/// <summary>
/// Retrieves the closest known PCF of the types provided by the typesMask to the given position.
/// </summary>
/// <param name="position">The position of the object we want to anchor.</param>
/// <param name="pcf">Stores the resulting PCF.</param>
/// <param name="typesMask">The bitmask of which PCF types to consider.</param>
/// <param name="update">Determines if the PCF should have it's pose and state updated.</param>
/// <returns>
/// MLResult.Result will be <c>MLResult.Code.Ok</c> if a valid PCF was found.
/// MLResult.Result will be <c>MLResult.Code.InvalidParam</c> if failed due to an invalid input parameter.
/// MLResult.Result will be <c>MLResult.Code.PrivilegeDenied</c> if necessary privilege is missing.
/// MLResult.Result will be <c>MLResult.Code.UnspecifiedFailure</c> if failed due to other internal error.
/// MLResult.Result will be <c>MLResult.Code.PassableWorldLowMapQuality</c> if map quality is too low for content persistence. Continue building the map.
/// MLResult.Result will be <c>MLResult.Code.PassableWorldUnableToLocalize</c> if currently unable to localize into any map. Continue building the map.
/// </returns>
public static MLResult FindClosestPCF(Vector3 position, out PCF pcf, PCF.Types typesMask = PCF.Types.SingleUserSingleSession | PCF.Types.SingleUserMultiSession | PCF.Types.MultiUserMultiSession, bool update = true)
{
pcf = null;
if (MLPersistentCoordinateFrames.IsValidInstance())
{
QueryFilter queryFilter = QueryFilter.Create();
queryFilter.TargetPoint = position;
queryFilter.TypesMask = typesMask;
queryFilter.Sorted = true;
MLResult result = FindPCFsByFilter(queryFilter, out List <PCF> pcfList, update);
if (!result.IsOk || pcfList.Count == 0)
{
if (result.Result == MLResult.Code.PassableWorldLowMapQuality || result.Result == MLResult.Code.PassableWorldUnableToLocalize)
{
MLPluginLog.WarningFormat("Map quality not sufficient enough for MLPersistentCoordinateFrames.FindClosestPCF. Reason: {0}", result);
}
else
{
MLPluginLog.ErrorFormat("MLPersistentCoordinateFrames.FindClosestPCF failed. Reason: {0}", result);
}
}
else
{
pcf = pcfList[0];
}
return(result);
}
else
{
MLPluginLog.ErrorFormat("MLPersistentCoordinateFrames.FindClosestPCF failed. Reason: No Instance for MLPersistentCoordinateFrames.");
return(MLResult.Create(MLResult.Code.UnspecifiedFailure, "MLPersistentCoordinateFrames.FindClosestPCF failed. Reason: No Instance for MLPersistentCoordinateFrames."));
}
}
/// <summary>
/// Returns a list of all the PCFs of the types provided by the typesMask inside the current map.
/// </summary>
/// <param name="pcfList">Stores the resulting list of PCFs.</param>
/// <param name="maxResults">The max number of PCFs to get.</param>
/// <param name="typesMask">The bitmask of which PCF types to consider.</param>
/// <param name="update">Determines if the PCFs should have their pose updated.</param>
/// <returns>
/// MLResult.Result will be <c>MLResult.Code.Ok</c> if all the PCFs from the current map have been found successfully.
/// MLResult.Result will be <c>MLResult.Code.PrivilegeDenied</c> if necessary privilege is missing.
/// MLResult.Result will be <c>MLResult.Code.UnspecifiedFailure</c> if failed due to other internal error.
/// MLResult.Result will be <c>MLResult.Code.PassableWorldLowMapQuality</c> if map quality is too low for content persistence. Continue building the map.
/// MLResult.Result will be <c>MLResult.Code.PassableWorldUnableToLocalize</c> if currently unable to localize into any map. Continue building the map.
