问使用全球定位系统在ARCore中渲染3D对象？

EN

let lat1:Double = latSource/180 * .pi
let lng1:Double = lngSource/180 * .pi
let lat2:Double = latDestination/180 * .pi
let lng2:Double = lngDestination/180 * .pi

let y = sin(lng2 - lng1)*cos(lat2)
let x = cos(lat1) * sin(lat2) - sin(lat1) * cos(lat2) * cos(lng2 - lng1)

let tan2 = atan2(y, x)
let degre = tan2 * 180 / .pi
if degre < 0 {  return degre+360  }
else {  return degre  }

@Override
public void onUpdate(FrameTime frameTime) {



        frame = fragment.getArSceneView().getArFrame();

        if (frame != null) {

            for (Object o : frame.getUpdatedTrackables(Plane.class)) {

                plane = (Plane) o;

                if (plane.getTrackingState() == TrackingState.TRACKING) {
                    fragment.getPlaneDiscoveryController().hide();

                    Iterator iterableAnchor = frame.getUpdatedAnchors().iterator();

                    if (!iterableAnchor.hasNext()) {
                        method(plane, frame);
                    }
                }
            }
        }

}

public void makeAr(Plane plane, Frame frame ) {

    for (int k = 0; k <10 ; k ++) {
        if (this.degree >= 160 && this.degree <= 170) {
            Toast.makeText(this, "walk", Toast.LENGTH_SHORT).show();
            List<HitResult> hitTest = frame.hitTest(screenCenter().x, screenCenter().y);

            Iterator hitTestIterator = hitTest.iterator();

            while (hitTestIterator.hasNext()) {
                HitResult hitResult = (HitResult) hitTestIterator.next();

                modelAnchor = null;
                modelAnchor = plane.createAnchor(hitResult.getHitPose());

                AnchorNode anchorNode = new AnchorNode(modelAnchor);
                anchorNode.setParent(fragment.getArSceneView().getScene());

                TransformableNode transformableNode = new TransformableNode(fragment.getTransformationSystem());
                transformableNode.setParent(anchorNode);
                transformableNode.setRenderable(MainActivity.this.andyRenderable);

                float x = modelAnchor.getPose().tx();
                float y = modelAnchor.getPose().compose(Pose.makeTranslation(0f, 0f, 0)).ty();

                transformableNode.setWorldPosition(new Vector3(x, y, -k));

            }
        }
    }
}

private Vector3 screenCenter() {
    View vw = findViewById(android.R.id.content);
    return new Vector3(vw.getWidth() / 2f, vw.getHeight() / 2f, 0f);
}

private fun addPointByXYZ(x: Float, y: Float, z: Float, name: String) {
    ViewRenderable.builder().setView(this, R.layout.sample_layout).build().thenAccept {
        val imageView = it.view.findViewById<ImageView>(R.id.imageViewSample)
        val textView = it.view.findViewById<TextView>(R.id.textViewSample)

        textView.text = name

        val node = AnchorNode()
        node.renderable = it
        scene.addChild(node)
        node.worldPosition = Vector3(x, y, z)

        val cameraPosition = scene.camera.worldPosition
        val direction = Vector3.subtract(cameraPosition, node.worldPosition)
        val lookRotation = Quaternion.lookRotation(direction, Vector3.up())
        node.worldRotation = lookRotation
    }
}

private fun bearing(locA: Location, locB: Location): Double {
    val latA = locA.latitude * PI / 180
    val lonA = locA.longitude * PI / 180
    val latB = locB.latitude * PI / 180
    val lonB = locB.longitude * PI / 180

    val deltaOmega = ln(tan((latB / 2) + (PI / 4)) / tan((latA / 2) + (PI / 4)))
    val deltaLongitude = abs(lonA - lonB)

    return atan2(deltaLongitude, deltaOmega)
}

private fun placeARByLocation(myLocation: Location, targetLocation: LatLng, name: String) {
    val tLocation = Location("")
    tLocation.latitude = targetLocation.latitude
    tLocation.longitude = targetLocation.longitude

    val degree = (360 - (bearing(myLocation, tLocation) * 180 / PI))
    val distant = 3.0

    val y = 0.0
    val x = distant * cos(PI * degree / 180)
    val z = -1 * distant * sin(PI * degree / 180)
    addPointByXYZ(x.toFloat(), y.toFloat(), z.toFloat(), name)

    Log.i("ARCore_MyLat", myLocation.latitude.toString())
    Log.i("ARCore_MyLon", myLocation.longitude.toString())
    Log.i("ARCore_TargetLat", targetLocation.latitude.toString())
    Log.i("ARCore_TargetLon", targetLocation.longitude.toString())
    Log.i("ARCore_COMPASS", azimuth.toString())
    Log.i("ARCore_Degree", degree.toString())
    Log.i("ARCore_X", x.toString())
    Log.i("ARCore_Y", y.toString())
    Log.i("ARCore_Z", z.toString())
    Toast.makeText(this@LatLngActivity, "Compass: $azimuth, Degree: $degree", Toast.LENGTH_LONG).show()
}