/// <summary>
/// 部屋に入ったとき
/// </summary>
void EnterRoom()
{
Debug.Log("enter room");
if (!_player)
{
_player = FindObjectOfType <PlayerCore>();
}
_currentRoomView = _player.transform.GetComponentInParent <RoomView>();
_playerPosition = _currentRoomView.Room.Coordinate;
//プレイヤーのいた部屋を移動
if (_prevStayRoom.X != -1)
{
_mapData[_prevStayRoom.Y * 2, _prevStayRoom.X * 2] &= ~(int)MinimapObject.Players;
}
_mapData[_playerPosition.Y * 2, _playerPosition.X * 2] |= (int)MinimapObject.Floor;
_mapData[_playerPosition.Y * 2, _playerPosition.X * 2] |= (int)MinimapObject.Players;
_prevStayRoom = _playerPosition;
OnMapChanged?.Invoke(_mapData);
}
private void SetMap(Map newMap)
{
Player.SetMap(newMap);
_currentMap = newMap;
OnMapChanged?.Invoke(newMap);
}
public void Restart()
{
if (saveController != null)
{
saveController.DeleteSave(CurrentLevel.ID);
}
GenUtil.Replay(CurrentLevel, map, leftReserve, upReserve);
movesCount = 0;
OnMove?.Invoke(0);
OnMapChanged?.Invoke(0, targetCellsCount);
victory = false;
}
public void KeyPressedHandler(object sender, KeyPressedEventArgs e)
{
HidePath();
var newPosition = cursorPosition;
if (e.KeyInfo.Key == ConsoleKey.LeftArrow && cursorPosition.X > 0)
{
newPosition.X--;
}
if (e.KeyInfo.Key == ConsoleKey.RightArrow && cursorPosition.X < mapSize.Width - 1)
{
newPosition.X++;
}
if (e.KeyInfo.Key == ConsoleKey.UpArrow && cursorPosition.Y > 0)
{
newPosition.Y--;
}
if (e.KeyInfo.Key == ConsoleKey.DownArrow && cursorPosition.Y < mapSize.Height - 1)
{
newPosition.Y++;
}
if (cursorPosition != newPosition)
{
OnCursorChanged?.Invoke(this, new PropertyChangedEventArgs <Point>(cursorPosition, newPosition));
cursorPosition = newPosition;
canvas1.InvalidateVisual();
}
if (e.KeyInfo.Key == ConsoleKey.Spacebar)
{
if (MazeMap[cursorPosition.Y, cursorPosition.X] != (int)CurrentMapItem)
{
OnMapChanged?.Invoke(this, new MazeMapItemEventArgs(cursorPosition, CurrentMapItem));
MazeMap[cursorPosition.Y, cursorPosition.X] = (int)CurrentMapItem;
canvas1.InvalidateVisual();
}
}
if (e.KeyInfo.Key == ConsoleKey.Delete)
{
if (MazeMap[cursorPosition.Y, cursorPosition.X] != (int)MapItem.Empty)
{
OnMapChanged?.Invoke(this, new MazeMapItemEventArgs(cursorPosition, CurrentMapItem));
MazeMap[cursorPosition.Y, cursorPosition.X] = (int)MapItem.Empty;
canvas1.InvalidateVisual();
}
}
}
public static void AddLane(Curve3DSampler l,
out List <Lane> added, out List <Lane> deleted)
{
// Variable has not been actually calculated until "ToList()" is called
var lane_intersections = from lane in allLanes
let intersections = lane.IntersectWith(l)
where intersections.Count > 0
select(lane, intersections);
if (lane_intersections.ToList().Count > 0)
{
Debug.Log("From " + allLanes.Count + " found # intersections: " + lane_intersections.ToList()[0].intersections.Count);
}
added = new List <Lane>();
deleted = new List <Lane>();
List <float> l_intersect_params = new List <float>();
// replacements
foreach (var lane_intersection in lane_intersections.ToList())
{
Lane old_lane;
List <Vector3> intersection;
(old_lane, intersection) = lane_intersection;
List <float> intersection_params = intersection.ConvertAll(input => old_lane.xz_curve.ParamOf(Algebra.toVector2(input)).Value);
List <Curve3DSampler> splitted = old_lane.MultiCut(intersection_params, old_lane.xz_curve.Length);
//remove old lanes & destroy objects.
