UnityARSessionNativeInterface.cs

using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using System;
using System.Runtime.InteropServices;
using AOT;

namespace UnityEngine.XR.iOS
{

    /// <summary>
    /// A struct that allows us go from native Matrix4x4 to managed
    /// </summary>
    public struct UnityARMatrix4x4
    {
        public Vector4 column0;
        public Vector4 column1;
        public Vector4 column2;
        public Vector4 column3;

        public UnityARMatrix4x4(Vector4 c0, Vector4 c1, Vector4 c2, Vector4 c3)
        {
            column0 = c0; column1 = c1; column2 = c2; column3 = c3;
        }
    }

    [Serializable]
    public struct UnityVideoParams
    {
        public int yWidth;
        public int yHeight;
        public int screenOrientation;
        public float texCoordScale;
        public IntPtr cvPixelBufferPtr;
    }

    struct internal_UnityARCamera
    {
        public UnityARMatrix4x4 worldTransform;
        public UnityARMatrix4x4 projectionMatrix;
        public ARTrackingState trackingState;
        public ARTrackingStateReason trackingReason;
        public UnityVideoParams videoParams;
        public UnityMarshalLightData lightData;
        public UnityARMatrix4x4 displayTransform;
        public IntPtr pointCloud;
        public uint getLightEstimation;
		public ARWorldMappingStatus worldMappngStatus;
    }

    public struct UnityARCamera
    {
        public UnityARMatrix4x4 worldTransform;
        public UnityARMatrix4x4 projectionMatrix;
        public ARTrackingState trackingState;
        public ARTrackingStateReason trackingReason;
        public UnityVideoParams videoParams;
        public UnityARLightData lightData;
        public UnityARMatrix4x4 displayTransform;
        public ARPointCloud pointCloud;
		public ARWorldMappingStatus worldMappingStatus;

		public UnityARCamera(UnityARMatrix4x4 wt, UnityARMatrix4x4 pm, ARTrackingState ats, ARTrackingStateReason atsr, UnityVideoParams uvp, UnityARLightData lightDat, UnityARMatrix4x4 dt, ARPointCloud ptCloud, ARWorldMappingStatus awms)
        {
            worldTransform = wt;
            projectionMatrix = pm;
            trackingState = ats;
            trackingReason = atsr;
            videoParams = uvp;
            lightData = lightDat;
            displayTransform = dt;
            pointCloud = ptCloud;
			worldMappingStatus = awms;
        }
    }



    public struct UnityARUserAnchorData
    {

        public IntPtr ptrIdentifier;

        /**
        The transformation matrix that defines the anchor's rotation, translation and scale in world coordinates.
         */
        public UnityARMatrix4x4 transform;

        public string identifierStr { get { return Marshal.PtrToStringAuto(this.ptrIdentifier); } }

        public static UnityARUserAnchorData UnityARUserAnchorDataFromGameObject(GameObject go)
        {
            // create an anchor data struct from a game object transform
            Matrix4x4 arkitTransform = UnityARMatrixOps.UnityToARKitCoordChange(go.transform.position, go.transform.rotation);
            UnityARUserAnchorData ad = new UnityARUserAnchorData();
            ad.transform.column0 = arkitTransform.GetColumn(0);
            ad.transform.column1 = arkitTransform.GetColumn(1);
            ad.transform.column2 = arkitTransform.GetColumn(2);
            ad.transform.column3 = arkitTransform.GetColumn(3);
            return ad;
        }
    }


    public struct UnityARHitTestResult
    {
        /**
         The type of the hit-test result.
         */
        public ARHitTestResultType type;

        /**
        The distance from the camera to the intersection in meters.
        */
        public double distance;

        /**
        The transformation matrix that defines the intersection's rotation, translation and scale
        relative to the anchor or nearest feature point.
        */
        public Matrix4x4 localTransform;

        /**
        The transformation matrix that defines the intersection's rotation, translation and scale
        relative to the world.
        */
        public Matrix4x4 worldTransform;

        /**
        The anchor that the hit-test intersected.
        */
        public IntPtr anchor;

        /**
        True if the test represents a valid hit test. Data is undefined otherwise.
        */
        public bool isValid;

    }

    public enum UnityARAlignment
    {
        UnityARAlignmentGravity,
        UnityARAlignmentGravityAndHeading,
        UnityARAlignmentCamera
    }

    public enum UnityARPlaneDetection
    {
        None = 0,
        Horizontal = (1 << 0),
        Vertical = (1 << 1),
        HorizontalAndVertical = (1 << 1) | (1 << 0)
    }

    public struct ARKitSessionConfiguration
    {
        public UnityARAlignment alignment;
        public bool getPointCloudData;
        public bool enableLightEstimation;
        public bool IsSupported { get { return IsARKitSessionConfigurationSupported(); } private set { } }

        public ARKitSessionConfiguration(UnityARAlignment alignment = UnityARAlignment.UnityARAlignmentGravity,
            bool getPointCloudData = false,
            bool enableLightEstimation = false)
        {
            this.getPointCloudData = getPointCloudData;
            this.alignment = alignment;
            this.enableLightEstimation = enableLightEstimation;
        }

