protected override void Awake()
{
base.Awake();
ObserverState = ObserverStates.Stopped;
if (Test)
{
// create dummy SurfaceObject
List <Vector3> testVerts = new List <Vector3>();
testVerts.Add(new Vector3(-0.5f, -0.5f, -0.5f));
testVerts.Add(new Vector3(0, 0, 0));
testVerts.Add(new Vector3(0.5f, 0.5f, 0.5f));
Mesh testMesh = new Mesh();
testMesh.SetVertices(testVerts);
SurfaceObject testSO = CreateSurfaceObject(testMesh, "test", gameObject.transform);
testSO.Renderer.transform.position = new Vector3(1, 1, 1);
// create matching dummy SurfacePoints
Transform tmpTransform = testSO.Renderer.transform;
List <Vector3> tmpWvertices = testSO.Filter.sharedMesh.vertices.ToList();
int tmpTriCount = testSO.Filter.sharedMesh.triangles.ToList().Count;
for (int i = 0; i < tmpWvertices.Count; i++)
{
tmpWvertices[i] = tmpTransform.TransformPoint(tmpWvertices[i]);
}
SurfacePoints extras = new SurfacePoints(
MeshManager.IntersectionPoints(testSO.Renderer.bounds), tmpWvertices,
tmpTriCount, testSO.Renderer.bounds);
// Log
UpdateOrAddSurfaceObject(testSO, extras);
}
}
protected override void Awake()
{
base.Awake();
ObserverState = ObserverStates.Stopped;
density = DefaultTrianglesPerCubicMeter;
// debug
StartObserving();
if (Test)
{
// create dummy SurfaceObject
List <Vector3> testVerts = new List <Vector3>();
testVerts.Add(new Vector3(-0.5f, -0.5f, -0.5f));
testVerts.Add(new Vector3(0, 0, 0));
testVerts.Add(new Vector3(0.5f, 0.5f, 0.5f));
Mesh testMesh = new Mesh();
testMesh.SetVertices(testVerts);
SurfaceObject testSO1 = CreateSurfaceObject(testMesh, "test", gameObject.transform, 0);
testSO1.Renderer.transform.position = new Vector3(1, 1, 1);
SurfaceObject testSO2 = CreateSurfaceObject(testMesh, "test", gameObject.transform, 1);
testSO2.Renderer.transform.position = new Vector3(-1, -1, -1);
// create matching dummy SurfacePoints: 1
Transform tmpTransform1 = testSO1.Renderer.transform;
List <Vector3> tmpWvertices1 = testSO1.Filter.sharedMesh.vertices.ToList();
int tmpTriCount1 = testSO1.Filter.sharedMesh.triangles.ToList().Count;
for (int i = 0; i < tmpWvertices1.Count; i++)
{
tmpWvertices1[i] = tmpTransform1.TransformPoint(tmpWvertices1[i]);
}
SurfacePoints extras1 = new SurfacePoints(
MeshManager.IntersectionPoints(testSO1.Renderer.bounds), tmpWvertices1,
tmpTriCount1, testSO1.Renderer.bounds, Density);
// create matching dummy SurfacePoints: 2
Transform tmpTransform2 = testSO2.Renderer.transform;
List <Vector3> tmpWvertices2 = testSO2.Filter.sharedMesh.vertices.ToList();
int tmpTriCount2 = testSO2.Filter.sharedMesh.triangles.ToList().Count;
for (int i = 0; i < tmpWvertices2.Count; i++)
{
tmpWvertices2[i] = tmpTransform2.TransformPoint(tmpWvertices2[i]);
}
SurfacePoints extras2 = new SurfacePoints(
MeshManager.IntersectionPoints(testSO2.Renderer.bounds), tmpWvertices2,
tmpTriCount1, testSO2.Renderer.bounds, Density);
// Log
UpdateOrAddSurfaceObject(testSO1, extras1);
UpdateOrAddSurfaceObject(testSO2, extras2);
}
}
/// <summary>
/// Handles the SurfaceObserver's OnDataReady event.
