internal void HandleSurfaceUpdated(SpatialMeshInfo surface)
{
var model = GenerateModelFromSpatialSurface(surface);
InvokeOnMain(() => OnSurfaceAddedOrUpdated(surface, model));
}
public virtual void OnSurfaceAddedOrUpdated(SpatialMeshInfo surface, Model generatedModel)
{
}
/// <summary>
/// NOTE: called from a background thread
/// </summary>
public virtual Model GenerateModelFromSpatialSurface(SpatialMeshInfo surface)
{
return(CreateModelFromVertexData(surface.VertexData, surface.IndexData));
}
async Task ProcessSurface(SpatialSurfaceInfo surface)
{
var mesh = await surface.TryComputeLatestMeshAsync(trianglesPerCubicMeter, options).AsTask().ConfigureAwait(false);
if (observer == null || mesh == null)
{
RemoveSurfaceFromCache(surface.Id);
return;
}
var bounds = mesh.SurfaceInfo.TryGetBounds(currentCoordinateSystem);
if (bounds == null)
{
RemoveSurfaceFromCache(surface.Id);
return;
}
var transform = mesh.CoordinateSystem.TryGetTransformTo(currentCoordinateSystem);
if (transform == null)
{
RemoveSurfaceFromCache(surface.Id);
return;
}
//1. TriangleIndices
var trianglesBytes = mesh.TriangleIndices.Data.ToArray();
var indeces = new short[mesh.TriangleIndices.ElementCount];
int indexOffset = 0;
for (int i = 0; i < mesh.TriangleIndices.ElementCount; i++)
{
//DirectXPixelFormat.R16UInt
var index = BitConverter.ToInt16(trianglesBytes, indexOffset);
indexOffset += 2;
indeces[i] = index;
}
var vertexCount = mesh.VertexPositions.ElementCount;
var vertexRawData = mesh.VertexPositions.Data.ToArray();
var vertexScale = mesh.VertexPositionScale;
var normalsRawData = mesh.VertexNormals.Data.ToArray();
var vertexColor = DefaultColor.ToUInt();
var vertexData = new SpatialVertex[vertexCount];
var boundsRotation = new Quaternion(-bounds.Value.Orientation.X, -bounds.Value.Orientation.Y, bounds.Value.Orientation.Z, bounds.Value.Orientation.W);
var boundsCenter = new Vector3(bounds.Value.Center.X, bounds.Value.Center.Y, -bounds.Value.Center.Z);
var boundsExtents = new Vector3(bounds.Value.Extents.X, bounds.Value.Extents.Y, bounds.Value.Extents.Z);
var transformValue = transform.Value;
Matrix4 transformUrhoMatrix;
unsafe { transformUrhoMatrix = *(Matrix4 *)(void *)&transformValue; }
//these values won't change, let's declare them as consts
const int vertexStride = 16; // (int) mesh.VertexPositions.Stride;
const int normalStride = 16; // (int) mesh.VertexNormals.Stride;
//2,3 - VertexPositions and Normals
for (int i = 0; i < vertexCount; i++)
{
var positionX = BitConverter.ToSingle(vertexRawData, i * vertexStride + 0);
var positionY = BitConverter.ToSingle(vertexRawData, i * vertexStride + 4); //4 per X,Y,Z,W (stride is 16)
var positionZ = BitConverter.ToSingle(vertexRawData, i * vertexStride + 8); //also, we don't need the W component.
var normalX = BitConverter.ToSingle(normalsRawData, i * normalStride + 0);
var normalY = BitConverter.ToSingle(normalsRawData, i * normalStride + 4);
var normalZ = BitConverter.ToSingle(normalsRawData, i * normalStride + 8);
//merge vertex+normals for Urho3D (also, change RH to LH coordinate systems)
vertexData[i].PositionX = positionX * vertexScale.X;
vertexData[i].PositionY = positionY * vertexScale.Y;
vertexData[i].PositionZ = -positionZ * vertexScale.Z;
vertexData[i].NormalX = normalX;
vertexData[i].NormalY = normalY;
vertexData[i].NormalZ = -normalZ;
//Vertex color (for VCol techniques)
vertexData[i].ColorUint = vertexColor;
}
var surfaceInfo = new SharpReality.SpatialMeshInfo
{
SurfaceId = surface.Id.ToString(),
Date = surface.UpdateTime,
VertexData = vertexData,
IndexData = indeces,
BoundsCenter = boundsCenter,
BoundsRotation = boundsRotation,
Extents = boundsExtents,
Transform = transformUrhoMatrix,
};
currentHoloApp.HandleSurfaceUpdated(surfaceInfo);
}
