/// <summary>
/// Creates an instance of <see cref="ReconstructionOnlyEnvironmentReset"/> class.
/// </summary>
/// <param name="metaReconstruction">Object that manages the environment reconstruction.</param>
public ReconstructionOnlyEnvironmentReset(IMetaReconstruction metaReconstruction)
{
if (metaReconstruction == null)
{
throw new ArgumentNullException("metaReconstruction");
}
_metaReconstruction = metaReconstruction;
}
/// <summary>
/// Starts the environment reconstruction scanning process.
/// </summary>
/// <param name="metaReconstruction">Object that manages the environment reconstruction.</param>
public void StartScanning(IMetaReconstruction metaReconstruction)
{
if (metaReconstruction == null)
{
throw new ArgumentNullException("metaReconstruction");
}
_metaReconstruction = metaReconstruction;
Initialize();
}
private IEnvironmentInitializer CreateRelocalizationInactiveInitializer(bool surfaceReconstructionActive)
{
if (!surfaceReconstructionActive)
{
return(CreateDefaultInitializer());
}
IMetaReconstruction metaReconstruction = _metaContext.Get <IMetaReconstruction>();
IEnvironmentInitialization initialization = new ReconstructionOnlyEnvironmentInitialization(_slamLocalizer, metaReconstruction, _environmentScanControllerPrefab);
IEnvironmentReset environmentReset = new ReconstructionOnlyEnvironmentReset(metaReconstruction);
return(new EnvironmentInitializer(initialization, environmentReset, _metaLocalization));
}
/// <summary>
/// Creates an instance of <see cref="EnvironmentReconstructionSaverStep"/> class.
/// </summary>
/// <param name="metaReconstruction">Object that manages the environment reconstruction.</param>
/// <param name="environmentProfileRepository">Repository to access to the environment profiles.</param>
public EnvironmentReconstructionSaverStep(IMetaReconstruction metaReconstruction, IEnvironmentProfileRepository environmentProfileRepository)
{
if (metaReconstruction == null)
{
throw new ArgumentNullException("metaReconstruction");
}
if (environmentProfileRepository == null)
{
throw new ArgumentNullException("environmentProfileRepository");
}
_environmentProfileRepository = environmentProfileRepository;
_metaReconstruction = metaReconstruction;
}
/// <summary>
/// Creates an instance of <see cref="EnvironmentReconstructionInitializerStep"/> class.
/// </summary>
/// <param name="scanSelectorProxy">Accessor to the the environment reconstruction scanning process.</param>
/// <param name="metaReconstruction">Object that manages the environment reconstruction.</param>
public EnvironmentReconstructionInitializerStep(IMonoBehaviourProxy <BaseEnvironmentScanController> scanSelectorProxy, IMetaReconstruction metaReconstruction)
{
if (scanSelectorProxy == null)
{
throw new ArgumentNullException("scanSelectorProxy");
}
if (metaReconstruction == null)
{
throw new ArgumentNullException("metaReconstruction");
}
_metaReconstruction = metaReconstruction;
_scanSelectorProxy = scanSelectorProxy;
}
/// <summary>
/// Creates an instance of <see cref="DefaultEnvironmentReset"/> class.
/// </summary>
/// <param name="environmentProfileRepository">Repository to access to the environment profiles.</param>
/// <param name="metaReconstruction">Object that manages the environment reconstruction.</param>
public DefaultEnvironmentReset(IEnvironmentProfileRepository environmentProfileRepository, IMetaReconstruction metaReconstruction)
{
if (environmentProfileRepository == null)
{
throw new ArgumentNullException("environmentProfileRepository");
}
if (metaReconstruction == null)
{
throw new ArgumentNullException("metaReconstruction");
}
_environmentProfileRepository = environmentProfileRepository;
_metaReconstruction = metaReconstruction;
}
private void FixMetaReconstructionPrefab(EnvironmentConfiguration environmentConfiguration, Transform previousMetaReconstructionPrefab)
{
if (!Application.isPlaying)
{
Transform currentMetaReconstructionPrefab = environmentConfiguration.MetaReconstructionPrefab;
if (currentMetaReconstructionPrefab != null)
{
IMetaReconstruction metaReconstruction = environmentConfiguration.MetaReconstructionPrefab.GetComponent <IMetaReconstruction>();
if (metaReconstruction == null)
{
environmentConfiguration.MetaReconstructionPrefab = previousMetaReconstructionPrefab;
}
}
}
}
/// <summary>
/// Creates an instance of <see cref="NewDefaultEnvironmentWithReconstructionInitialization"/> class.
