void OnMarsUpdate()
{
// TODO subscribe to IProvidesSessionControl
if (m_Camera == null || m_Paused || m_SessionProvider && !m_ProvidesSessionControl.SessionRunning())
{
return;
}
m_CameraPose = m_Camera.transform.GetWorldPose();
if (!ShouldRecast())
{
return;
}
m_PreviousCameraPose = m_CameraPose;
SimulationRaycastHits();
CompleteRayCastHits();
}
void OnMarsUpdate()
{
// Make sure we have debug data if debugging state changes
var extentsDebug = MarsDebugSettings.SimDiscoveryModulePlaneExtentsDebug;
if (extentsDebug && !m_PreviousExtentsDebug)
{
foreach (var kvp in m_ProvidedPlanesById)
{
UpdateDebugBounds(m_DebugDataById[kvp.Key], kvp.Value);
}
}
var verticesDebug = MarsDebugSettings.SimDiscoveryModulePlaneVerticesDebug;
if (verticesDebug && !m_PreviousVerticesDebug)
{
foreach (var kvp in m_ProvidedPlanesById)
{
UpdateDebugVertices(m_DebugDataById[kvp.Key], kvp.Value);
}
}
m_PreviousExtentsDebug = extentsDebug;
m_PreviousVerticesDebug = verticesDebug;
// TODO subscribe to IProvidesSessionControl
if (m_Paused || m_SessionProvider && !m_ProvidesSessionControl.SessionRunning())
{
return;
}
var time = MarsTime.Time;
if (!m_PointCloudChanged || time - m_LastGrowthTime < m_MinimumRegrowthTime)
{
return;
}
m_PointCloudChanged = false;
m_LastGrowthTime = time;
k_AddedPlanes.Clear();
k_UpdatedPlanes.Clear();
k_RemovedPlanes.Clear();
k_AddedPlaneDebugColors.Clear();
m_UpVoxelGrid.FindMRPlanes(k_AddedPlanes, k_UpdatedPlanes, k_RemovedPlanes, k_AddedPlaneDebugColors);
m_DownVoxelGrid.FindMRPlanes(k_AddedPlanes, k_UpdatedPlanes, k_RemovedPlanes, k_AddedPlaneDebugColors);
m_ForwardVoxelGrid.FindMRPlanes(k_AddedPlanes, k_UpdatedPlanes, k_RemovedPlanes, k_AddedPlaneDebugColors);
m_BackVoxelGrid.FindMRPlanes(k_AddedPlanes, k_UpdatedPlanes, k_RemovedPlanes, k_AddedPlaneDebugColors);
m_RightVoxelGrid.FindMRPlanes(k_AddedPlanes, k_UpdatedPlanes, k_RemovedPlanes, k_AddedPlaneDebugColors);
m_LeftVoxelGrid.FindMRPlanes(k_AddedPlanes, k_UpdatedPlanes, k_RemovedPlanes, k_AddedPlaneDebugColors);
for (var i = 0; i < k_AddedPlanes.Count; i++)
{
var plane = k_AddedPlanes[i];
AddProvidedPlane(plane);
m_DebugDataById.Add(plane.id, new DebugVisualsData(k_AddedPlaneDebugColors[i]));
}
foreach (var plane in k_UpdatedPlanes)
{
UpdatedProvidedPlane(plane);
}
foreach (var plane in k_RemovedPlanes)
{
RemoveProvidedPlane(plane);
}
if (extentsDebug)
{
foreach (var plane in k_AddedPlanes)
{
UpdateDebugBounds(m_DebugDataById[plane.id], plane);
}
foreach (var plane in k_UpdatedPlanes)
{
UpdateDebugBounds(m_DebugDataById[plane.id], plane);
}
}
if (verticesDebug)
{
foreach (var plane in k_AddedPlanes)
{
UpdateDebugVertices(m_DebugDataById[plane.id], plane);
}
foreach (var plane in k_UpdatedPlanes)
{
UpdateDebugVertices(m_DebugDataById[plane.id], plane);
}
}
}