old_lane.SetGameobjVisible(false);
allLanes.Remove(old_lane);
deleted.Add(old_lane);
//create replacements
var replaced_lanes = splitted.ConvertAll(sampler => new Lane(sampler));
added.AddRange(replaced_lanes);
//store intersection points on l
intersection.ForEach(input =>
l_intersect_params.Add(l.xz_curve.ParamOf(Algebra.toVector2(input)).Value));
}
// create new lane
List <Curve3DSampler> l_splitted = l.MultiCut(l_intersect_params, l.xz_curve.Length);
var new_lanes = l_splitted.ConvertAll(sampler => new Lane(sampler));
added.AddRange(new_lanes);
Debug.Log(new_lanes.Count + "newly added");
// Update record
allLanes.AddRange(added);
OnMapChanged?.Invoke(null, allLanes);
}
void onStoneOnCell(Cell c)
{
IEnumerable <IStoneTargetCell> res2 = map.OfType <IStoneTargetCell>().Where(x => x.IsFilled);
IStoneTargetCell[] res21 = res2.ToArray();
currentCellsCount = res21.Length;
if (currentCellsCount == targetCellsCount)
{
Victory();
}
OnMapChanged?.Invoke(currentCellsCount, targetCellsCount);
}
private void WebSocket_OnMessage(object sender, MessageEventArgs e)
{
byte[] data = e.RawData;
if (!e.IsBinary || data.Length == 0)
{
return;
}
if (data[0] == (byte)Opcode.PixelUpdate)
{
logger.LogDebug($"WebSocket_OnMessage(): got pixel update {DataToString(data)}");
MapChangedEventArgs args = new MapChangedEventArgs
{
DateTime = DateTime.Now,
Chunk = (data[1], data[2]),
Changes = new List <MapChange>()
};
for (int i = 3; i < data.Length; i += 4)
{
byte[] offsetBytes = new byte[] { data[i + 2], data[i + 1], data[i], 0 };
args.Changes.Add(new MapChange
{
Color = data[i + 3],
Offset = BitConverter.ToUInt32(offsetBytes, 0)
});
}
OnMapChanged?.Invoke(this, args);
}
else if (data[0] == (byte)Opcode.PixelReturn)
{
byte returnCode = data[1];
Array.Reverse(data, 2, 6);
PixelReturnData received = new PixelReturnData
{
ReturnCode = (ReturnCode)returnCode,
Wait = BitConverter.ToUInt32(data, 4),
CoolDownSeconds = BitConverter.ToInt16(data, 2)
};
pixelReturnData.Enqueue(received);
pixelReturnResetEvent.Set();
}
else if (!listeningMode && data[0] == (byte)Opcode.Cooldown)
{
Array.Reverse(data, 1, 4);
uint cooldown = BitConverter.ToUInt32(data, 1);
if (cooldown > 0U)
{
logger.LogInfo($"Current cooldown is {TimeSpan.FromMilliseconds(cooldown):mm\\:ss\\.f}");
}
}
}
public int GetTargetCellsCount()
{
int c = 0;
IEnumerable <IStoneTargetCell> res = map.OfType <IStoneTargetCell>();
IStoneTargetCell[] res1 = res.ToArray();
c = res1.Length;
targetCellsCount = c;
IEnumerable <IStoneTargetCell> res2 = res.Where(x => x.IsFilled);
IStoneTargetCell[] res21 = res2.ToArray();
currentCellsCount = res21.Length;
OnMapChanged?.Invoke(res21.Length, c);
return(c);
}
/// <summary>
/// 部屋をクリアしたとき
/// </summary>
void ClearRoom()
{
var aisles = _currentRoomView.Room.ConnectingAisles;
var mapPosition = new Point(_playerPosition.X * 2, _playerPosition.Y * 2);
//廊下を出す
foreach (var item in aisles)
{
switch (item.Key)
{
case AdjacentSides.North:
_mapData[mapPosition.Y - 1, mapPosition.X] |= (int)MinimapObject.Floor;
break;
case AdjacentSides.East:
_mapData[mapPosition.Y, mapPosition.X + 1] |= (int)MinimapObject.Floor;
break;
case AdjacentSides.South:
_mapData[mapPosition.Y + 1, mapPosition.X] |= (int)MinimapObject.Floor;
break;
case AdjacentSides.West:
_mapData[mapPosition.Y, mapPosition.X - 1] |= (int)MinimapObject.Floor;
break;
}
}
//階段があれば出す
if (_currentRoomView.Room.RoomAttribute == Room.RoomAttributes.Stair)
{
_mapData[mapPosition.Y, mapPosition.X] |= (int)MinimapObject.Stair;
}
OnMapChanged?.Invoke(_mapData);
}
// Start is called before the first frame update
void Start()