#if UNITY_EDITOR || !UNITY_IOS
        private bool IsARKitSessionConfigurationSupported()
        {
            return true;
        }
#else
        [DllImport("__Internal")]
        private static extern bool IsARKitSessionConfigurationSupported();
#endif
    }



    public struct ARKitWorldTrackingSessionConfiguration
    {
        public UnityARAlignment alignment;
        public UnityARPlaneDetection planeDetection;
        public bool getPointCloudData;
        public bool enableLightEstimation;
        public bool enableAutoFocus;
		public UnityAREnvironmentTexturing environmentTexturing;
        public int maximumNumberOfTrackedImages;
        public IntPtr videoFormat;
        public string referenceImagesGroupName;
		public string referenceObjectsGroupName;
        public bool IsSupported { get { return IsARKitWorldTrackingSessionConfigurationSupported(); } private set { } }
		public IntPtr dynamicReferenceObjectsPtr;
#pragma warning disable CS0414 // Unused private variable
        private IntPtr m_worldMapPtr;
#pragma warning restore CS0414
        public ARWorldMap worldMap
        {
            set { m_worldMapPtr = (value == null) ? IntPtr.Zero : value.nativePtr; }
        }

        public static bool environmentTexturingSupported
        {
            get
            {
                return sessionConfig_IsEnvironmentTexturingSupported();
            }
        }

        public ARKitWorldTrackingSessionConfiguration(
            UnityARAlignment alignment = UnityARAlignment.UnityARAlignmentGravity,
            UnityARPlaneDetection planeDetection = UnityARPlaneDetection.Horizontal,
            bool getPointCloudData = false,
            bool enableLightEstimation = false,
            bool enableAutoFocus = true,
			UnityAREnvironmentTexturing environmentTexturing = UnityAREnvironmentTexturing.UnityAREnvironmentTexturingNone,
            int maximumNumberOfTrackedImages = 0,
            IntPtr vidFormat = default(IntPtr),
			string refImageGroup = null,
			string refObjectGroup = null,
            ARWorldMap worldMap = null)
        {
            this.getPointCloudData = getPointCloudData;
            this.alignment = alignment;
            this.planeDetection = planeDetection;
            this.enableLightEstimation = enableLightEstimation;
            this.enableAutoFocus = enableAutoFocus;
			this.environmentTexturing = environmentTexturing;
            this.videoFormat = vidFormat;
			this.referenceImagesGroupName = refImageGroup;
			this.referenceObjectsGroupName = refObjectGroup;
			this.dynamicReferenceObjectsPtr = IntPtr.Zero;
            this.m_worldMapPtr = (worldMap == null) ? IntPtr.Zero : worldMap.nativePtr;
            this.maximumNumberOfTrackedImages = maximumNumberOfTrackedImages;
        }

#if UNITY_EDITOR || !UNITY_IOS
        static bool IsARKitWorldTrackingSessionConfigurationSupported() { return true; }
        static bool sessionConfig_IsEnvironmentTexturingSupported() { return false; }
#else
        [DllImport("__Internal")]
        static extern bool IsARKitWorldTrackingSessionConfigurationSupported();

        [DllImport("__Internal")]
        static extern bool sessionConfig_IsEnvironmentTexturingSupported();
#endif
    }

    public struct ARKitFaceTrackingConfiguration
    {
        public UnityARAlignment alignment;
        public bool enableLightEstimation;
        public IntPtr videoFormat;
        public bool IsSupported { get { return IsARKitFaceTrackingConfigurationSupported(); } private set { } }

        public ARKitFaceTrackingConfiguration(UnityARAlignment alignment = UnityARAlignment.UnityARAlignmentGravity,
            bool enableLightEstimation = false,
            IntPtr vidFormat = default(IntPtr))
        {
            this.alignment = alignment;
            this.enableLightEstimation = enableLightEstimation;
            videoFormat = vidFormat;
        }

#if UNITY_EDITOR || !UNITY_IOS
        private bool IsARKitFaceTrackingConfigurationSupported()
        {
            return true;
        }
#else
        [DllImport("__Internal")]
        private static extern bool IsARKitFaceTrackingConfigurationSupported();
#endif

    }

    public enum UnityARSessionRunOption
    {
        /** The session will reset tracking. */
        ARSessionRunOptionResetTracking = (1 << 0),

        /** The session will remove existing anchors. */
        ARSessionRunOptionRemoveExistingAnchors = (1 << 1)
    }

    public partial class UnityARSessionNativeInterface
    {

        //      public delegate void ARFrameUpdate(UnityARMatrix4x4 cameraPos, UnityARMatrix4x4 projection);
        //        public static event ARFrameUpdate ARFrameUpdatedEvent;

        // Plane Anchors
        public delegate void ARFrameUpdate(UnityARCamera camera);
        public static event ARFrameUpdate ARFrameUpdatedEvent;

        public delegate void ARAnchorAdded(ARPlaneAnchor anchorData);
        public static event ARAnchorAdded ARAnchorAddedEvent;

        public delegate void ARAnchorUpdated(ARPlaneAnchor anchorData);
        public static event ARAnchorUpdated ARAnchorUpdatedEvent;

        public delegate void ARAnchorRemoved(ARPlaneAnchor anchorData);
        public static event ARAnchorRemoved ARAnchorRemovedEvent;

        // User Anchors
        public delegate void ARUserAnchorAdded(ARUserAnchor anchorData);
        public static event ARUserAnchorAdded ARUserAnchorAddedEvent;

        public delegate void ARUserAnchorUpdated(ARUserAnchor anchorData);
        public static event ARUserAnchorUpdated ARUserAnchorUpdatedEvent;

        public delegate void ARUserAnchorRemoved(ARUserAnchor anchorData);
        public static event ARUserAnchorRemoved ARUserAnchorRemovedEvent;

        // Face Anchors
        public delegate void ARFaceAnchorAdded(ARFaceAnchor anchorData);
        public static event ARFaceAnchorAdded ARFaceAnchorAddedEvent;

        public delegate void ARFaceAnchorUpdated(ARFaceAnchor anchorData);
        public static event ARFaceAnchorUpdated ARFaceAnchorUpdatedEvent;

        public delegate void ARFaceAnchorRemoved(ARFaceAnchor anchorData);
        public static event ARFaceAnchorRemoved ARFaceAnchorRemovedEvent;

