// Update loop that is used by continous executions such as raytracing with point cloud rendering. Deals with updating transform matrices, distance culling and point cloud updating, all at a user-defined frame rate
private IEnumerator RaytracingCoroutine(OptixPointCloud optixPointCloud)
{
Debug.Log("Started RaytracingCoroutine");
while (isRaytracing)
{
if (!CheckOptixSensorComponentDirty())
{
CheckOptixSensorTransformDirty();
}
CheckEnabledStatusChanged();
CheckMatrixChanged();
if (sceneChanged)
{
Debug.Log(this.name + " detected scene change");
sceneChanged = false;
FireSensorAndUpdatePointCloud(optixPointCloud);
}
if (_optixTargetFPS == 0) // Prevents dividing by 0 error
{
yield return(null);
}
else
{
yield return(new WaitForSeconds(1 / _optixTargetFPS));
}
}
}
private unsafe void FireSensorAndUpdatePointCloud(OptixPointCloud optixPointCloud)
{
Vector3 *returnHitPositions;
int returnHitPositionCount;
using (OptixLibraryInterface.SensorFireAndReturnHitPositions(out returnHitPositions, out returnHitPositionCount))
{
optixPointCloud.UpdatePositions(returnHitPositions, returnHitPositionCount);
}
}
private void Start()
{
// Cache all Optix Sensors in the scene
sensors = FindObjectsOfType <OptixSensor>();
optixController = gameObject.AddComponent <OptixController>();
optixController.Init(optixTargetFPS, optixTargetLayerMask, optixTargetTag, optixOrigin, optixMaxDistanceFromOrigin);
optixPointCloud = gameObject.AddComponent <OptixPointCloud>();
optixPointCloud.Init(instanceMesh, instanceMaterial, pointCloudPointColour, pointCloudPointSize);
sensorTriggerButton.onClick.AddListener(ButtonClick);
}
/// <summary>
/// Renders the hit positions from single/multiple optix sensors into a point cloud. Runs continually until stopped by EndRaytracing().
/// </summary>
public void RenderPointCloudFromSensorsContinuous(OptixSensor[] optixSensors, OptixPointCloud optixPointCloud)
{
this.optixSensors = optixSensors;
OptixLibraryInterface.SetAllSensorsFromUnity(optixSensors.Length, GetBaseValuesFromSensors(optixSensors));
if (isRaytracing)
{
Debug.LogWarning("Attempting to start raytracing even though it is already executing.");
return;
}
if (optixSensors == null)
{
Debug.LogWarning("Cannot have optixSensors set to null. Cancelling raytracing.");
return;
}
isRaytracing = true;
StartCoroutine(RaytracingCoroutine(optixPointCloud));
}