private void Update()
{
HoloToolkit.Unity.SpatialMapping.OrientedBoundingBox obb = OBBMeshIntersection.CreateWorldSpaceOBB(GetComponent <BoxCollider>());
List <int> intersecting = OBBMeshIntersection.FindTriangles(obb, m_triangleMesh.vertices, m_triangleMesh.GetTriangles(0), m_triangleXform);
GetComponent <Renderer>().material.color = intersecting.Count > 0 ? Color.red : Color.green;
}
private bool CreateMarginVolumeObject(out GameObject marginVolume, out Vector3 centerPointOnFrontPlane, out Vector3 centerPointOnBackPlane, GameObject embedded, HoloToolkit.Unity.SpatialMapping.SurfacePlane plane)
{
BoxCollider embeddedOBB = embedded.GetComponent <BoxCollider>();
if (null == embeddedOBB)
{
Debug.Log("ERROR: Embedded object " + embedded.name + " lacks a box collider");
marginVolume = null;
centerPointOnFrontPlane = Vector3.zero;
centerPointOnBackPlane = Vector3.zero;
return(true);
}
HoloToolkit.Unity.SpatialMapping.OrientedBoundingBox surfaceBounds = plane.Plane.Bounds;
/*
* Compute margin volume front (i.e., the actual surface) and back (onto
* which spatial mesh triangles will be projected) planes based on embedded
* object thickness.
*
* Note that the embedded object position is not in the center of the
* object but rather at a point flush with the surface it will be embedded
* in.
*/
Vector3 intoSurfaceNormal = -Vector3.Normalize(embeddedOBB.transform.forward);
float embeddedThickness = embeddedOBB.size.z * embeddedOBB.transform.lossyScale.z + extraDisplacement;
Vector3 embeddedPosOnPlane = plane.transform.InverseTransformPoint(embedded.transform.position);
embeddedPosOnPlane.x = 0;
embeddedPosOnPlane.y = 0;
centerPointOnFrontPlane = plane.transform.TransformPoint(embeddedPosOnPlane);
centerPointOnBackPlane = centerPointOnFrontPlane + intoSurfaceNormal * embeddedThickness;
Vector3 centerPoint = 0.5f * (centerPointOnFrontPlane + centerPointOnBackPlane);
//Debug.Log("*** PlanePos: " + plane.transform.position + ", PlaneFwd: " + plane.transform.forward + ", Embed Point: " + embedded.transform.position.ToString("F2") + ", IntoNorm: " + intoSurfaceNormal.ToString("F2") + ", thick: " + embeddedThickness + ", embeddedPosOnPlane: " + embeddedPosOnPlane.ToString("F2") + ", centerFront: " + centerPointOnFrontPlane.ToString("F2") + ", centerBack: " + centerPointOnBackPlane.ToString("F2"));
/*
* Create a game object to describe the size, position, and orientation of
* the margin volume we want to create.
*
* The box collider is something of a formality. The surface mesh
* deformation procedure and OBB/mesh intersection tests use box colliders
* to describe OBBs. Here, the box collider is made the same size as the
* game object to which it is parented. The downstream intersection testing
* code knows to properly scale the box based on its parent.
*/
marginVolume = new GameObject("deformation-" + embedded.name);
marginVolume.transform.position = centerPoint;
marginVolume.transform.localScale = new Vector3(2 * surfaceBounds.Extents.x, 2 * surfaceBounds.Extents.y, embeddedThickness);
marginVolume.transform.rotation = surfaceBounds.Rotation; // need to use surface plane rotation because x, y differ from obj's
BoxCollider obb = marginVolume.AddComponent <BoxCollider>();
obb.center = Vector3.zero;
obb.size = Vector3.one;
obb.enabled = false; // we do not actually want collision detection
return(false);
}
/// <summary>
/// Builds the bounded plane to match the obb defined by xform
/// </summary>
public BoundedPlane(Transform xform)
{
Plane = new Plane(xform.forward, xform.position);
Bounds = new OrientedBoundingBox()
{
Center = xform.position,
Extents = xform.localScale / 2,
Rotation = xform.rotation
};
Area = Bounds.Extents.x * Bounds.Extents.y;
}