        // Image Anchors
        public delegate void ARImageAnchorAdded(ARImageAnchor anchorData);
        public static event ARImageAnchorAdded ARImageAnchorAddedEvent;

        public delegate void ARImageAnchorUpdated(ARImageAnchor anchorData);
        public static event ARImageAnchorUpdated ARImageAnchorUpdatedEvent;

        public delegate void ARImageAnchorRemoved(ARImageAnchor anchorData);
        public static event ARImageAnchorRemoved ARImageAnchorRemovedEvent;

        public delegate void ARSessionFailed(string error);
        public static event ARSessionFailed ARSessionFailedEvent;

        public delegate void ARSessionCallback();
        public delegate bool ARSessionLocalizeCallback();
        public static event ARSessionCallback ARSessionInterruptedEvent;
        public static event ARSessionCallback ARSessioninterruptionEndedEvent;
        public delegate void ARSessionTrackingChanged(UnityARCamera camera);
        public static event ARSessionTrackingChanged ARSessionTrackingChangedEvent;

        public static bool ARSessionShouldAttemptRelocalization { get; set; }

        delegate void internal_ARFrameUpdate(internal_UnityARCamera camera);
        public delegate void internal_ARAnchorAdded(UnityARAnchorData anchorData);
        public delegate void internal_ARAnchorUpdated(UnityARAnchorData anchorData);
        public delegate void internal_ARAnchorRemoved(UnityARAnchorData anchorData);
        public delegate void internal_ARUserAnchorAdded(UnityARUserAnchorData anchorData);
        public delegate void internal_ARUserAnchorUpdated(UnityARUserAnchorData anchorData);
        public delegate void internal_ARUserAnchorRemoved(UnityARUserAnchorData anchorData);
        public delegate void internal_ARFaceAnchorAdded(UnityARFaceAnchorData anchorData);
        public delegate void internal_ARFaceAnchorUpdated(UnityARFaceAnchorData anchorData);
        public delegate void internal_ARFaceAnchorRemoved(UnityARFaceAnchorData anchorData);
        public delegate void internal_ARImageAnchorAdded(UnityARImageAnchorData anchorData);
        public delegate void internal_ARImageAnchorUpdated(UnityARImageAnchorData anchorData);
        public delegate void internal_ARImageAnchorRemoved(UnityARImageAnchorData anchorData);
        delegate void internal_ARSessionTrackingChanged(internal_UnityARCamera camera);

        private static UnityARCamera s_Camera;

#if !UNITY_EDITOR && UNITY_IOS
        private IntPtr m_NativeARSession;


        [DllImport("__Internal")]
        private static extern IntPtr unity_CreateNativeARSession();

        [DllImport("__Internal")]
        private static extern void session_SetSessionCallbacks(
            IntPtr nativeSession,
            internal_ARFrameUpdate frameCallback,
            ARSessionFailed sessionFailed,
            ARSessionCallback sessionInterrupted,
            ARSessionCallback sessionInterruptionEnded,
            ARSessionLocalizeCallback sessionShouldRelocalize,
            internal_ARSessionTrackingChanged trackingChanged,
            Action<IntPtr, IntPtr> sessionWorldMapCompletionHandler,
			Action<IntPtr, IntPtr> sessionRefObjExtractCompletionHandler);

        [DllImport("__Internal")]
        private static extern void session_SetPlaneAnchorCallbacks(IntPtr nativeSession, internal_ARAnchorAdded anchorAddedCallback,
                                            internal_ARAnchorUpdated anchorUpdatedCallback,
                                            internal_ARAnchorRemoved anchorRemovedCallback);

        [DllImport("__Internal")]
        private static extern void session_SetUserAnchorCallbacks(IntPtr nativeSession, internal_ARUserAnchorAdded userAnchorAddedCallback,
                                            internal_ARUserAnchorUpdated userAnchorUpdatedCallback,
                                            internal_ARUserAnchorRemoved userAnchorRemovedCallback);

        [DllImport("__Internal")]
        private static extern void session_SetImageAnchorCallbacks(IntPtr nativeSession, internal_ARImageAnchorAdded imageAnchorAddedCallback,
            internal_ARImageAnchorUpdated imageAnchorUpdatedCallback,
            internal_ARImageAnchorRemoved imageAnchorRemovedCallback);

        [DllImport("__Internal")]
        private static extern void session_SetFaceAnchorCallbacks(IntPtr nativeSession, internal_ARFaceAnchorAdded faceAnchorAddedCallback,
            internal_ARFaceAnchorUpdated faceAnchorUpdatedCallback,
            internal_ARFaceAnchorRemoved faceAnchorRemovedCallback);

        [DllImport("__Internal")]
        private static extern IntPtr session_GetARKitSessionPtr(IntPtr nativeSession);

        [DllImport("__Internal")]
        private static extern IntPtr session_GetARKitFramePtr(IntPtr nativeSession);
    
        [DllImport("__Internal")]
        private static extern void StartWorldTrackingSession(IntPtr nativeSession, ARKitWorldTrackingSessionConfiguration configuration);

        [DllImport("__Internal")]
        private static extern void StartWorldTrackingSessionWithOptions(IntPtr nativeSession, ARKitWorldTrackingSessionConfiguration configuration, UnityARSessionRunOption runOptions);

        [DllImport("__Internal")]
        private static extern void StartSession(IntPtr nativeSession, ARKitSessionConfiguration configuration);

