AREngine(ARCore)中摄像头位置到点击平面距离求导

点到平面距离的推导公式

d取绝对值前为正则Q点在平面同侧，反之异侧。

根据求导公式就很容易得到代码如下：

  // Calculate the normal distance to plane from cameraPose, the given planePose should have y axis
  // parallel to plane's normal, for example plane's center pose or hit test pose.
  private static float calculateDistanceToPlane(Pose planePose, Pose cameraPose) {
    float[] normal = new float[3];
    float cameraX = cameraPose.tx();
    float cameraY = cameraPose.ty();
    float cameraZ = cameraPose.tz();
    // Get transformed Y axis of plane's coordinate system.
    planePose.getTransformedAxis(1, 1.0f, normal, 0);
    // Compute dot product of plane's normal with vector from camera to plane center.
    return (cameraX - planePose.tx()) * normal[0]
        + (cameraY - planePose.ty()) * normal[1]
        + (cameraZ - planePose.tz()) * normal[2];
  }