/// </summary>
/// <param name="cookedData">Struct containing output data.</param>
/// <param name="outputWritten">Set to true if output has been written.</param>
/// <param name="elapsedCookTimeSeconds">Seconds between mesh cook request and propagation of this event.</param>
private void SurfaceObserver_OnDataReady(SurfaceData cookedData, bool outputWritten, float elapsedCookTimeSeconds)
{
if (outstandingMeshRequest == null)
{
Debug.LogErrorFormat("Got OnDataReady for surface {0} while no request was outstanding.",
cookedData.id.handle
);
return;
}
if (!IsMatchingSurface(outstandingMeshRequest.Value, cookedData))
{
Debug.LogErrorFormat("Got mismatched OnDataReady for surface {0} while request for surface {1} was outstanding.",
cookedData.id.handle,
outstandingMeshRequest.Value.ID
);
ReclaimSurface(outstandingMeshRequest.Value);
outstandingMeshRequest = null;
return;
}
if (ObserverState != ObserverStates.Running)
{
Debug.LogFormat("Got OnDataReady for surface {0}, but observer was no longer running.",
cookedData.id.handle
);
ReclaimSurface(outstandingMeshRequest.Value);
outstandingMeshRequest = null;
return;
}
if (!outputWritten)
{
ReclaimSurface(outstandingMeshRequest.Value);
outstandingMeshRequest = null;
return;
}
Debug.Assert(outstandingMeshRequest.Value.Object.activeSelf);
// alters properites of mesh as desired: first sets renderer enabled field
outstandingMeshRequest.Value.Renderer.enabled = SpatialMappingManager.Instance.DrawVisualMeshes;
// create extra data
SurfaceObject tmpSO = outstandingMeshRequest.Value;
Transform tmpTransform = tmpSO.Renderer.transform;
// Wvertices
List <Vector3> tmpWvertices = tmpSO.Filter.sharedMesh.vertices.ToList();
for (int i = 0; i < tmpWvertices.Count; i++)
{
tmpWvertices[i] = tmpTransform.TransformPoint(tmpWvertices[i]);
}
// TriCount
int tmpTriCount = tmpSO.Filter.sharedMesh.triangles.ToList().Count;
// SurfacePoints obj
SurfacePoints extras = new SurfacePoints(
MeshManager.IntersectionPoints(outstandingMeshRequest.Value.Renderer.bounds), tmpWvertices,
tmpTriCount, tmpSO.Renderer.bounds, cookedData.trianglesPerCubicMeter);
// updates/adds mesh in source stored list of SurfaceObjects.
SurfaceObject?replacedSurface = UpdateOrAddSurfaceObject(outstandingMeshRequest.Value, extras, destroyGameObjectIfReplaced: false);
outstandingMeshRequest = null;
if (replacedSurface != null)
{
ReclaimSurface(replacedSurface.Value);
}
}
// Update is called once per frame
void Update()
{
StopWatch.Reset();
StopWatch.Start();
// update sensor position
UpdateSensor(ref SensorField, ref SensorData);
// update visible mesh vertices
SubStopWatch.Reset();
SubStopWatch.Start();
List <bool> MeshGuide = MeshMan.UpdateVertices(SensorField);
MeshDensity = MeshMan.Density;
SubStopWatch.Stop();
MeshManSpeed = SubStopWatch.ElapsedTicks / (double)Stopwatch.Frequency;
// project to non-occluded vertices
SubStopWatch.Reset();
SubStopWatch.Start();
Oc = new Intersector.Occlusion(OcclusionObjSize, OcclusionObjDistance, SensorField.FOV);
List <Intersector.PointValue <byte> > Updates =
VertexInter.ProjectToVisible(SensorData, SensorField, Oc, Observer.ExtraData, MeshGuide,
Closest, Furthest, SensorField.Transform.position);
SubStopWatch.Stop();
IntersectSpeed = SubStopWatch.ElapsedTicks / (double)Stopwatch.Frequency;
// update voxel grid
SubStopWatch.Reset();
SubStopWatch.Start();
// reset if filtered to live data only