        [DllImport("__Internal")]
        private static extern void StartSessionWithOptions(IntPtr nativeSession, ARKitSessionConfiguration configuration, UnityARSessionRunOption runOptions);

        [DllImport("__Internal")]
        private static extern void StartFaceTrackingSession(IntPtr nativeSession, ARKitFaceTrackingConfiguration configuration);

        [DllImport("__Internal")]
        private static extern void StartFaceTrackingSessionWithOptions(IntPtr nativeSession, ARKitFaceTrackingConfiguration configuration, UnityARSessionRunOption runOptions);

        [DllImport("__Internal")]
        private static extern void PauseSession(IntPtr nativeSession);

        [DllImport("__Internal")]
        private static extern int HitTest(IntPtr nativeSession, ARPoint point, ARHitTestResultType types);

        [DllImport("__Internal")]
        private static extern UnityARHitTestResult GetLastHitTestResult(int index);

        [DllImport("__Internal")]
        private static extern ARTextureHandles.ARTextureHandlesStruct GetVideoTextureHandles();

        [DllImport("__Internal")]
        public static extern void ReleaseVideoTextureHandles(ARTextureHandles.ARTextureHandlesStruct handles);

        [DllImport("__Internal")]
        private static extern float GetAmbientIntensity();

        [DllImport("__Internal")]
        private static extern int GetTrackingQuality();

        [DllImport("__Internal")]
        private static extern void SetCameraNearFar (float nearZ, float farZ);

        [DllImport("__Internal")]
        private static extern void CapturePixelData (int enable, IntPtr  pYPixelBytes, IntPtr pUVPixelBytes);

        [DllImport("__Internal")]
        private static extern UnityARUserAnchorData SessionAddUserAnchor (IntPtr nativeSession, UnityARUserAnchorData anchorData);

        [DllImport("__Internal")]
        private static extern void SessionRemoveUserAnchor (IntPtr nativeSession, [MarshalAs(UnmanagedType.LPStr)] string anchorIdentifier);

        [DllImport("__Internal")]
        private static extern void SessionSetWorldOrigin (IntPtr nativeSession, Matrix4x4 worldMatrix);

        [DllImport("__Internal")]
        private static extern bool Native_IsARKit_1_5_Supported();

        [DllImport("__Internal")]
        private static extern bool Native_IsARKit_2_0_Supported();

        [DllImport("__Internal")]
        private static extern void session_GetCurrentWorldMap(IntPtr nativeSession, IntPtr callbackPtr);

		[DllImport("__Internal")]
		private static extern void session_ExtractReferenceObject(IntPtr nativeSession, Matrix4x4 unityTransform, Vector3 center, Vector3 extent, IntPtr callbackPtr);

#else
        private static void session_GetCurrentWorldMap(IntPtr nativeSession, IntPtr callbackPtr)
        {
            _ar_session_get_world_map_completion_handler(callbackPtr, IntPtr.Zero);
        }

		private static void session_ExtractReferenceObject(IntPtr nativeSession, Matrix4x4 unityTransform, Vector3 center, Vector3 extent, IntPtr callbackPtr)
		{
			_ar_session_ref_obj_extract_completion_handler(callbackPtr, IntPtr.Zero);
		}

#endif

        public static bool IsARKit_1_5_Supported()
        {
#if !UNITY_EDITOR && UNITY_IOS
            return Native_IsARKit_1_5_Supported();
#else
            return true;  //since we might need to do some editor shenanigans
#endif
        }

        public static bool IsARKit_2_0_Supported()
        {
#if !UNITY_EDITOR && UNITY_IOS
            return Native_IsARKit_2_0_Supported();
#else
            return true;  //since we might need to do some editor shenanigans
#endif
        }

        public UnityARSessionNativeInterface()
        {
#if !UNITY_EDITOR && UNITY_IOS
            m_NativeARSession = unity_CreateNativeARSession();
            session_SetSessionCallbacks(m_NativeARSession, _frame_update, _ar_session_failed, _ar_session_interrupted,
            _ar_session_interruption_ended, _ar_session_should_relocalize, _ar_tracking_changed, _ar_session_get_world_map_completion_handler,
			_ar_session_ref_obj_extract_completion_handler);
            session_SetPlaneAnchorCallbacks(m_NativeARSession, _anchor_added, _anchor_updated, _anchor_removed);
            session_SetUserAnchorCallbacks(m_NativeARSession, _user_anchor_added, _user_anchor_updated, _user_anchor_removed);
			session_SetFaceAnchorCallbacks(m_NativeARSession, _face_anchor_added, _face_anchor_updated, _face_anchor_removed);
			session_SetImageAnchorCallbacks(m_NativeARSession, _image_anchor_added, _image_anchor_updated, _image_anchor_removed);
			session_SetObjectAnchorCallbacks(m_NativeARSession, _object_anchor_added, _object_anchor_updated, _object_anchor_removed);
			session_SetEnvironmentProbeAnchorCallbacks(m_NativeARSession, _envprobe_anchor_added, _envprobe_anchor_updated, _envprobe_anchor_removed);
#endif
        }

        static UnityARSessionNativeInterface s_UnityARSessionNativeInterface = null;

        /// <summary>
        /// Gets the current session's ARWorldMap, or <c>null</c> if the map could not be retrieved
        /// </summary>
        public void GetCurrentWorldMapAsync(Action<ARWorldMap> completionCallback)
        {
            if (completionCallback == null)
                return;

#if !UNITY_EDITOR && UNITY_IOS
            GCHandle handle = GCHandle.Alloc(completionCallback);
            session_GetCurrentWorldMap(m_NativeARSession, GCHandle.ToIntPtr(handle));
#else
            // Not supported: Invoke user callback immediately with null ARWorldMap
            completionCallback(null);
#endif
        }

