::shared_ptr<VROScene> _scene;
     std::weak_ptr<VROARSessionDelegate> _delegate;
 

ViroRenderer/VROByteBuffer.cpp

@@ -192,6 +192,17 @@ int VROByteBuffer::readInt() {
     return value;
 }
 
+unsigned int VROByteBuffer::readUnsignedInt() {
+    passert(_pos + 4 <= _capacity);
+
+    unsigned int value;
+    memcpy(&value, _buffer + _pos, 4);
+
+    _pos += 4;
+
+    return value;
+}
+
 short VROByteBuffer::readShort() {
     passert(_pos + 2 <= _capacity);
 
@@ -638,6 +649,22 @@ void VROByteBuffer::writeByte(char value) {
     _pos++;
 }
 
+void VROByteBuffer::writeUnsignedByte(unsigned char value) {
+#if k_bufferDebugOverruns
+    const size_t newPos = _pos + 1;
+    if (newPos > _capacity) {
+        perr("Overrun! writeUnsignedByte newPos=%zu > _capacity=%zu", newPos, _capacity);
+#if k_bufferAbortOverruns
+        pabort();
+#endif
+        return;
+    }
+#endif
+
+    _buffer[_pos] = value;
+    _pos++;
+}
+
 void VROByteBuffer::writeShort(short value) {
 #if k_bufferDebugOverruns
     const size_t newPos = _pos + 2;
@@ -654,6 +681,22 @@ void VROByteBuffer::writeShort(short value) {
     _pos += 2;
 }
 
+void VROByteBuffer::writeUnsignedShort(unsigned short value) {
+#if k_bufferDebugOverruns
+    const size_t newPos = _pos + 2;
+    if (newPos > _capacity) {
+        perr("Overrun! writeUnsignedShort newPos=%zu > _capacity=%zu", newPos, _capacity);
+#if k_bufferAbortOverruns
+        pabort();
+#endif
+        return;
+    }
+#endif
+
+    memcpy(_buffer + _pos, &value, 2);
+    _pos += 2;
+}
+
 void VROByteBuffer::writeInt(int value) {
 #if k_bufferDebugOverruns
     const size_t newPos = _pos + 4;
@@ -670,6 +713,22 @@ void VROByteBuffer::writeInt(int value) {
     _pos += 4;
 }
 
+void VROByteBuffer::writeUnsignedInt(unsigned int value) {
+#if k_bufferDebugOverruns
+    const size_t newPos = _pos + 4;
+    if (newPos > _capacity) {
+        perr("Overrun! writeUnsignedInt newPos=%zu > _capacity=%zu", newPos, _capacity);
+#if k_bufferAbortOverruns
+        pabort();
+#endif
+        return;
+    }
+#endif
+
+    memcpy(_buffer + _pos, &value, 4);
+    _pos += 4;
+}
+
 void VROByteBuffer::writeHalf(float value) {
     writeShort(VROFloatToFloat16(value));
 }

ViroRenderer/VROByteBuffer.h

@@ -94,6 +94,7 @@ class VROByteBuffer final {
     float          readFloat();
     double         readDouble();
     int            readInt();
+    unsigned int   readUnsignedInt();
     uint64_t       readUInt64();
     short          readShort();
     unsigned short readUnsignedShort();
@@ -188,8 +189,11 @@ class VROByteBuffer final {
      */
     void writeBool(bool value);
     void writeByte(char value);
+    void writeUnsignedByte(unsigned char value);
     void writeShort(short value);
+    void writeUnsignedShort(unsigned short value);
     void writeInt(int value);
+    void writeUnsignedInt(unsigned int value);
     void writeHalf(float value);
     void writeFloat(float value);
     void writeFloats(float *pValues, const int numFloats);