internal void CompleteRayCastHits()
{
m_Normals.Clear();
var scaledMinimumDistance = m_MinHitDistance * m_DistanceScale;
var length = m_Raycasts.Length;
m_Normals.EnsureCapacity(length);
NativeArrayUtils.EnsureCapacity(ref m_Identifiers, length, Allocator.Persistent, NativeArrayOptions.UninitializedMemory);
NativeArrayUtils.EnsureCapacity(ref m_Positions, length, Allocator.Persistent, NativeArrayOptions.UninitializedMemory);
NativeArrayUtils.EnsureCapacity(ref m_ConfidenceValues, length, Allocator.Persistent, NativeArrayOptions.UninitializedMemory);
var hitCount = 0;
for (var i = 0; i < length; i++)
{
var result = m_RaycastHits[i];
if (result.collider == null)
{
continue;
}
if (result.distance < scaledMinimumDistance)
{
continue;
}
m_Normals.Add(this.ApplyInverseOffsetToDirection(result.normal));
m_Identifiers[hitCount] = (ulong)i;
m_Positions[hitCount] = this.ApplyInverseOffsetToPosition(result.point);
m_ConfidenceValues[hitCount] = Random.Range(0f, 1f);
hitCount++;
}
var data = new PointCloudData
{
Identifiers = new NativeSlice <ulong>(m_Identifiers, 0, hitCount),
Positions = new NativeSlice <Vector3>(m_Positions, 0, hitCount),
ConfidenceValues = new NativeSlice <float>(m_ConfidenceValues, 0, hitCount)
};
m_Data[m_TrackableId] = data;
if (PointCloudUpdated != null)
{
PointCloudUpdated(GetPoints());
}
}
void ProcessPointCloudEvent(PointCloudEventMarker pointCloudEvent)
{
var idCount = 0;
var positionCount = 0;
var confidenceValueCount = 0;
foreach (var pointCloud in pointCloudEvent.Data)
{
var identifiers = pointCloud.Identifiers;
if (identifiers != null)
{
idCount += identifiers.Length;
}
var positions = pointCloud.Positions;
if (positions != null)
{
positionCount += positions.Length;
}
var confidenceValues = pointCloud.ConfidenceValues;
if (confidenceValues != null)
{
confidenceValueCount += confidenceValues.Length;
}
}
NativeArrayUtils.EnsureCapacity(ref m_Identifiers, idCount, Allocator.Persistent, NativeArrayOptions.UninitializedMemory);
NativeArrayUtils.EnsureCapacity(ref m_Positions, idCount, Allocator.Persistent, NativeArrayOptions.UninitializedMemory);
NativeArrayUtils.EnsureCapacity(ref m_ConfidenceValues, idCount, Allocator.Persistent, NativeArrayOptions.UninitializedMemory);
idCount = 0;
positionCount = 0;
confidenceValueCount = 0;
m_Data.Clear();
foreach (var pointCloud in pointCloudEvent.Data)
{
var data = new PointCloudData();
var positions = pointCloud.Positions;
if (positions == null)
{
continue;
}
var length = positions.Length;
for (var i = 0; i < length; i++)
{
m_Positions[i + positionCount] = positions[i];
}
data.Positions = new NativeSlice <Vector3>(m_Positions, positionCount, length);
positionCount += length;
var identifiers = pointCloud.Identifiers;
if (identifiers != null && identifiers.Length == length)
{
for (var i = 0; i < length; i++)
{
m_Identifiers[i + idCount] = identifiers[i];
}
data.Identifiers = new NativeSlice <ulong>(m_Identifiers, idCount, length);
idCount += length;
}
var confidenceValues = pointCloud.ConfidenceValues;
if (confidenceValues != null && confidenceValues.Length == length)
{
for (var i = 0; i < length; i++)
{
m_ConfidenceValues[i + confidenceValueCount] = confidenceValues[i];
}
data.ConfidenceValues = new NativeSlice <float>(m_ConfidenceValues, confidenceValueCount, length);
confidenceValueCount += length;
}
m_Data[pointCloud.Id] = data;
}
PointCloudUpdated?.Invoke(GetPoints());
}