/// </returns>
public static MLResult FindAllPCFs(out List <PCF> pcfList, uint maxResults = int.MaxValue, PCF.Types typesMask = PCF.Types.SingleUserSingleSession | PCF.Types.SingleUserMultiSession | PCF.Types.MultiUserMultiSession, bool update = true)
{
pcfList = new List <PCF>();
if (MLPersistentCoordinateFrames.IsValidInstance())
{
QueryFilter queryFilter = QueryFilter.Create();
queryFilter.TypesMask = typesMask;
queryFilter.MaxResults = maxResults;
queryFilter.Sorted = false;
MLResult result = FindPCFsByFilter(queryFilter, out pcfList, update);
if (!result.IsOk)
{
if (result.Result == MLResult.Code.PassableWorldLowMapQuality || result.Result == MLResult.Code.PassableWorldUnableToLocalize)
{
MLPluginLog.Warning("Map quality not sufficient enough for MLPersistentCoordinateFrames.FindAllPCFs.");
}
else
{
MLPluginLog.ErrorFormat("MLPersistentCoordinateFrames.FindAllPCFs failed. Reason: {0}", result);
}
}
return(result);
}
else
{
MLPluginLog.ErrorFormat("MLPersistentCoordinateFrames.FindAllPCFs failed. Reason: No Instance for MLPersistentCoordinateFrames.");
return(MLResult.Create(MLResult.Code.UnspecifiedFailure, "MLPersistentCoordinateFrames.FindAllPCFs failed. Reason: No Instance for MLPersistentCoordinateFrames."));
}
}
/// <summary>
/// Returns a list of all the PCFs of the types provided by the typesMask inside the current map.
/// </summary>
/// <param name="callback">Delegate used to return the resulting MLResult.Result and list of found PCFs.</param>
/// <param name="maxResults">The max number of PCFs to get.</param>
/// <param name="typesMask">The bitmask of which PCF types to consider.</param>
/// <param name="update">Determines if the PCFs should have their pose updated.</param>
/// <returns>
/// MLResult.Result will be <c>MLResult.Code.Ok</c> if all the PCFs from the current map have been found successfully.
/// MLResult.Result will be <c>MLResult.Code.UnspecifiedFailure</c> if failed due to no API instance being found.
/// </returns>
public static MLResult FindAllPCFs(OnFoundMultiPCFDelegate callback, uint maxResults = int.MaxValue, PCF.Types typesMask = PCF.Types.SingleUserSingleSession | PCF.Types.SingleUserMultiSession | PCF.Types.MultiUserMultiSession, bool update = true)
{
if (MLPersistentCoordinateFrames.IsValidInstance())
{
QueryFilter queryFilter = QueryFilter.Create();
queryFilter.TypesMask = typesMask;
queryFilter.MaxResults = maxResults;
queryFilter.Sorted = false;
FindPCFsByFilter(queryFilter, callback, update);
return(MLResult.Create(MLResult.Code.Ok));
}
else
{
MLPluginLog.ErrorFormat("MLPersistentCoordinateFrames.FindAllPCFs failed. Reason: No Instance for MLPersistentCoordinateFrames.");
return(MLResult.Create(MLResult.Code.UnspecifiedFailure, "MLPersistentCoordinateFrames.FindAllPCFs failed. Reason: No Instance for MLPersistentCoordinateFrames."));
}
}
/// <summary>
/// Retrieves the type of the PCF associated with the given CFUID.
/// </summary>
/// <param name="cfuid">The CFUID to look up the PCF type with.</param>
/// <param name="type">Stores the type of PCF associated with the given CFUID.</param>
/// <returns>
/// MLResult.Result will be <c>MLResult.Code.Ok</c> if a valid PCF was found.
/// MLResult.Result will be <c>MLResult.Code.InvalidParam</c> if failed due to an invalid input parameter.
/// MLResult.Result will be <c>MLResult.Code.PrivilegeDenied</c> if necessary privilege is missing.
/// MLResult.Result will be <c>MLResult.Code.UnspecifiedFailure</c> if failed due to other internal error.
/// MLResult.Result will be <c>MLResult.Code.PassableWorldLowMapQuality</c> if map quality is too low for content persistence. Continue building the map.
/// MLResult.Result will be <c>MLResult.Code.PassableWorldNotFound</c> if the passed CFUID is not available.
/// MLResult.Result will be <c>MLResult.Code.PassableWorldUnableToLocalize</c> if currently unable to localize into any map. Continue building the map.
