protected override async Task OnDiscoverCoordinatesAsync(CancellationToken cancellationToken, int[] idsToLocate)
{
DebugLog($"OnDiscoverCoordinateAsync, CanBeCanceled:{cancellationToken.CanBeCanceled}, IsCancellationRequested:{cancellationToken.IsCancellationRequested}");
if (idsToLocate == null || idsToLocate.Length < 1)
{
UnityEngine.Debug.LogError($"{nameof(MarkerVisualCoordinateService)} depends on ids so that it could visualize them, at least one should be provided.");
return;
}
DebugLog($"Creating spatial coordinate {idsToLocate[0]}");
SpatialCoordinate markerCoordinate = new SpatialCoordinate(idsToLocate[0], markerVisual);
OnNewCoordinate(markerCoordinate.Id, markerCoordinate);
DebugLog($"Showing marker");
markerCoordinate.ShowMarker();
DebugLog($"Waiting for cancellation token: CanBeCanceled:{cancellationToken.CanBeCanceled}, IsCancellationRequested:{cancellationToken.IsCancellationRequested}");
await Task.WhenAny(Task.Delay(-1, cancellationToken));
markerCoordinate.WorldToCoordinate = cameraTransform.localToWorldMatrix * cameraToMarker;
DebugLog($"Hiding marker");
markerCoordinate.HideMarker();
}
/// <inheritdoc />
public override async Task <ISpatialCoordinate> LocalizeAsync(CancellationToken cancellationToken)
{
localizer.DebugLog("Getting host coordinate");
ISpatialCoordinate spatialCoordinate = null;
using (var cancellableCTS = CancellationTokenSource.CreateLinkedTokenSource(defaultCancellationToken, cancellationToken))
{
await coordinateService.TryDiscoverCoordinatesAsync(cancellationToken, new int[] { settings.TopMarkerID, settings.MiddleMarkerID, settings.BottomMarkerID });
if (!coordinateService.TryGetKnownCoordinate(settings.TopMarkerID, out ISpatialCoordinate topSpatialCoordinate) ||
!coordinateService.TryGetKnownCoordinate(settings.MiddleMarkerID, out ISpatialCoordinate middleSpatialCoordinate) ||
!coordinateService.TryGetKnownCoordinate(settings.BottomMarkerID, out ISpatialCoordinate bottomSpatialCoordinate))
{
Debug.LogError("Unexpected failure to discover a marker coordinate");
}
else
{
var topPosition = topSpatialCoordinate.CoordinateToWorldSpace(Vector3.zero);
var middlePosition = middleSpatialCoordinate.CoordinateToWorldSpace(Vector3.zero);
var bottomPosition = bottomSpatialCoordinate.CoordinateToWorldSpace(Vector3.zero);
// Find the point that is at the T intersection of the three markers by projecting the middle marker
// onto the top-bottom line segment
var markerIntersection = bottomPosition + Vector3.Project(middlePosition - bottomPosition, topPosition - bottomPosition);
// Create a stable rotation for the overall marker using the plane formed by the three
// individual markers. The order of points passed to the Plane constructor is important to
// ensure the normal direction is the correct direction to create the quaternion.
var markerPlane = new Plane(topPosition, middlePosition, bottomPosition);
var markerRotation = Quaternion.LookRotation(markerPlane.normal, bottomPosition - topPosition);
spatialCoordinate = new SpatialCoordinate(markerIntersection, markerRotation);
}
}
return(spatialCoordinate);
}
