private IEnumerator CoroutineSpawnDespawnChildren(float interval)
{
while (true)
{
ItemData[] list = itemTree.GetNearby(Camera.main.transform.position, visibleDistance);
foreach (KeyValuePair <string, ItemData> kv in itemDictionary)
{
ItemData item = kv.Value;
Transform childTransform = transform.Find(item.Key);
bool isNearby = list.Contains(item);
if (isNearby && childTransform == null)
{
CreateChild(item);
}
else if (isNearby && childTransform != null)
{
SetChild(item);
}
else
{
RemoveChild(item);
}
}
yield return(new WaitForSeconds(interval));
}
}
//get markers
public bool GetMarkers(Vector3 head, ref Vector3 A, ref Vector3 B)
{
WatchData [] markers = pointTree.GetNearby(new Vector3(head.x, head.y, head.z), 1); //4 meters around head
if (markers.Length > 0)
{
A = markers[0].position;
B = markers[0].position;
return(true);
}
return(false);
}
void postRender(Camera cam)
{
List <PCLPoint> bodyPoints = KinectPCL.instance.bodyPoints;
PointOctree <PCLPoint> po = KinectPCL.instance.bodyTree;
if (po.Count == 0 || po.Count == KinectPCL.instance.numPoints)
{
return;
}
if (!processLines)
{
return;
}
GL.Begin(GL.LINES);
lineMat.SetPass(0);
foreach (PCLPoint p in bodyPoints)
{
Ray r = new Ray(p.position, Vector3.forward);
PCLPoint[] np = po.GetNearby(r, maxDistance);
foreach (PCLPoint npp in np)
{
if (npp.position.x < p.position.x || Vector3.Distance(npp.position, p.position) > maxDistance)
{
continue;
}
if (drawLines)
{
float dist = Vector3.Distance(npp.position, p.position);
float targetAlpha = alphaDecay.Evaluate(dist / maxDistance);
GL.Color(Color.Lerp(nearColor, farColor, targetAlpha));
GL.TexCoord(new Vector3(Time.time * targetAlpha, 0, 0));
GL.Vertex(npp.position);
GL.TexCoord(new Vector3(Time.time * targetAlpha + 1, 0, 0));
GL.Vertex(p.position);
}
}
}
GL.End();
}
public static void GetCsvData(this StopLine stopLine,
PointOctree <CsvLane> finalLanes,
out List <CsvPoint> csvPoints,
out List <CsvLine> csvLines,
out List <CsvVector> csvVectors,
out List <CsvSignalLight> csvSignalLights,
out List <CsvStopLine> csvStopLines)
{
csvPoints = new List <CsvPoint>();
csvLines = new List <CsvLine>();
csvStopLines = new List <CsvStopLine>();
var csvSLPoints = new List <CsvPoint>();
csvVectors = new List <CsvVector>();
csvSignalLights = new List <CsvSignalLight>();
for (int i = 0; i < stopLine.Count; i++)
{
var csvPoint = new CsvPoint()
{
Position = stopLine.LineRenderer.GetPosition(i)
};
csvPoints.Add(csvPoint);
if (i > 0)
{
var csvLine = new CsvLine()
{
PointBegin = csvPoints[i - 1], PointFinal = csvPoint
};
if (i > 1)
{
csvLine.LineLast = csvLines.Last();
}
csvLines.Add(csvLine);
var signalLight = stopLine.signalLights[i - 1];
var csvSLPoint = new CsvPoint()
{
Position = signalLight.transform.position
};
csvSLPoints.Add(csvSLPoint);
var csvVector = new CsvVector()
{
Point = csvSLPoint, Rotation = signalLight.transform.rotation
};
csvVectors.Add(csvVector);
var csvSignalLight = new CsvSignalLight()
{
Vector = csvVector
};
csvSignalLights.Add(csvSignalLight);
var midPoint = (csvLine.PointBegin.Position + csvLine.PointFinal.Position) / 2;
var csvStopLine = new CsvStopLine()
{
Line = csvLine,
SignalLight = csvSignalLight,
Lane = finalLanes
.GetNearby(midPoint, Vector3.Distance(csvLine.PointBegin.Position, csvLine.PointFinal.Position))
?.OrderBy(_ => Vector3.Distance(_.FinalNode.Point.Position, midPoint))?