{
var settings = Resources.Load <MazeFloorSettings>(MazeFloorSettingsPath);
//0と偶数に部屋データ、それ以外に通路データを入れる
_mapData = new int[settings.Height * 2 - 1, settings.Width * 2 - 1];
//フロア破壊時マップを初期化
_messageReceiver.Receive <Katano.MazeSignal.FloorDestruct>()
.Subscribe((_) => Initialize())
.AddTo(this);
//フロアに入ったとき
_messageReceiver.Receive <Katano.MazeSignal.FloorStarted>()
.Subscribe((_) => {
EnterRoom();
ClearRoom();
})
.AddTo(this);
//部屋に入ったとき
_messageReceiver.Receive <RoomSignal.RoomStarted>()
.Subscribe((_) => EnterRoom())
.AddTo(this);
//部屋をクリアしたとき
_messageReceiver.Receive <RoomSignal.RoomCleared>()
.Subscribe((_) => ClearRoom())
.AddTo(this);
Initialize();
OnStarted?.Invoke();
OnMapChanged?.Invoke(_mapData);
Debug.Log("started system");
}
public override IEnumerator Localize()
{
ARCameraImageBytes image = null;
bool isHD = HWARHelper.TryGetCameraImageBytes(out image);
if (image != null && image.IsAvailable)
{
stats.localizationAttemptCount++;
Vector3 camPos = m_Cam.transform.position;
Quaternion camRot = m_Cam.transform.rotation;
byte[] pixels;
Vector4 intrinsics = isHD ? HWARHelper.GetIntrinsics() : HWARHelper.GetIntrinsics(image.Width, image.Height);
HWARHelper.GetPlaneData(out pixels, image);
image.Dispose();
Vector3 pos = Vector3.zero;
Quaternion rot = Quaternion.identity;
float startTime = Time.realtimeSinceStartup;
Task <int> t = Task.Run(() =>
{
return(Immersal.Core.LocalizeImage(out pos, out rot, image.Width, image.Height, ref intrinsics, pixels));
});
while (!t.IsCompleted)
{
yield return(null);
}
int mapId = t.Result;
if (mapId > 0 && ARSpace.mapIdToOffset.ContainsKey(mapId))
{
if (mapId != lastLocalizedMapId)
{
if (m_ResetOnMapChange)
{
foreach (KeyValuePair <Transform, SpaceContainer> item in ARSpace.transformToSpace)
{
item.Value.filter.ResetFiltering();
}
}
lastLocalizedMapId = mapId;
OnMapChanged?.Invoke(mapId);
}
HWARHelper.GetRotation(ref rot);
MapOffset mo = ARSpace.mapIdToOffset[mapId];
float elapsedTime = Time.realtimeSinceStartup - startTime;
Debug.Log(string.Format("Relocalised in {0} seconds", elapsedTime));
stats.localizationSuccessCount++;
Matrix4x4 offsetNoScale = Matrix4x4.TRS(mo.position, mo.rotation, Vector3.one);
Vector3 scaledPos = new Vector3
(
pos.x * mo.scale.x,
pos.y * mo.scale.y,
pos.z * mo.scale.z
);
Matrix4x4 cloudSpace = offsetNoScale * Matrix4x4.TRS(scaledPos, rot, Vector3.one);
Matrix4x4 trackerSpace = Matrix4x4.TRS(camPos, camRot, Vector3.one);
Matrix4x4 m = trackerSpace * (cloudSpace.inverse);
mo.space.filter.RefinePose(m);
LocalizerPose localizerPose;
GetLocalizerPose(out localizerPose, mapId, pos, rot, m.inverse);
OnPoseFound?.Invoke(localizerPose);
}
}
yield return(StartCoroutine(base.Localize()));
}
// The LoadMap function takes an URL and loads the map into GizmoSDK native db
public bool LoadMap(string mapURL)
{
NodeLock.WaitLockEdit(); // We assume we do all editing from main thread and to allow render we assume we edit in edit mode
try // We are now locked in edit
{
if (!ResetMap())
{
return(false);
}
var node = DbManager.LoadDB(mapURL);
if (node == null || !node.IsValid())
{
Message.Send(ID, MessageLevel.WARNING, $"Failed to load map {mapURL}");
return(false);
}
MapUrl = mapURL;
MapControl.SystemMap.NodeURL = mapURL;
MapControl.SystemMap.CurrentMap = node;
_native_scene.AddNode(MapControl.SystemMap.CurrentMap);
_native_scene.Debug();
_root = new GameObject("root");
GameObject scene = Traverse(MapControl.SystemMap.CurrentMap, null);
if (scene != null)
{
scene.transform.SetParent(_root.transform, false);
}
// As GizmoSDK has a flipped Z axis going out of the screen we need a top transform to flip Z