		/// <summary>
		/// Gets the current session's ARWorldMap, or <c>null</c> if the map could not be retrieved
		/// </summary>
		public void ExtractReferenceObjectAsync(Transform objectTransform, Vector3 center, Vector3 extent, Action<ARReferenceObject> completionCallback)
		{
			if (completionCallback == null)
				return;

#if !UNITY_EDITOR && UNITY_IOS
			Matrix4x4 arkitTransform = UnityARMatrixOps.UnityToARKitCoordChange(objectTransform.position, objectTransform.rotation);
			Vector3 arkitCenter = new Vector3(center.x, center.y, -center.z);
			GCHandle handle = GCHandle.Alloc(completionCallback);
			session_ExtractReferenceObject(m_NativeARSession, arkitTransform, arkitCenter, extent, GCHandle.ToIntPtr(handle));
#else
			// Not supported: Invoke user callback immediately with null ARReferenceObject
			completionCallback(null);
#endif
		}

        public static UnityARSessionNativeInterface GetARSessionNativeInterface()
        {
            if (s_UnityARSessionNativeInterface == null)
            {
                s_UnityARSessionNativeInterface = new UnityARSessionNativeInterface();
            }
            return s_UnityARSessionNativeInterface;
        }

        public IntPtr GetNativeSessionPtr()
        {
#if !UNITY_EDITOR && UNITY_IOS
            return session_GetARKitSessionPtr(m_NativeARSession);
#else
            return IntPtr.Zero;
#endif
        }

        public IntPtr GetNativeFramePtr()
        {
#if !UNITY_EDITOR && UNITY_IOS
            return session_GetARKitFramePtr(m_NativeARSession);
#else
            return IntPtr.Zero;
#endif
        }

#if UNITY_EDITOR
        public static void SetStaticCamera(UnityARCamera scamera)
        {
            s_Camera = scamera;
        }

        public static void RunFrameUpdateCallbacks()
        {
            if (ARFrameUpdatedEvent != null)
            {
                ARFrameUpdatedEvent(s_Camera);
            }
        }

        public static void RunAddAnchorCallbacks(ARPlaneAnchor arPlaneAnchor)
        {
            if (ARAnchorAddedEvent != null)
            {
                ARAnchorAddedEvent(arPlaneAnchor);
            }
        }

        public static void RunUpdateAnchorCallbacks(ARPlaneAnchor arPlaneAnchor)
        {
            if (ARAnchorUpdatedEvent != null)
            {
                ARAnchorUpdatedEvent(arPlaneAnchor);
            }
        }

        public static void RunRemoveAnchorCallbacks(ARPlaneAnchor arPlaneAnchor)
        {
            if (ARAnchorRemovedEvent != null)
            {
                ARAnchorRemovedEvent(arPlaneAnchor);
            }
        }

        public static void RunAddAnchorCallbacks(ARFaceAnchor arFaceAnchor)
        {
            if (ARFaceAnchorAddedEvent != null)
            {
                ARFaceAnchorAddedEvent(arFaceAnchor);
            }
        }

        public static void RunUpdateAnchorCallbacks(ARFaceAnchor arFaceAnchor)
        {
            if (ARFaceAnchorUpdatedEvent != null)
            {
                ARFaceAnchorUpdatedEvent(arFaceAnchor);
            }
        }

        public static void RunRemoveAnchorCallbacks(ARFaceAnchor arFaceAnchor)
        {
            if (ARFaceAnchorRemovedEvent != null)
            {
                ARFaceAnchorRemovedEvent(arFaceAnchor);
            }
        }

        private static void CreateRemoteFaceTrackingConnection(ARKitFaceTrackingConfiguration config, UnityARSessionRunOption runOptions)
        {
            GameObject go = new GameObject("ARKitFaceTrackingRemoteConnection");
            ARKitFaceTrackingRemoteConnection addComp = go.AddComponent<ARKitFaceTrackingRemoteConnection>();
            addComp.enableLightEstimation = config.enableLightEstimation;
            addComp.resetTracking = (runOptions & UnityARSessionRunOption.ARSessionRunOptionResetTracking) != 0;
            addComp.removeExistingAnchors = (runOptions & UnityARSessionRunOption.ARSessionRunOptionRemoveExistingAnchors) != 0;
        }

        private static void CreateRemoteWorldTrackingConnection(ARKitWorldTrackingSessionConfiguration config, UnityARSessionRunOption runOptions)
        {
            GameObject go = new GameObject("ARKitWorldTrackingRemoteConnection");
            ARKitRemoteConnection addComp = go.AddComponent<ARKitRemoteConnection>();
            addComp.planeDetection = config.planeDetection;
            addComp.startAlignment = config.alignment;
            addComp.getPointCloud = config.getPointCloudData;
            addComp.enableLightEstimation = config.enableLightEstimation;
            addComp.resetTracking = (runOptions & UnityARSessionRunOption.ARSessionRunOptionResetTracking) != 0;
            addComp.removeExistingAnchors = (runOptions & UnityARSessionRunOption.ARSessionRunOptionRemoveExistingAnchors) != 0;
        }

