/**
* #Companion: Clean up unnecessary meshes and components.
*/
public void Cleanup()
{
// Clear ShapeDetection
if (CompanionMR.ShapeDetection.Instance != null)
{
CompanionMR.ShapeDetection.Instance.ClearGeometry();
}
if (CompanionMR.ShapeDefinition.IsInitialized)
{
CompanionMR.ShapeDefinition.Instance.Clear();
}
// Clear PlacementSolver
SpatialUnderstandingDllObjectPlacement.Solver_RemoveAllObjects();
if (CompanionMR.PlacementSolver.Instance != null)
{
CompanionMR.PlacementSolver.Instance.Clear();
}
// Clear Meshes
if (SpatialMappingManager.IsInitialized)
{
SpatialMappingManager.Instance.CleanupObserver();
}
this.UnderstandingSourceMesh.Cleanup(); // cleanup mapping mesh copies
this.UnderstandingDLL.UnpinAllObjects(); // cleanup intern meshes
this.UnderstandingCustomMesh.Cleanup(); // cleanup understanding meshes
// Clear DLL
SpatialUnderstandingDll.Imports.SpatialUnderstanding_Term();
SpatialUnderstandingDll.Imports.SpatialUnderstanding_Init();
// Reset SpatialUnderstanding
this.ScanState = ScanStates.None;
}
/**
* Remove all placement results.
*
* @param removeAllObjects indicates whether all instantiated placement results should also be removed
*/
public void ClearGeometry(bool removeAllObjects = false)
{
this.placementResults.Clear();
if (removeAllObjects && SpatialUnderstanding.IsInitialized && SpatialUnderstanding.Instance.AllowSpatialUnderstanding)
{
SUDLLOP.Solver_RemoveAllObjects();
}
}
public PlacementQuery(
SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition placementDefinition,
List<SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule> placementRules = null,
List<SpatialUnderstandingDllObjectPlacement.ObjectPlacementConstraint> placementConstraints = null)
{
PlacementDefinition = placementDefinition;
PlacementRules = placementRules;
PlacementConstraints = placementConstraints;
}
/**
* Process the given placement query.
*
* @param placementName placement description
* @param placementDefinition placement definition
* @param placementRules list of placement rules
* @param placementConstraints list of placement constraints
* @param clearObjectsFirst should already detected placement results should be removed
* @param isASync indicates whether this query is handled asynchronously
* @param drawBox indicates whether an animated box should be drawn around the placement result
* @param callback callback method
*/
private bool PlaceObject(string placementName, SUDLLOP.ObjectPlacementDefinition placementDefinition, List <SUDLLOP.ObjectPlacementRule> placementRules = null,
List <SUDLLOP.ObjectPlacementConstraint> placementConstraints = null, bool clearObjectsFirst = false, bool isASync = true, bool drawBox = true, ResponseDelegate callback = null)
{
// Clear objects (if requested)
if (!isASync && clearObjectsFirst)
{
this.ClearGeometry();
}
if (!SpatialUnderstanding.IsInitialized || !SpatialUnderstanding.Instance.AllowSpatialUnderstanding)
{
return(false);
}
// Query parameters
int placementRuleCount = (placementRules != null) ? placementRules.Count : 0;
System.IntPtr placementRulesPtr = ((placementRules != null) && (placementRules.Count > 0))
? SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(placementRules.ToArray()) : System.IntPtr.Zero;
int constraintCount = (placementConstraints != null) ? placementConstraints.Count : 0;
System.IntPtr placementConstraintsPtr = ((placementConstraints != null) && (placementConstraints.Count > 0))
? SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(placementConstraints.ToArray()) : System.IntPtr.Zero;
System.IntPtr placementResultPtr = SpatialUnderstanding.Instance.UnderstandingDLL.GetStaticObjectPlacementResultPtr();
// New query
int success = SUDLLOP.Solver_PlaceObject(placementName, SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(placementDefinition), placementRuleCount,
placementRulesPtr, constraintCount, placementConstraintsPtr, placementResultPtr);
if (success > 0)
{
SUDLLOP.ObjectPlacementResult placementResult = SpatialUnderstanding.Instance.UnderstandingDLL.GetStaticObjectPlacementResult();
if (!isASync)
{
// If not running async, we can just add the results to the draw list right now
Debug.Log(placementName + " (1)");
float timeDelay = this.placementResults.Count * AnimatedBox.DelayPerItem;
this.placementResults.Add(new PlacementResult(timeDelay, placementResult.Clone() as SUDLLOP.ObjectPlacementResult, drawBox, callback));
}
else
{
this.queryStatus.queryResult.Add(placementResult.Clone() as SUDLLOP.ObjectPlacementResult);
}
return(true);
}
if (!isASync)
{
Debug.Log(placementName + " (0)");
}
return(false);
}
/**
* Initialize this placement solver.
