private void CheckAlignment(IAlignmentManager alignMgr, Pose virtualPose, Pose lockedPose)
{
WorldLockingManager mgr = WorldLockingManager.GetInstance();
alignMgr.ComputePinnedPose(new Pose(lockedPose.position, Quaternion.identity));
Pose pinnedFromLocked = alignMgr.PinnedFromLocked;
Pose frozenFromLocked = mgr.FrozenFromPinned.Multiply(pinnedFromLocked);
Pose lockedFromFrozen = frozenFromLocked.Inverse();
Pose computedLocked = lockedFromFrozen.Multiply(virtualPose);
bool areEqualPositions = computedLocked.position == lockedPose.position;
Assert.IsTrue(areEqualPositions, $"clp={computedLocked.position.ToString("F3")}"
+ $" lpp={lockedPose.position.ToString("F3")}"
+ $" vpp={virtualPose.position.ToString("F3")}"
+ $" FfP={mgr.FrozenFromPinned.position.ToString("F3")}"
+ $" PfL={pinnedFromLocked.position.ToString("F3")}"
);
bool areEqualRotatons = computedLocked.rotation == lockedPose.rotation;
Assert.IsTrue(areEqualRotatons, $"clr={computedLocked.rotation.ToString("F3")}"
+ $"lpr={lockedPose.rotation.ToString("F3")}"
+ $" FfP={mgr.FrozenFromPinned.position.ToString("F3")}"
+ $" PfL={pinnedFromLocked.position.ToString("F3")}"
);
}
private void VerifyAlignmentIdentity(IAlignmentManager alignMgr, PinData[] pinData)
{
for (int i = 0; i < pinData.Length; ++i)
{
alignMgr.ComputePinnedPose(new Pose(pinData[i].lockedPose.position, Quaternion.identity));
Pose pinnedFromLocked = alignMgr.PinnedFromLocked;
bool isIdentityPosition = pinnedFromLocked.position == Vector3.zero;
Assert.IsTrue(isIdentityPosition);
bool isIdentityRotation = pinnedFromLocked.rotation == Quaternion.identity;
Assert.IsTrue(isIdentityRotation);
}
}
private void CheckAlignment(IAlignmentManager alignMgr, Vector3 virtualPos, Vector3 lockedPos)
{
WorldLockingManager mgr = WorldLockingManager.GetInstance();
alignMgr.ComputePinnedPose(new Pose(lockedPos, Quaternion.identity));
Pose pinnedFromLocked = alignMgr.PinnedFromLocked;
Pose frozenFromLocked = mgr.FrozenFromPinned.Multiply(pinnedFromLocked);
Pose lockedFromFrozen = frozenFromLocked.Inverse();
Vector3 computedLocked = lockedFromFrozen.Multiply(virtualPos);
bool areEqual = computedLocked == lockedPos;
Assert.IsTrue(areEqual, $"c={computedLocked.ToString("F3")} l={lockedPos.ToString("F3")}");
}
public IEnumerator SaveLoadTestSpacePinOrientable()
{
GameObject rig = loadHelper.LoadBasicSceneRig();
GameObject[] gos = new GameObject[pinData.Length];
SpacePinOrientable[] spos = new SpacePinOrientable[pinData.Length];
Quaternion rotThirty = Quaternion.AngleAxis(30.0f, new Vector3(0.0f, 1.0f, 0.0f));
GameObject orienterGO = new GameObject("Orienter");
IOrienter orienter = orienterGO.AddComponent <Orienter>();
for (int i = 0; i < pinData.Length; ++i)
{
gos[i] = new GameObject("GOs_" + i.ToString());
spos[i] = gos[i].AddComponent <SpacePinOrientable>();
spos[i].Orienter = orienter;
}
/// Wait for their Start's to be called.
yield return(null);
for (int i = 0; i < spos.Length; ++i)
{
spos[i].transform.SetGlobalPose(pinData[i].virtualPose);
spos[i].ResetModelingPose();
Vector3 rotPosition = rotThirty * pinData[i].virtualPose.position;
spos[i].SetFrozenPosition(rotPosition);
}
yield return(null);
IAlignmentManager alignMgr = WorldLockingManager.GetInstance().AlignmentManager;
/// This is an arbitrary position, not actually one of the pinned positions currently.
alignMgr.ComputePinnedPose(new Pose(pinData[0].lockedPose.position, Quaternion.identity));
Quaternion rot = Quaternion.Inverse(alignMgr.PinnedFromLocked.rotation);
bool isThirty = rot == rotThirty;
Assert.IsTrue(isThirty);
GameObject.Destroy(rig);
yield return(null);
}
/// <summary>
/// Update is called by the update proxy.