#endif

        public Matrix4x4 GetCameraPose()
        {
            Matrix4x4 matrix = new Matrix4x4();
            matrix.SetColumn(0, s_Camera.worldTransform.column0);
            matrix.SetColumn(1, s_Camera.worldTransform.column1);
            matrix.SetColumn(2, s_Camera.worldTransform.column2);
            matrix.SetColumn(3, s_Camera.worldTransform.column3);
            return matrix;
        }

        public Matrix4x4 GetCameraProjection()
        {
            Matrix4x4 matrix = new Matrix4x4();
            matrix.SetColumn(0, s_Camera.projectionMatrix.column0);
            matrix.SetColumn(1, s_Camera.projectionMatrix.column1);
            matrix.SetColumn(2, s_Camera.projectionMatrix.column2);
            matrix.SetColumn(3, s_Camera.projectionMatrix.column3);
            return matrix;
        }

        public void SetCameraClipPlanes(float nearZ, float farZ)
        {
#if !UNITY_EDITOR && UNITY_IOS
            SetCameraNearFar (nearZ, farZ);
#endif
        }

        public void SetCapturePixelData(bool enable, IntPtr pYByteArray, IntPtr pUVByteArray)
        {
#if !UNITY_EDITOR && UNITY_IOS
            int iEnable = enable ? 1 : 0;
            CapturePixelData (iEnable,pYByteArray, pUVByteArray);
#endif
        }

		[MonoPInvokeCallback(typeof(Action<IntPtr, IntPtr>))]
		static void _ar_session_ref_obj_extract_completion_handler(IntPtr callbackPtr, IntPtr referenceObjectPtr)
		{
			GCHandle handle = GCHandle.FromIntPtr(callbackPtr);
			Action<ARReferenceObject> completionCallback = (Action<ARReferenceObject>)handle.Target;
			completionCallback(ARReferenceObject.FromPtr(referenceObjectPtr));
			handle.Free();
		}

		[MonoPInvokeCallback(typeof(Action<IntPtr, IntPtr>))]
        static void _ar_session_get_world_map_completion_handler(IntPtr callbackPtr, IntPtr worldMapPtr)
        {
            GCHandle handle = GCHandle.FromIntPtr(callbackPtr);
            Action<ARWorldMap> completionCallback = (Action<ARWorldMap>)handle.Target;
            completionCallback(ARWorldMap.FromPtr(worldMapPtr));
            handle.Free();
        }

        [MonoPInvokeCallback(typeof(Action<IntPtr, IntPtr>))]
        static void _ar_session_get_environment_texture_completion_handler(IntPtr callbackPtr, IntPtr texturePtr)
        {
            GCHandle handle = GCHandle.FromIntPtr(callbackPtr);
            var completionCallback = (Action<Cubemap>)handle.Target;

            if (texturePtr == IntPtr.Zero)
            {
                completionCallback(null);
            }
            else
            {
                completionCallback(Cubemap.CreateExternalTexture(0, TextureFormat.R8, false, texturePtr));
            }

            handle.Free();
        }

        [MonoPInvokeCallback(typeof(internal_ARFrameUpdate))]
        static void _frame_update(internal_UnityARCamera camera)
        {
            UnityARCamera pubCamera = new UnityARCamera();
            pubCamera.projectionMatrix = camera.projectionMatrix;
            pubCamera.worldTransform = camera.worldTransform;
            pubCamera.trackingState = camera.trackingState;
            pubCamera.trackingReason = camera.trackingReason;
            pubCamera.videoParams = camera.videoParams;
			pubCamera.worldMappingStatus = camera.worldMappngStatus;
            pubCamera.pointCloud = ARPointCloud.FromPtr(camera.pointCloud);

            if (camera.getLightEstimation == 1)
            {
                pubCamera.lightData = camera.lightData;
            }

            pubCamera.displayTransform = camera.displayTransform;
            s_Camera = pubCamera;

            if (ARFrameUpdatedEvent != null)
            {
                ARFrameUpdatedEvent(s_Camera);
            }
        }

        [MonoPInvokeCallback(typeof(internal_ARSessionTrackingChanged))]
        static void _ar_tracking_changed(internal_UnityARCamera camera)
        {
            // we only update the current camera's tracking state since that's all
            // this cllback is for
            s_Camera.trackingState = camera.trackingState;
            s_Camera.trackingReason = camera.trackingReason;
            if (ARSessionTrackingChangedEvent != null)
            {
                ARSessionTrackingChangedEvent(s_Camera);
            }
        }

        static ARUserAnchor GetUserAnchorFromAnchorData(UnityARUserAnchorData anchor)
        {
            //get the identifier for this anchor from the pointer
            ARUserAnchor arUserAnchor = new ARUserAnchor();
            arUserAnchor.identifier = Marshal.PtrToStringAuto(anchor.ptrIdentifier);

            Matrix4x4 matrix = new Matrix4x4();
            matrix.SetColumn(0, anchor.transform.column0);
            matrix.SetColumn(1, anchor.transform.column1);
            matrix.SetColumn(2, anchor.transform.column2);
            matrix.SetColumn(3, anchor.transform.column3);

            arUserAnchor.transform = matrix;
            return arUserAnchor;
        }

        static ARHitTestResult GetHitTestResultFromResultData(UnityARHitTestResult resultData)
        {
            ARHitTestResult arHitTestResult = new ARHitTestResult();
            arHitTestResult.type = resultData.type;
            arHitTestResult.distance = resultData.distance;
            arHitTestResult.localTransform = resultData.localTransform;
            arHitTestResult.worldTransform = resultData.worldTransform;
            arHitTestResult.isValid = resultData.isValid;
            if (resultData.anchor != IntPtr.Zero)
            {
                arHitTestResult.anchorIdentifier = Marshal.PtrToStringAuto(resultData.anchor);
            }
            return arHitTestResult;
        }

        #region Plane Anchors
#if !UNITY_EDITOR && UNITY_IOS
        [MonoPInvokeCallback(typeof(internal_ARAnchorAdded))]
        static void _anchor_added(UnityARAnchorData anchor)
        {
            if (ARAnchorAddedEvent != null)
            {
                ARPlaneAnchor arPlaneAnchor = new ARPlaneAnchor(anchor);
                ARAnchorAddedEvent(arPlaneAnchor);
            }
        }

