protected void Invalidate(PointCloudGrid grid)
{
var kernel = compute.FindKernel("Invalidate");
compute.SetBuffer(kernel, "_PointBuffer", grid.PointBuffer);
compute.SetInt("_InstancesCount", grid.PointBuffer.count);
GPUHelper.Dispatch1D(compute, kernel, grid.PointBuffer.count);
}
protected void RenderGridBounds(PointCloudGrid grid)
{
var bounds = grid.LocalBounds;
GL.PushMatrix();
GL.MultMatrix(transform.localToWorldMatrix);
var min = bounds.min;
var max = bounds.max;
var p0 = new Vector3(min.x, min.y, min.z);
var p1 = new Vector3(max.x, min.y, min.z);
var p2 = new Vector3(max.x, min.y, max.z);
var p3 = new Vector3(min.x, min.y, max.z);
var p4 = new Vector3(min.x, max.y, min.z);
var p5 = new Vector3(max.x, max.y, min.z);
var p6 = new Vector3(max.x, max.y, max.z);
var p7 = new Vector3(min.x, max.y, max.z);
gridMaterial.SetPass(0);
GL.Begin(GL.LINES);
GL.Vertex(p0); GL.Vertex(p1);
GL.Vertex(p1); GL.Vertex(p2);
GL.Vertex(p2); GL.Vertex(p3);
GL.Vertex(p3); GL.Vertex(p0);
GL.Vertex(p4); GL.Vertex(p5);
GL.Vertex(p5); GL.Vertex(p6);
GL.Vertex(p6); GL.Vertex(p7);
GL.Vertex(p7); GL.Vertex(p4);
GL.Vertex(p0); GL.Vertex(p4);
GL.Vertex(p1); GL.Vertex(p5);
GL.Vertex(p2); GL.Vertex(p6);
GL.Vertex(p3); GL.Vertex(p7);
GL.End();
GL.PopMatrix();
}
protected List <PointCloudGrid> BuildGrids(PointCloudData cloud, int gridResolution = 10)
{
var grids = new List <PointCloudGrid>();
if (gridResolution <= 1)
{
var one = new PointCloudGrid(cloud.LocalBounds);
one.Add(cloud.Points);
one.Build();
grids.Add(one);
return(grids);
}
var points = cloud.Points.ToList();
var localBounds = cloud.LocalBounds;
var min = localBounds.min;
gridUnitLength = Mathf.Max(localBounds.size.x, localBounds.size.y, localBounds.size.z) / gridResolution;
var w = Mathf.CeilToInt(localBounds.size.x / gridUnitLength);
var h = Mathf.CeilToInt(localBounds.size.y / gridUnitLength);
var d = Mathf.CeilToInt(localBounds.size.z / gridUnitLength);
// Debug.Log(string.Format("{0}:{1}:{2}", w, h, d));
var usize = Vector3.one * gridUnitLength;
for (int iz = 0; iz < d; iz++)
{
float cz = (iz + 0.5f) * gridUnitLength;
for (int iy = 0; iy < h; iy++)
{
float cy = (iy + 0.5f) * gridUnitLength;
for (int ix = 0; ix < w; ix++)
{
float cx = (ix + 0.5f) * gridUnitLength;
var bb = new Bounds(min + new Vector3(cx, cy, cz), usize);
grids.Add(new PointCloudGrid(bb));
}
}
}
var wxh = w * h;
foreach (var p in points)
{
var position = (p.position - min);
int ix = Mathf.FloorToInt(position.x / gridUnitLength);
int iy = Mathf.FloorToInt(position.y / gridUnitLength);
int iz = Mathf.FloorToInt(position.z / gridUnitLength);
int index = iz * wxh + iy * w + ix;
if (0 <= index && index < grids.Count)
{
grids[index].Add(p);
}
}
const int threshold = 64;
var valids = grids.FindAll(g => !g.Empty(threshold));
valids.ForEach(g => g.Build());
// Debug.Log("grids :" + valids.Count);
return(valids);
}