.FirstOrDefault()
};
csvStopLines.Add(csvStopLine);
}
}
csvPoints.AddRange(csvSLPoints);
}
void postRender(Camera cam)
{
//if (cam != Camera.main) return;
if (autoBodyOnly)
{
bodyOnly = KinectPCLK1.instance.bodyPoints.Count > 10;
realBodyOnly = bodyOnly;
}
List <PCLPoint> tPoints = bodyOnly ? KinectPCLK1.instance.bodyPoints : KinectPCLK1.instance.roiPoints;
PointOctree <PCLPoint> po = bodyOnly ? KinectPCLK1.instance.bodyTree : KinectPCLK1.instance.roiTree;
if (po.Count == 0 || (bodyOnly && po.Count == KinectPCLK1.instance.numPoints))
{
return;
}
if (!processLines)
{
return;
}
lineMat.SetPass(0);
foreach (PCLPoint p in tPoints)
{
if (!p.isInROI)
{
continue;
}
Ray r = new Ray(p.position, Vector3.forward);
PCLPoint[] np = po.GetNearby(r, maxDistance);
foreach (PCLPoint npp in np)
{
if (npp.position.x < p.position.x || Vector3.Distance(npp.position, p.position) > maxDistance)
{
continue;
}
if (drawLines)
{
float dist = Vector3.Distance(npp.position, p.position);
float targetAlpha = alphaDecay.Evaluate(dist / maxDistance);
GL.Begin(GL.LINES);
GL.Color(Color.Lerp(nearColor, farColor, targetAlpha));
GL.TexCoord(Vector3.zero);
GL.TexCoord(new Vector3(Time.time * texSpeed * targetAlpha, 0, 0));
GL.Vertex(npp.position);
GL.TexCoord(Vector3.one);
GL.TexCoord(new Vector3(Time.time * texSpeed * targetAlpha + 1, 0, 0));
GL.Vertex(p.position);
GL.End();
}
}
}
// GL.End();
}
/// <summary>
/// Runs current tracked object data through Octree.
/// </summary>
private TrackedObjectStates evaluateOctree(OctreeThreadParameters otp)
{
int alloc = WorldMonitor.Instance.AllocationSpace;
updatePositions = new Vector3[alloc]; // otp.ObjectIDs.Count
float[] thresholds = new float[alloc]; // otp.ObjectIDs.Count
//for (int i = 0; i < otp.ObjectIDs.Count; i++)
foreach (int id in otp.ObjectIDs)
{
KeyValuePair <float, Vector3> pos;
if (!otp.Coordinates.TryGetValue(id, out pos))
{
Debug.LogError("unknown object position request in octree eval");
}
thresholds[id] = pos.Key;
updatePositions[id] = pos.Value;
PointOctree.Remove(id);
PointOctree.Add(id, pos.Value);
}
List <int[]> enteringIDs = new List <int[]>();
List <int[]> leavingIDs = new List <int[]>();
List <int> parentIDLeavers = new List <int>();
List <int> parentIDEnterers = new List <int>();
int ind = 0;
foreach (int id in otp.ObjectIDs)
{
List <int> validConflicts = new List <int>();
List <int> stayers = new List <int>();
int[] areaObjects = PointOctree.GetNearby(updatePositions[id], thresholds[id]);
for (int j = 0; j < areaObjects.Length; j++)
{
string affiliateObj = WorldMonitor.Instance.TrackedObjectAffiliations[id];
string affiliateCompare = WorldMonitor.Instance.TrackedObjectAffiliations[areaObjects[j]];
/*
* run conflict validity checks: if not the same object && not an object of the same class type && is a new conflict
*/
if (areaObjects[j] != id && !MasterList[id].Contains(areaObjects[j]) && string.Compare(affiliateObj, affiliateCompare) != 0)
{
if (!parentIDEnterers.Contains(id))
{
parentIDEnterers.Add(id);
}
MasterList[id].Add(areaObjects[j]); // add conflicting object to master list of current conflicts
validConflicts.Add(areaObjects[j]); // *new* conflicts
stayers.Add(areaObjects[j]); // use to look for conflicts that have ended
}
else if (MasterList[id].Contains(areaObjects[j]))
{
stayers.Add(areaObjects[j]); // this is an object staying in conflict
}
}
bool leaverDetected = false;
List <int> leavers = new List <int>();
foreach (int _id in MasterList[id]) // look at master list's record of conflicts for this parent ID - if it isn't in stayers, it has left the conflict area or been destroyed
{
if (!stayers.Contains(_id))
{
leaverDetected = true;
leavers.Add(_id);
}
switch (WorldMonitor.Instance.ConflictEndMode)
{
case ConflictEndMode.OnAllConflictsEnded:
if (leavers.Count == MasterList[id].Count)
{
parentIDLeavers.Add(id);
}
break;
case ConflictEndMode.OnIndividualConflictEnded:
if (leaverDetected && !parentIDEnterers.Contains(id) && !parentIDLeavers.Contains(id))
{
parentIDLeavers.Add(id);
}
break;
}
}
foreach (int leaver in leavers)
{
MasterList[id].Remove(leaver);
}
int numValid = leavers.ToArray().Length;
if (numValid > 0)
{
leavingIDs.Add(leavers.ToArray());
}
numValid = validConflicts.ToArray().Length;
if (numValid > 0)
{
enteringIDs.Add(validConflicts.ToArray());
}
ind++;
}
return(new TrackedObjectStates
{
ParentIDEnterers = parentIDEnterers.ToArray(), // parent IDs of new or increased conflict states
ParentIDLeavers = parentIDLeavers.ToArray(), // parent IDs of expired or reduced conflict states
LeavingIDs = leavingIDs, // child IDs - ended conflict(s)
EnteringIDs = enteringIDs, // child IDs - the conflict(s)
PriorConflictingIDs = parentIDLeavers // parent IDs that need informed all conflicts have ceased
});
}