_root.transform.localScale = new Vector3(1, 1, -1);
//// Add example object under ROI --------------------------------------------------------------
//MapPos mapPos;
//GetMapPosition(new LatPos(1.0084718541, 0.24984267815, 300), out mapPos, GroundClampType.GROUND, true);
//_test = GameObject.CreatePrimitive(PrimitiveType.Sphere);
//_test.transform.parent = FindFirstGameObjectTransform(mapPos.roiNode);
//_test.transform.localPosition = mapPos.position.ToVector3();
//_test.transform.localScale = new Vector3(10, 10, 10);
if (SceneManagerCamera != null)
{
SceneManagerCamera.MapChanged();
}
OnMapChanged?.Invoke(node);
}
finally
{
NodeLock.UnLock();
}
return(true);
}
public static void RestoreLanes(List <Lane> toberestored)
{
toberestored.ForEach(lane => { lane.SetGameobjVisible(true); allLanes.Add(lane); });
OnMapChanged?.Invoke(null, allLanes);
}
public static void DeleteLanes(List <Lane> tobedeleted)
{
tobedeleted.ForEach(lane => { lane.SetGameobjVisible(false); allLanes.Remove(lane); });
OnMapChanged?.Invoke(null, allLanes);
}
public override async void Localize()
{
#if PLATFORM_LUMIN
XRCameraImage image;
#else
XRCpuImage image;
#endif
ARCameraManager cameraManager = m_Sdk.cameraManager;
var cameraSubsystem = cameraManager.subsystem;
#if PLATFORM_LUMIN
if (cameraSubsystem != null && cameraSubsystem.TryGetLatestImage(out image))
#else
if (cameraSubsystem != null && cameraSubsystem.TryAcquireLatestCpuImage(out image))
#endif
{
stats.localizationAttemptCount++;
Vector4 intrinsics;
Vector3 camPos = m_Cam.transform.position;
Quaternion camRot = m_Cam.transform.rotation;
ARHelper.GetIntrinsics(out intrinsics);
ARHelper.GetPlaneDataFast(ref m_PixelBuffer, image);
if (m_PixelBuffer != IntPtr.Zero)
{
Vector3 pos = Vector3.zero;
Quaternion rot = Quaternion.identity;
float startTime = Time.realtimeSinceStartup;
Task <int> t = Task.Run(() =>
{
return(Immersal.Core.LocalizeImage(out pos, out rot, image.width, image.height, ref intrinsics, m_PixelBuffer));
});
await t;
int mapHandle = t.Result;
float elapsedTime = Time.realtimeSinceStartup - startTime;
if (mapHandle >= 0 && ARSpace.mapHandleToOffset.ContainsKey(mapHandle))
{
Debug.Log(string.Format("Relocalized in {0} seconds", elapsedTime));
stats.localizationSuccessCount++;
if (mapHandle != lastLocalizedMapHandle)
{
if (resetOnMapChange)
{
Reset();
}
lastLocalizedMapHandle = mapHandle;
OnMapChanged?.Invoke(mapHandle);
}
ARHelper.GetRotation(ref rot);
MapOffset mo = ARSpace.mapHandleToMap.ContainsKey(mapHandle) ? ARSpace.mapHandleToOffset[mapHandle] : null;
if (mo == null)
{
return;
}
Matrix4x4 offsetNoScale = Matrix4x4.TRS(mo.position, mo.rotation, Vector3.one);
Vector3 scaledPos = new Vector3
(
pos.x * mo.scale.x,
pos.y * mo.scale.y,
pos.z * mo.scale.z
);
Matrix4x4 cloudSpace = offsetNoScale * Matrix4x4.TRS(scaledPos, rot, Vector3.one);
Matrix4x4 trackerSpace = Matrix4x4.TRS(camPos, camRot, Vector3.one);
Matrix4x4 m = trackerSpace * (cloudSpace.inverse);
if (useFiltering)
{
mo.space.filter.RefinePose(m);
}
else
{
ARSpace.UpdateSpace(mo.space, m.GetColumn(3), m.rotation);
}
LocalizerPose localizerPose;
GetLocalizerPose(out localizerPose, mapHandle, pos, rot, m.inverse);
OnPoseFound?.Invoke(localizerPose);
if (ARSpace.mapHandleToMap.ContainsKey(mapHandle))
{
ARMap map = ARSpace.mapHandleToMap[mapHandle];
map.NotifySuccessfulLocalization(mapHandle);
}
}
else
{
Debug.Log(string.Format("Localization attempt failed after {0} seconds", elapsedTime));
}
}
image.Dispose();
}
base.Localize();
}
public override async void LocalizeServer(SDKMapId[] mapIds)