/// </summary>
/// <param name="slamLocalizer">Slam type localizer.</param>
/// <param name="metaReconstruction">Object that manages the environment reconstruction.</param>
/// <param name="scanControllerPrefab">Triggerer of the the environment reconstruction scanning process.</param>
public ReconstructionOnlyEnvironmentInitialization(ISlamLocalizer slamLocalizer, IMetaReconstruction metaReconstruction, BaseEnvironmentScanController scanControllerPrefab)
{
if (scanControllerPrefab == null)
{
throw new ArgumentNullException("scanControllerPrefab");
}
if (slamLocalizer == null)
{
throw new ArgumentNullException("slamLocalizer");
}
if (metaReconstruction == null)
{
throw new ArgumentNullException("metaReconstruction");
}
_metaReconstruction = metaReconstruction;
_slamLocalizer = slamLocalizer;
_scanControllerPrefab = scanControllerPrefab;
}
/// <summary>
/// Creates an instance of <see cref="SelectedEnvironmentWithReconstructionInitialization"/> class.
/// </summary>
/// <param name="environmentProfileRepository">Repository to access to the environment profiles.</param>
/// <param name="slamLocalizer">Slam type localizer.</param>
/// <param name="metaReconstruction">Object that manages the environment reconstruction.</param>
public SelectedEnvironmentWithReconstructionInitialization(IEnvironmentProfileRepository environmentProfileRepository, ISlamLocalizer slamLocalizer, IMetaReconstruction metaMetaReconstruction)
{
if (metaMetaReconstruction == null)
{
throw new ArgumentNullException("metaMetaReconstruction");
}
if (slamLocalizer == null)
{
throw new ArgumentNullException("slamLocalizer");
}
if (environmentProfileRepository == null)
{
throw new ArgumentNullException("environmentProfileRepository");
}
_environmentProfileRepository = environmentProfileRepository;
_slamLocalizer = slamLocalizer;
_metaReconstruction = metaMetaReconstruction;
}
private IEnvironmentInitializer CreateDefaultProfileInitializer(bool surfaceReconstructionActive)
{
ISlamChecker slamChecker = new SlamChecker(_slamLocalizer);
IEnvironmentProfileSelector environmentProfileSelector = new DefaultEnvironmentProfileSelector(_environmentProfileRepository, slamChecker);
IEnvironmentInitializationFactory environmentInitializationFactory;
IEnvironmentReset environmentReset;
if (surfaceReconstructionActive)
{
IMetaReconstruction metaReconstruction = _metaContext.Get <IMetaReconstruction>();
environmentInitializationFactory = new DefaultEnvironmentWithReconstructionInitializationFactory(_environmentProfileRepository, _slamLocalizer, metaReconstruction, _environmentScanControllerPrefab);
environmentReset = new DefaultEnvironmentReset(_environmentProfileRepository, metaReconstruction);
}
else
{
environmentInitializationFactory = new DefaultEnvironmentInitializationFactory(_environmentProfileRepository, _slamLocalizer);
environmentReset = new DefaultEnvironmentReset(_environmentProfileRepository);
}
return(new EnvironmentProfileInitializer(environmentProfileSelector, environmentInitializationFactory, environmentReset, _metaLocalization));
}
/// <summary>
/// Creates an <see cref="IEnvironmentInitializer"/> for the given environment selection result.
/// </summary>
/// <param name="environmentInitializaterType">The environment initializer type.</param>
/// <returns>The environment initializer for the given environment initializer type.</returns>
public IMetaReconstruction Create(Transform parent)
{
Transform metaReconstructionTransform = MonoBehaviour.Instantiate(_metaReconstructionPrefab);
metaReconstructionTransform.parent = parent;
metaReconstructionTransform.position = Vector3.zero;
IMetaReconstruction metaReconstruction = metaReconstructionTransform.GetComponent <IMetaReconstruction>();
if (metaReconstruction != null)
{
if (!_metaContext.ContainsModule <IMetaReconstruction>())
{
_metaContext.Add(metaReconstruction);
}
_metaContext.Add <IMeshGenerator>(new MeshGenerator(true, EnvironmentConstants.MaxTriangles));
_metaContext.Add <IModelFileManipulator>(new OBJFileManipulator());
}
return(metaReconstruction);
}
/// <summary>
/// Creates an instance of <see cref="DefaultEnvironmentWithReconstructionInitializationFactory"/> class.
/// </summary>
/// <param name="environmentProfileRepository">Repository to access to the environment profiles.</param>
/// <param name="slamLocalizer">Slam type localizer. If null, means that other localizer was selected.</param>
/// <param name="metaReconstruction">Object that manages the environment reconstruction.</param>
/// <param name="scanControllerPrefab">Triggerer of the the environment reconstruction scanning process.</param>
public DefaultEnvironmentWithReconstructionInitializationFactory(IEnvironmentProfileRepository environmentProfileRepository, ISlamLocalizer slamLocalizer, IMetaReconstruction metaReconstruction, BaseEnvironmentScanController scanControllerPrefab)
{
if (environmentProfileRepository == null)
{
throw new ArgumentNullException("environmentProfileRepository");
}
if (scanControllerPrefab == null)
{
throw new ArgumentNullException("scanControllerPrefab");
}
if (metaReconstruction == null)
{
throw new ArgumentNullException("metaReconstruction");
}
_environmentProfileRepository = environmentProfileRepository;
_slamLocalizer = slamLocalizer;
_scanControllerPrefab = scanControllerPrefab;
_metaReconstruction = metaReconstruction;
}
