internal static void ExtractPlanes(PlaneExtractionSettings settings)
{
using (var undoBlock = new UndoBlock("Extract Planes"))
{
var prefabRoot = settings.gameObject;
undoBlock.RecordObject(prefabRoot);
var voxelGenerationParams = settings.VoxelGenerationParams;
var planeExtractionParams = settings.PlaneFindingParams;
var voxelSize = voxelGenerationParams.voxelSize;
if ((int)(planeExtractionParams.minPointsPerSqMeter * (voxelSize * voxelSize)) <= 0)
{
Debug.LogWarning("Minimum points per voxel is not greater than 0. " +
"Increase either the voxel size or the minimum points per square meter.");
return;
}
if (!PlaneGenerationModule.TryDestroyPreviousPlanes(prefabRoot, "Extracting Planes", undoBlock))
{
return;
}
GenerateVoxelGrids(prefabRoot, voxelGenerationParams, planeExtractionParams);
FindPlanesInGrids(prefabRoot, undoBlock);
}
}
static void FindPlanesInGrids(GameObject prefabRoot, UndoBlock undoBlock)
{
k_ExtractedPlanes.Clear();
s_UpVoxelGrid.ExtractPlanes(k_ExtractedPlanes);
s_DownVoxelGrid.ExtractPlanes(k_ExtractedPlanes);
s_ForwardVoxelGrid.ExtractPlanes(k_ExtractedPlanes);
s_BackVoxelGrid.ExtractPlanes(k_ExtractedPlanes);
s_RightVoxelGrid.ExtractPlanes(k_ExtractedPlanes);
s_LeftVoxelGrid.ExtractPlanes(k_ExtractedPlanes);
var planesRoot = PlaneGenerationModule.CreateGeneratedPlanesRoot(prefabRoot.transform, undoBlock);
var simPlanePrefab = MarsObjectCreationResources.instance.GeneratedSimulatedPlanePrefab;
foreach (var plane in k_ExtractedPlanes)
{
var synthPlane = UnityObject.Instantiate(simPlanePrefab, planesRoot);
synthPlane.transform.SetWorldPose(plane.pose);
synthPlane.SetMRPlaneData(plane.vertices, plane.center, plane.extents);
}
planesRoot.gameObject.SetLayerRecursively(SimulationConstants.SimulatedEnvironmentLayerIndex);
}
