/// <summary>
/// Query distance between boundary and point
/// </summary>
/// <param name="point">point</param>
/// <returns>
/// Distance > 0.0, Inside the Boundary
/// Distance = 0.0, On the Boundary
/// Distance < 0.0, Outside the Boundary
/// -1 : Error
/// </returns>
public double QueryDistanceOfPoint(Vector3 point, bool isPlayArea, ref Vector3 closestPoint, ref Vector3 normalDir)
{
//point.Set(point.x * 1000, point.y * 1000, point.z * 1000); // m -> mm
//IntPtr pointPtr = Pvr_BoundaryAPI.StructToIntPtr<Vector3>(point);
//double distance = Pvr_SafeAreaAlgoAPI.Pvr_GSABoundaryDetector(pointPtr);
//Marshal.FreeHGlobal(pointPtr);
Pvr_SafeAreaAlgoAPI.GSAPoint3i point3i = new Pvr_SafeAreaAlgoAPI.GSAPoint3i();
point3i.x = (int)(point.x * 1000);
point3i.y = (int)(point.y * 1000);
point3i.z = (int)(point.z * 1000);
Pvr_SafeAreaAlgoAPI.GSAPoint3i closestPoint3i = new Pvr_SafeAreaAlgoAPI.GSAPoint3i();
Pvr_SafeAreaAlgoAPI.GSAPoint3i normalDir3i = new Pvr_SafeAreaAlgoAPI.GSAPoint3i();
double distance = Pvr_SafeAreaAlgoAPI.Pvr_GSABoundaryDetector2(ref point3i, isPlayArea, ref closestPoint3i, ref normalDir3i);
closestPoint.x = closestPoint3i.x / 1000.0f;
closestPoint.y = closestPoint3i.y / 1000.0f;
closestPoint.z = closestPoint3i.z / 1000.0f;
normalDir.x = normalDir3i.x / 1000.0f;
normalDir.y = normalDir3i.y / 1000.0f;
normalDir.z = normalDir3i.z / 1000.0f;
return(distance / 1000.0f); // mm -> m
}
/// <summary>
/// Commit new line
/// </summary>
/// <param name="isFistLine">init or reset</param>
/// <param name="points">point set</param>
/// <returns></returns>
public bool CommitNewLineData(bool isFistLine, Vector3[] points)
{
Pvr_SafeAreaAlgoAPI.GSALineCollection lineCollection = new Pvr_SafeAreaAlgoAPI.GSALineCollection();
lineCollection.lineCount = 2;
Pvr_SafeAreaAlgoAPI.GSALine[] lineArray = new Pvr_SafeAreaAlgoAPI.GSALine[2];
if (isFistLine)
{
lineArray[0].pointArray = IntPtr.Zero;
lineArray[0].pointCount = 0;
}
else
{
Pvr_SafeAreaAlgoAPI.GSAPoint3i[] tPoint = new Pvr_SafeAreaAlgoAPI.GSAPoint3i[1];
tPoint[0] = new Pvr_SafeAreaAlgoAPI.GSAPoint3i()
{
x = 0, y = 0, z = 0
};
lineArray[0].pointArray = Marshal.UnsafeAddrOfPinnedArrayElement(tPoint, 0); // unsafe
lineArray[0].pointCount = 1;
}
Pvr_SafeAreaAlgoAPI.GSAPoint3i[] pointArray = new Pvr_SafeAreaAlgoAPI.GSAPoint3i[points.Length];
for (int i = 0; i < points.Length; i++)
{
Pvr_SafeAreaAlgoAPI.GSAPoint3i newPoint = new Pvr_SafeAreaAlgoAPI.GSAPoint3i();
newPoint.x = (int)(points[i].x * 1000);
newPoint.y = (int)(points[i].y * 1000);
newPoint.z = (int)(points[i].z * 1000);
pointArray[i] = newPoint;
}
lineArray[1].pointArray = Marshal.UnsafeAddrOfPinnedArrayElement(pointArray, 0); // unsafe
lineArray[1].pointCount = pointArray.Length;
lineCollection.lineArray = Marshal.UnsafeAddrOfPinnedArrayElement(lineArray, 0);
IntPtr collectionPtr = Pvr_BoundaryAPI.StructToIntPtr <Pvr_SafeAreaAlgoAPI.GSALineCollection>(lineCollection);
int ret = Pvr_SafeAreaAlgoAPI.Pvr_GSAUpDateData(collectionPtr);
Marshal.FreeHGlobal(collectionPtr);
if (ret != 0)
{
Debug.LogError("BoundarySystem commit new line data failed!");
return(false);
}
return(true);
}
/// <summary>
/// Shutdown BoundarySystem Algo
/// </summary>
/// <returns></returns>
public bool Shutdown()
{
int ret = Pvr_SafeAreaAlgoAPI.Pvr_GSAShutDown();
if (ret != 0)
{
Debug.LogError("BoundarySystem shutdown failed!");
return(false);
}
return(true);
}
/// <summary>
/// Query distance between boundary and point
/// </summary>
/// <param name="point">point</param>
/// <returns>
/// Distance > 0.0, Inside the Boundary
/// Distance = 0.0, On the Boundary
/// Distance < 0.0, Outside the Boundary
/// -1 : Error
/// </returns>
public double QueryDistanceOfPoint(Vector3 point)
{
//point.Set(point.x * 1000, point.y * 1000, point.z * 1000); // m -> mm
//IntPtr pointPtr = Pvr_BoundaryAPI.StructToIntPtr<Vector3>(point);
//double distance = Pvr_SafeAreaAlgoAPI.Pvr_GSABoundaryDetector(pointPtr);
//Marshal.FreeHGlobal(pointPtr);
Pvr_SafeAreaAlgoAPI.GSAPoint3i point3i = new Pvr_SafeAreaAlgoAPI.GSAPoint3i();
point3i.x = (int)(point.x * 1000);
point3i.y = (int)(point.y * 1000);
point3i.z = (int)(point.z * 1000);
double distance = Pvr_SafeAreaAlgoAPI.Pvr_GSABoundaryDetector(ref point3i);
return(distance / 1000.0f); // mm -> m
}
/// <summary>
/// Start BoundarySystem Algo
/// </summary>
/// <param name="callback"></param>
/// <returns></returns>
public bool Start()
{
// First:Register callback
int ret1 = Pvr_SafeAreaAlgoAPI.Pvr_GSASetCallback(_SafeAreaCallback);
int ret2 = Pvr_SafeAreaAlgoAPI.Pvr_GSASetCallbackShrink(_SafeAreaCallbackShrink);
if (ret1 != 0 || ret2 != 0)
{
Debug.LogError("BoundarySystem register callback failed!");
return(false);
}
// Second:Init Boundary System,using 300cm * 300cm
int ret = Pvr_SafeAreaAlgoAPI.Pvr_GSAInit(300, 300);
if (ret != 0)
{
Debug.LogError("BoundarySystem init failed!");
return(false);
}
return(true);
}
