/// @cond EXCLUDE_FROM_DOXYGEN
/// <summary>
/// Constructs a TrackableHit.
/// </summary>
public TrackableHit(Vector3 point, Vector3 normal, float distance, TrackableHitFlag flags, TrackedPlane plane)
{
Point = point;
Normal = normal;
Distance = distance;
Flags = flags;
Plane = plane;
}
/// <summary>
/// Update the plane's data with APIPlaneData
/// Note that this will convert plane's pose from Tango space to Unity world space.
/// </summary>
/// <param name="apiPlaneData">ApiPlaneData source.</param>
/// <param name="subsumedBy">The plane subsuming this plane or null.</param>
/// <param name="forceUpdate">Force to update.</param>
private void _UpdatePlaneIfNeeded(ApiPlaneData apiPlaneData, TrackedPlane subsumedBy, bool forceUpdate)
{
if (m_initialized && apiPlaneData.id != m_apiPlaneData.id)
{
ARDebug.LogError("Cannot update plane with mismatched id.");
return;
}
else if (m_initialized && !forceUpdate && apiPlaneData.timestamp == m_apiPlaneData.timestamp)
{
return;
}
if (subsumedBy != null)
{
SubsumedBy = subsumedBy;
}
m_apiPlaneData = apiPlaneData;
m_initialized = true;
m_lastUpdatedFrame = Time.frameCount;
Matrix4x4 startServiceTplane = Matrix4x4.TRS(apiPlaneData.pose.translation.ToVector3(),
apiPlaneData.pose.orientation.ToQuaternion(), Vector3.one);
// Because startServiceTplane is a Pose (position, orientation), the multiplication of the first two terms
// rotates plane orientation. This must be undone with the last term (inverse) of the equation.
m_unityWorldTPlane = Constants.UNITY_WORLD_T_START_SERVICE * startServiceTplane *
Constants.UNITY_WORLD_T_START_SERVICE.inverse;
Position = m_unityWorldTPlane.GetColumn(3);
Position += new Vector3((float)apiPlaneData.centerX, 0.0f, (float)apiPlaneData.centerY);
Quaternion yaw = Quaternion.Euler(0.0f, -Mathf.Rad2Deg * (float)apiPlaneData.yaw, 0.0f);
Rotation = yaw * Quaternion.LookRotation(m_unityWorldTPlane.GetColumn(2), m_unityWorldTPlane.GetColumn(1));
m_boundaryPolygonPoints.Clear();
int boudaryLength = m_apiPlaneData.boundaryPointNum;
if (boudaryLength != 0)
{
double[] apiBoundaryPolygon = new double[boudaryLength * 2];
Marshal.Copy(m_apiPlaneData.boundaryPolygon, apiBoundaryPolygon, 0, boudaryLength * 2);
m_boundaryPolygonPoints.Clear();
for (int i = 0; i < boudaryLength; ++i)
{
Vector3 localPoint = new Vector3((float)apiBoundaryPolygon[2 * i],
0.0f, (float)apiBoundaryPolygon[2 * i + 1]);
m_boundaryPolygonPoints.Add(m_unityWorldTPlane.MultiplyPoint3x4(localPoint));
}
}
// Reverse the m_boundaryPolygonPoints because the raw data is in counter-clockwise.
// As Unity is left handed system, this should be clockwise.
m_boundaryPolygonPoints.Reverse();
}