*
* @return <code>true</code> if the solver was initialized successfully, <code>flase</code> otherwise
*/
public bool InitializeSolver()
{
if (this.IsSolverInitialized || !SpatialUnderstanding.IsInitialized || !SpatialUnderstanding.Instance.AllowSpatialUnderstanding)
{
return(this.IsSolverInitialized);
}
if (SUDLLOP.Solver_Init() == 1)
{
this.IsSolverInitialized = true;
}
return(this.IsSolverInitialized);
}
public PlacementResult(float timeDelay, SpatialUnderstandingDllObjectPlacement.ObjectPlacementResult result)
{
Box = new AnimatedBox(timeDelay, result.Position, Quaternion.LookRotation(result.Forward, result.Up), Color.blue, result.HalfDims);
Result = result;
}
private bool PlaceObject(
string placementName,
SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition placementDefinition,
List<SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule> placementRules = null,
List<SpatialUnderstandingDllObjectPlacement.ObjectPlacementConstraint> placementConstraints = null,
bool clearObjectsFirst = true,
bool isASync = false)
{
// Clear objects (if requested)
if (!isASync && clearObjectsFirst)
{
ClearGeometry();
}
if (!SpatialUnderstanding.Instance.AllowSpatialUnderstanding)
{
return false;
}
// New query
if (SpatialUnderstandingDllObjectPlacement.Solver_PlaceObject(
placementName,
SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(placementDefinition),
(placementRules != null) ? placementRules.Count : 0,
((placementRules != null) && (placementRules.Count > 0)) ? SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(placementRules.ToArray()) : IntPtr.Zero,
(placementConstraints != null) ? placementConstraints.Count : 0,
((placementConstraints != null) && (placementConstraints.Count > 0)) ? SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(placementConstraints.ToArray()) : IntPtr.Zero,
SpatialUnderstanding.Instance.UnderstandingDLL.GetStaticObjectPlacementResultPtr()) > 0)
{
SpatialUnderstandingDllObjectPlacement.ObjectPlacementResult placementResult = SpatialUnderstanding.Instance.UnderstandingDLL.GetStaticObjectPlacementResult();
if (!isASync)
{
// If not running async, we can just add the results to the draw list right now
AppState.Instance.ObjectPlacementDescription = placementName + " (1)";
float timeDelay = (float)placementResults.Count * AnimatedBox.DelayPerItem;
placementResults.Add(new PlacementResult(timeDelay, placementResult.Clone() as SpatialUnderstandingDllObjectPlacement.ObjectPlacementResult));
}
else
{
queryStatus.QueryResult.Add(placementResult.Clone() as SpatialUnderstandingDllObjectPlacement.ObjectPlacementResult);
}
return true;
}
if (!isASync)
{
AppState.Instance.ObjectPlacementDescription = placementName + " (0)";
}
return false;
}
private bool PlaceObjectAsync(
string placementName,
SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition placementDefinition,
List<SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule> placementRules = null,
List<SpatialUnderstandingDllObjectPlacement.ObjectPlacementConstraint> placementConstraints = null,
bool clearObjectsFirst = true)
{
return PlaceObjectAsync(
placementName,
new List<PlacementQuery>() { new PlacementQuery(placementDefinition, placementRules, placementConstraints) },
clearObjectsFirst);
}