        [MonoPInvokeCallback(typeof(internal_ARAnchorUpdated))]
        static void _anchor_updated(UnityARAnchorData anchor)
        {
            if (ARAnchorUpdatedEvent != null)
            {
                ARPlaneAnchor arPlaneAnchor = new ARPlaneAnchor(anchor);
                ARAnchorUpdatedEvent(arPlaneAnchor);
            }
        }

        [MonoPInvokeCallback(typeof(internal_ARAnchorRemoved))]
        static void _anchor_removed(UnityARAnchorData anchor)
        {
            if (ARAnchorRemovedEvent != null)
            {
                ARPlaneAnchor arPlaneAnchor = new ARPlaneAnchor(anchor);
                ARAnchorRemovedEvent(arPlaneAnchor);
            }
        }
#endif
        #endregion

        #region User Anchors
        [MonoPInvokeCallback(typeof(internal_ARUserAnchorAdded))]
        static void _user_anchor_added(UnityARUserAnchorData anchor)
        {
            if (ARUserAnchorAddedEvent != null)
            {
                ARUserAnchor arUserAnchor = GetUserAnchorFromAnchorData(anchor);
                ARUserAnchorAddedEvent(arUserAnchor);
            }
        }

        [MonoPInvokeCallback(typeof(internal_ARUserAnchorUpdated))]
        static void _user_anchor_updated(UnityARUserAnchorData anchor)
        {
            if (ARUserAnchorUpdatedEvent != null)
            {
                ARUserAnchor arUserAnchor = GetUserAnchorFromAnchorData(anchor);
                ARUserAnchorUpdatedEvent(arUserAnchor);
            }
        }

        [MonoPInvokeCallback(typeof(internal_ARUserAnchorRemoved))]
        static void _user_anchor_removed(UnityARUserAnchorData anchor)
        {
            if (ARUserAnchorRemovedEvent != null)
            {
                ARUserAnchor arUserAnchor = GetUserAnchorFromAnchorData(anchor);
                ARUserAnchorRemovedEvent(arUserAnchor);
            }
        }
        #endregion

        #region Face Anchors
#if !UNITY_EDITOR && UNITY_IOS
        static ARFaceAnchor arFaceAnchor;

        [MonoPInvokeCallback(typeof(internal_ARFaceAnchorAdded))]
        static void _face_anchor_added(UnityARFaceAnchorData anchor)
        {
            if (ARFaceAnchorAddedEvent != null)
            {
                arFaceAnchor = new ARFaceAnchor(anchor);
                ARFaceAnchorAddedEvent(arFaceAnchor);
            }
        }

        [MonoPInvokeCallback(typeof(internal_ARFaceAnchorUpdated))]
        static void _face_anchor_updated(UnityARFaceAnchorData anchor)
        {
            if (ARFaceAnchorUpdatedEvent != null)
            {
                arFaceAnchor.Update(anchor);
                ARFaceAnchorUpdatedEvent(arFaceAnchor); }
        }

        [MonoPInvokeCallback(typeof(internal_ARFaceAnchorRemoved))]
        static void _face_anchor_removed(UnityARFaceAnchorData anchor)
        {
            if (ARFaceAnchorRemovedEvent != null)
            {
                arFaceAnchor.Update(anchor);
                ARFaceAnchorRemovedEvent(arFaceAnchor);
            }
        }
#endif
        #endregion

        #region Image Anchors
        [MonoPInvokeCallback(typeof(internal_ARImageAnchorAdded))]
        static void _image_anchor_added(UnityARImageAnchorData anchor)
        {
            if (ARImageAnchorAddedEvent != null)
            {
                ARImageAnchor arImageAnchor = new ARImageAnchor(anchor);
                ARImageAnchorAddedEvent(arImageAnchor);
            }
        }

        [MonoPInvokeCallback(typeof(internal_ARImageAnchorUpdated))]
        static void _image_anchor_updated(UnityARImageAnchorData anchor)
        {
            if (ARImageAnchorUpdatedEvent != null)
            {
                ARImageAnchor arImageAnchor = new ARImageAnchor(anchor);
                ARImageAnchorUpdatedEvent(arImageAnchor);
            }
        }

        [MonoPInvokeCallback(typeof(internal_ARImageAnchorRemoved))]
        static void _image_anchor_removed(UnityARImageAnchorData anchor)
        {
            if (ARImageAnchorRemovedEvent != null)
            {
                ARImageAnchor arImageAnchor = new ARImageAnchor(anchor);
                ARImageAnchorRemovedEvent(arImageAnchor);
            }
        }
        #endregion


        [MonoPInvokeCallback(typeof(ARSessionFailed))]
        static void _ar_session_failed(string error)
        {
            if (ARSessionFailedEvent != null)
            {
                ARSessionFailedEvent(error);
            }
        }

        [MonoPInvokeCallback(typeof(ARSessionCallback))]
        static void _ar_session_interrupted()
        {
            Debug.Log("ar_session_interrupted");
            if (ARSessionInterruptedEvent != null)
            {
                ARSessionInterruptedEvent();
            }

        }


        [MonoPInvokeCallback(typeof(ARSessionCallback))]
        static void _ar_session_interruption_ended()
        {
            Debug.Log("ar_session_interruption_ended");
            if (ARSessioninterruptionEndedEvent != null)
            {
                ARSessioninterruptionEndedEvent();
            }
        }