{
#if PLATFORM_LUMIN
XRCameraImage image;
#else
XRCpuImage image;
#endif
ARCameraManager cameraManager = m_Sdk.cameraManager;
var cameraSubsystem = cameraManager.subsystem;
#if PLATFORM_LUMIN
if (cameraSubsystem.TryGetLatestImage(out image))
#else
if (cameraSubsystem.TryAcquireLatestCpuImage(out image))
#endif
{
stats.localizationAttemptCount++;
JobLocalizeServerAsync j = new JobLocalizeServerAsync();
byte[] pixels;
Camera cam = Camera.main;
Vector3 camPos = cam.transform.position;
Quaternion camRot = cam.transform.rotation;
Vector4 intrinsics;
int channels = 1;
int width = image.width;
int height = image.height;
ARHelper.GetIntrinsics(out intrinsics);
ARHelper.GetPlaneData(out pixels, image);
float startTime = Time.realtimeSinceStartup;
Task <(byte[], icvCaptureInfo)> t = Task.Run(() =>
{
byte[] capture = new byte[channels * width * height + 1024];
icvCaptureInfo info = Immersal.Core.CaptureImage(capture, capture.Length, pixels, width, height, channels);
Array.Resize(ref capture, info.captureSize);
return(capture, info);
});
await t;
j.image = t.Result.Item1;
j.position = camPos;
j.rotation = camRot;
j.intrinsics = intrinsics;
j.mapIds = mapIds;
j.OnResult += async(SDKLocalizeResult result) =>
{
float elapsedTime = Time.realtimeSinceStartup - startTime;
if (result.success)
{
Debug.Log("*************************** On-Server Localization Succeeded ***************************");
Debug.Log(string.Format("Relocalized in {0} seconds", elapsedTime));
int mapServerId = result.map;
if (mapServerId > 0 && ARSpace.mapHandleToOffset.ContainsKey(mapServerId))
{
if (mapServerId != lastLocalizedMapHandle)
{
if (resetOnMapChange)
{
Reset();
}
lastLocalizedMapHandle = mapServerId;
OnMapChanged?.Invoke(mapServerId);
}
MapOffset mo = ARSpace.mapHandleToOffset[mapServerId];
stats.localizationSuccessCount++;
Matrix4x4 responseMatrix = Matrix4x4.identity;
responseMatrix.m00 = result.r00; responseMatrix.m01 = result.r01; responseMatrix.m02 = result.r02; responseMatrix.m03 = result.px;
responseMatrix.m10 = result.r10; responseMatrix.m11 = result.r11; responseMatrix.m12 = result.r12; responseMatrix.m13 = result.py;
responseMatrix.m20 = result.r20; responseMatrix.m21 = result.r21; responseMatrix.m22 = result.r22; responseMatrix.m23 = result.pz;
Vector3 pos = responseMatrix.GetColumn(3);
Quaternion rot = responseMatrix.rotation;
ARHelper.GetRotation(ref rot);
Matrix4x4 offsetNoScale = Matrix4x4.TRS(mo.position, mo.rotation, Vector3.one);
Vector3 scaledPos = Vector3.Scale(pos, mo.scale);
Matrix4x4 cloudSpace = offsetNoScale * Matrix4x4.TRS(scaledPos, rot, Vector3.one);
Matrix4x4 trackerSpace = Matrix4x4.TRS(camPos, camRot, Vector3.one);
Matrix4x4 m = trackerSpace * (cloudSpace.inverse);
if (useFiltering)
{
mo.space.filter.RefinePose(m);
}
else
{
ARSpace.UpdateSpace(mo.space, m.GetColumn(3), m.rotation);
}
JobEcefAsync je = new JobEcefAsync();
je.id = mapServerId;
je.OnResult += (SDKEcefResult result2) =>
{
LocalizerPose localizerPose;
LocalizerBase.GetLocalizerPose(out localizerPose, mapServerId, pos, rot, m.inverse, result2.ecef);
OnPoseFound?.Invoke(localizerPose);
};
await je.RunJobAsync();
if (ARSpace.mapHandleToMap.ContainsKey(mapServerId))
{
ARMap map = ARSpace.mapHandleToMap[mapServerId];
map.NotifySuccessfulLocalization(mapServerId);
}
}
else
{
Debug.Log(string.Format("Localization attempt failed after {0} seconds", elapsedTime));
}
}
else
{
Debug.Log("*************************** On-Server Localization Failed ***************************");
}
};
await j.RunJobAsync();
image.Dispose();
}
base.LocalizeServer(mapIds);
}