/// </summary>
private void Update()
{
ErrorStatus = "";
if (hasPendingLoadTask)
{
ErrorStatus = "pending background load task";
return;
}
if (AdjustmentFrame == null)
{
Debug.Log("No WLM update because no adjustment frame set");
ErrorStatus = "no adjustment frame";
return;
}
// AnchorManager.Update takes care of creating anchors&edges and feeding the up-to-date state
// into the FrozenWorld engine
bool hasSpongyAnchors = AnchorManager.Update();
//#if UNITY_WSA
if (!hasSpongyAnchors)
{
// IFragmentManager.Pause() will set all fragments to disconnected.
ErrorStatus = AnchorManager.ErrorStatus;
FragmentManager.Pause();
return;
}
//#endif // UNITY_WSA
try
{
DiagnosticRecordings.Update();
}
catch (Exception exception)
{
Debug.LogErrorFormat("Error writing WorldLocking diagnostics record: {0}", exception);
}
// The basic output from the FrozenWorld engine (current fragment and its alignment)
// are applied to the unity scene
FragmentManager.Update(AutoRefreeze, AutoMerge);
/// The following assumes a camera hierarchy like this:
/// Nodes_A => AdjustmentFrame => Nodes_B => camera
/// The cumulative effect of Nodes_B is to transform from Spongy space to playspace.
/// Spongy space is the space that the camera moves about in, and is the space that
/// coordinates coming from scene agnostic APIs like XR are in.
/// (Note the MRTK APIs are in Unity's global space, not Spongy space.
/// The internal structure of that graph is inconsequential here, the only dependency
/// is on the cumulative transform, PlayspaceFromSpongy.
/// Likewise, the cumulative effect of Nodes_A is to transform from alignment space (described below)
/// to Unity's global space, referred to here as FrozenSpace.
/// The AdjustmentFrame's transform is composed of two transforms.
/// The first comes from the FrozenWorld engine DLL as the inverse of Plugin.GetAlignment(),
/// and transforms from Playspace to the base stable world locked space, labeled as
/// LockedFromPlayspace.
/// The second transforms from this stable but arbitrary space to a space locked
/// to a finite set of real world markers. This transform is labeled PinnedFromLocked.
/// The transform chain equivalent of the above camera hierarchy is:
/// FrozenFromPinned * [PinnedFromLocked * LockedFromPlayspace] * PlayspaceFromSpongy * SpongyFromCamera
///
/// FrozenFromSpongy and its inverse are useful for converting between the coordinates of scene agnostic APIs (e.g. XR)
/// and Frozen coordinates, i.e. Unity's global space.
/// FrozenFromLocked is convenient for converting between the "frozen" coordinates of the FrozenWorld engine DLL
/// and Unity's global space, i.e. Frozen coordinate.
if (Enabled)
{
Pose playspaceFromLocked = Plugin.GetAlignment();
LockedFromPlayspace = playspaceFromLocked.Inverse();
SpongyFromCamera = Plugin.GetSpongyHead();
Pose lockedHeadPose = LockedFromPlayspace.Multiply(PlayspaceFromSpongy.Multiply(SpongyFromCamera));
alignmentManager.ComputePinnedPose(lockedHeadPose);
PinnedFromLocked = alignmentManager.PinnedFromLocked;
}
else
{
SpongyFromCamera = Camera.main.transform.GetLocalPose();
/// Note leave adjustment and pinning transforms alone, to facilitate
/// comparison of behavior when toggling FW enabled.
}
AdjustmentFrame.SetLocalPose(PinnedFromLocked.Multiply(LockedFromPlayspace));
#if false && WLT_ARSUBSYSTEMS_PRESENT
if ((AdjustmentFrame.GetGlobalPose().position != Vector3.zero) || (AdjustmentFrame.GetGlobalPose().rotation != Quaternion.identity))
{
Debug.Log($"WLT: Adj{AnchorManagerXR.DebugVector3("O=", AdjustmentFrame.GetGlobalPose().position)}, {AnchorManagerXR.DebugEuler("R=", AdjustmentFrame.GetGlobalPose().rotation.eulerAngles)}");
}
#endif // WLT_ARSUBSYSTEMS_PRESENT
AutoSaveTriggerHook();
}