        [MonoPInvokeCallback(typeof(ARSessionLocalizeCallback))]
        static bool _ar_session_should_relocalize()
        {
            Debug.Log("_ar_session_should_relocalize");
            return ARSessionShouldAttemptRelocalization;
        }

        public void RunWithConfigAndOptions(ARKitWorldTrackingSessionConfiguration config, UnityARSessionRunOption runOptions)
        {
#if !UNITY_EDITOR && UNITY_IOS
            StartWorldTrackingSessionWithOptions (m_NativeARSession, config, runOptions);
#elif UNITY_EDITOR
            CreateRemoteWorldTrackingConnection(config, runOptions);
#endif
        }

        public void RunWithConfig(ARKitWorldTrackingSessionConfiguration config)
        {
#if !UNITY_EDITOR && UNITY_IOS
            StartWorldTrackingSession(m_NativeARSession, config);
#elif UNITY_EDITOR
            UnityARSessionRunOption runOptions = UnityARSessionRunOption.ARSessionRunOptionRemoveExistingAnchors | UnityARSessionRunOption.ARSessionRunOptionResetTracking;
            CreateRemoteWorldTrackingConnection(config, runOptions);
#endif
        }

        public void Run()
        {
            RunWithConfig(new ARKitWorldTrackingSessionConfiguration(UnityARAlignment.UnityARAlignmentGravity, UnityARPlaneDetection.Horizontal));
        }

        public void RunWithConfigAndOptions(ARKitSessionConfiguration config, UnityARSessionRunOption runOptions)
        {
#if !UNITY_EDITOR && UNITY_IOS
            StartSessionWithOptions (m_NativeARSession, config, runOptions);
#endif
        }

        public void RunWithConfig(ARKitSessionConfiguration config)
        {
#if !UNITY_EDITOR && UNITY_IOS
            StartSession(m_NativeARSession, config);
#endif
        }

        public void RunWithConfigAndOptions(ARKitFaceTrackingConfiguration config, UnityARSessionRunOption runOptions)
        {
#if !UNITY_EDITOR && UNITY_IOS
            StartFaceTrackingSessionWithOptions (m_NativeARSession, config, runOptions);
#elif UNITY_EDITOR
            CreateRemoteFaceTrackingConnection(config, runOptions);
#endif
        }

        public void RunWithConfig(ARKitFaceTrackingConfiguration config)
        {
#if !UNITY_EDITOR && UNITY_IOS
            StartFaceTrackingSession(m_NativeARSession, config);
#elif UNITY_EDITOR
            UnityARSessionRunOption runOptions = UnityARSessionRunOption.ARSessionRunOptionRemoveExistingAnchors | UnityARSessionRunOption.ARSessionRunOptionResetTracking;
            CreateRemoteFaceTrackingConnection(config, runOptions);
#endif
        }


        public void Pause()
        {
#if !UNITY_EDITOR && UNITY_IOS
            PauseSession(m_NativeARSession);
#endif
        }

        public List<ARHitTestResult> HitTest(ARPoint point, ARHitTestResultType types)
        {
            List<ARHitTestResult> results = new List<ARHitTestResult>();
            return HitTest(point, types, results);
        }

        public List<ARHitTestResult> HitTest(ARPoint point, ARHitTestResultType types, List<ARHitTestResult> results)
        {
            results.Clear();
#if !UNITY_EDITOR && UNITY_IOS
                int numResults = HitTest(m_NativeARSession, point, types);

                for (int i = 0; i < numResults; ++i)
                {
                        var result = GetLastHitTestResult(i);
                        results.Add(GetHitTestResultFromResultData(result));
                }

                return results;
#else
            return results;
#endif
        }

#if !UNITY_EDITOR && UNITY_IOS
        public ARTextureHandles GetARVideoTextureHandles()
        {
#if !UNITY_EDITOR && UNITY_IOS
            return new ARTextureHandles(GetVideoTextureHandles());
#else
            return new ARTextureHandles(new ARTextureHandles.ARTextureHandlesStruct { textureY = IntPtr.Zero, textureCbCr = IntPtr.Zero });
#endif
        }

        [Obsolete("Hook ARFrameUpdatedEvent instead and get UnityARCamera.ambientIntensity")]
        public float GetARAmbientIntensity()
        {
            return GetAmbientIntensity ();
        }

        [Obsolete("Hook ARFrameUpdatedEvent instead and get UnityARCamera.trackingState")]
        public int GetARTrackingQuality()
        {
            return GetTrackingQuality();
        }
#endif

        public UnityARUserAnchorData AddUserAnchor(UnityARUserAnchorData anchorData)
        {
#if !UNITY_EDITOR && UNITY_IOS
            return SessionAddUserAnchor(m_NativeARSession, anchorData);
#else
            return new UnityARUserAnchorData();
#endif
        }

        public UnityARUserAnchorData AddUserAnchorFromGameObject(GameObject go) {
#if !UNITY_EDITOR && UNITY_IOS
            UnityARUserAnchorData data = AddUserAnchor(UnityARUserAnchorData.UnityARUserAnchorDataFromGameObject(go));
            return data;
#else
            return new UnityARUserAnchorData();
#endif
        }

        public void RemoveUserAnchor(string anchorIdentifier)
        {
#if !UNITY_EDITOR && UNITY_IOS

            SessionRemoveUserAnchor(m_NativeARSession, anchorIdentifier);
#endif
        }

        public void SetWorldOrigin(Transform worldTransform)
        {
#if !UNITY_EDITOR && UNITY_IOS
            //convert from Unity coord system to ARKit
            Matrix4x4 worldMatrix = UnityARMatrixOps.UnityToARKitCoordChange(worldTransform.position, worldTransform.rotation);
            SessionSetWorldOrigin (m_NativeARSession, worldMatrix);
#endif
        }
    }
}