/// </returns>
public static MLResult GetPCFTypeByCFUID(MagicLeapNativeBindings.MLCoordinateFrameUID cfuid, out PCF.Types type)
{
type = 0;
if (MLPersistentCoordinateFrames.IsValidInstance())
{
try
{
NativeBindings.FrameStateNative nativeState = NativeBindings.FrameStateNative.Create();
MLResult.Code resultCode = NativeBindings.MLPersistentCoordinateFramesGetFrameState(_instance.nativeTracker, in cfuid, ref nativeState);
if (!MLResult.IsOK(resultCode))
{
if (resultCode == MLResult.Code.PassableWorldLowMapQuality || resultCode == MLResult.Code.PassableWorldUnableToLocalize)
{
MLPluginLog.WarningFormat("Map quality not sufficient enough for MLPersistentCoordinateFrames.GetPCFTypeByCFUID. Reason: {0}", MLResult.CodeToString(resultCode));
}
else
{
MLPluginLog.ErrorFormat("MLPersistentCoordinateFrames.GetPCFTypeByCFUID failed. Reason: {0}", MLResult.CodeToString(resultCode));
}
return(MLResult.Create(resultCode, string.Format("MLPersistentCoordinateFrames.GetPCFTypeByCFUID failed. Reason: {0}", MLResult.CodeToString(resultCode))));
}
else
{
type = nativeState.Type;
return(MLResult.Create(resultCode));
}
}
catch (EntryPointNotFoundException)
{
MLPluginLog.Error("MLPersistentCoordinateFrames.GetPCFTypeByCFUID failed. Reason: API symbols not found.");
return(MLResult.Create(MLResult.Code.UnspecifiedFailure, "MLPersistentCoordinateFrames.GetPCFTypeByCFUID failed. Reason: API symbols not found."));
}
}
else
{
MLPluginLog.ErrorFormat("MLPersistentCoordinateFrames.GetPCFTypeByCFUID failed. Reason: No Instance for MLPersistentCoordinateFrames.");
return(MLResult.Create(MLResult.Code.UnspecifiedFailure, "MLPersistentCoordinateFrames.GetPCFTypeByCFUID failed. Reason: No Instance for MLPersistentCoordinateFrames."));
}
}
/// <summary>
/// Retrieves the closest known PCF of the types provided by the typesMask to the given position.
/// </summary>
/// <param name="position">The position of the object we want to anchor.</param>
/// <param name="callback">Delegate used to return the resulting MLResult.Result and the closest found PCF.</param>
/// <param name="typesMask">The bitmask of which PCF types to consider.</param>
/// <param name="update">Determines if the PCF should have it's pose and state updated.</param>
/// <returns>
/// MLResult.Result will be <c>MLResult.Code.Ok</c> if a valid PCF was found.
/// MLResult.Result will be <c>MLResult.Code.UnspecifiedFailure</c> if failed due to no API instance being found.
/// </returns>
public static MLResult FindClosestPCF(Vector3 position, OnFoundSinglePCFDelegate callback, PCF.Types typesMask = PCF.Types.SingleUserSingleSession | PCF.Types.SingleUserMultiSession | PCF.Types.MultiUserMultiSession, bool update = true)
{
if (MLPersistentCoordinateFrames.IsValidInstance())
{
QueryFilter queryFilter = QueryFilter.Create();
queryFilter.TargetPoint = position;
queryFilter.TypesMask = typesMask;
queryFilter.Sorted = true;
FindPCFsByFilter(queryFilter, update: update, callback: (MLResult.Code resultCode, List <PCF> pcfList) =>
{
callback?.Invoke(resultCode, pcfList[0]);
});
return(MLResult.Create(MLResult.Code.Ok));
}
else
{
MLPluginLog.ErrorFormat("MLPersistentCoordinateFrames.FindClosestPCF failed. Reason: No Instance for MLPersistentCoordinateFrames.");
return(MLResult.Create(MLResult.Code.UnspecifiedFailure, "MLPersistentCoordinateFrames.FindClosestPCF failed. Reason: No Instance for MLPersistentCoordinateFrames."));
}
}