if (VoxGridFilter == DataFilter.live)
{
VoxGridMan.Reset();
}
VoxGridMan.Set(Updates, UpdateVoxStruct);
SubStopWatch.Stop();
VoxGridManSpeed = SubStopWatch.ElapsedTicks / (double)Stopwatch.Frequency;
// visualize data
SubStopWatch.Reset();
SubStopWatch.Start();
content = new List <Visualizer.Content>();
// render spheres
if (RenderVerts)
{
if (VoxGridFilter == DataFilter.mesh || VoxGridFilter == DataFilter.live)
{
// render all non-occluded mesh vertices
content.AddRange(Visualizer.CreateMarkers(Updates,
VertexMarkerSize, MinColorVal, MaxColorVal, MinColor, MaxColor));
}
else
{
// render all visible voxel vertices
List <Voxel <byte> > curVoxels = VoxGridMan.Voxels();
for (int i = 0; i < curVoxels.Count; i++)
{
List <Intersector.PointValue <byte> > tmp = new List <Intersector.PointValue <byte> >();
tmp.Add(new Intersector.PointValue <byte>(curVoxels[i].point, curVoxels[i].value));
content.AddRange(Visualizer.CreateMarkers(tmp,
VertexMarkerSize, MinColorVal, MaxColorVal, MinColor, MaxColor));
}
}
}
// visualize voxels
if (VoxVis)
{
for (int i = 0; i < Voxels.Count; i++)
{
if (BoundsRandNums[i] <= ShowFrac)
{
Bounds voxBound = new Bounds();
voxBound.min = Voxels[i].min;
voxBound.max = Voxels[i].max;
if (VertexInter.AnyInView(MeshManager.IntersectionPoints(voxBound), SensorField))
{
content.AddRange(Visualizer.CreateBoundingLines(voxBound, BoundsLineWidth, BoundColors[i]));
}
}
}
}
// visualize mesh bounds
if (MeshBoundsVis)
{
for (int i = 0; i < MeshBounds.Count; i++)
{
if (BoundsRandNums[i] <= ShowFrac &&
VertexInter.AnyInView(MeshManager.IntersectionPoints(MeshBounds[i]), SensorField))
{
content.AddRange(Visualizer.CreateBoundingLines(MeshBounds[i], BoundsLineWidth, BoundColors[i]));
}
}
}
VertVis.Visualize(content);
// color mesh
if (ColoredMesh)
{
// color mesh by voxel grid value if Data Filter is not .all. If so, colored all 'no data'
if (VoxGridFilter != DataFilter.all)
{
Visualizer.ColorMesh(Observer.SurfaceObjects, Observer.ExtraData, MeshGuide,
VoxGridMan, MinColor, MaxColor, NoDataColor, MinColorVal, MaxColorVal);
}
else
{
Visualizer.ColorMesh(Observer.SurfaceObjects, Observer.ExtraData, MeshGuide,
VoxGridMan, NoDataColor, NoDataColor, NoDataColor, MinColorVal, MaxColorVal);
}
}
SubStopWatch.Stop();
VertVisSpeed = SubStopWatch.ElapsedTicks / (double)Stopwatch.Frequency;
StopWatch.Stop();
DriverSpeed = StopWatch.ElapsedTicks / (double)Stopwatch.Frequency;
}
// handles all script's visulation for better organization
private void HandleVis(List <Intersector.PointValue <byte> > Updates, List <bool> MeshGuide)
{
content = new List <Visualizer.Content>();
// color mesh
if (ColoredMesh)
{
// color mesh by voxel grid value if Data Filter is not .all. If so, colored all 'no data'
if (VoxGridFilter != DataFilter.all)
{
Visualizer.ColorMesh(Observer.SurfaceObjects, Observer.ExtraData, MeshGuide,
VoxGridMan, MinColor, MaxColor, NoDataColor, MinColorVal, MaxColorVal, MeshAlpha);
}
else
{
Visualizer.ColorMesh(Observer.SurfaceObjects, Observer.ExtraData, MeshGuide,
VoxGridMan, NoDataColor, NoDataColor, NoDataColor, MinColorVal, MaxColorVal, MeshAlpha);
}
}
// render spheres
if (RenderVerts)
{
if (VoxGridFilter == DataFilter.mesh || VoxGridFilter == DataFilter.live)
{
// render all non-occluded mesh vertices
content.AddRange(Visualizer.CreateMarkers(Updates,
VertexMarkerSize, MinColorVal, MaxColorVal, MinColor, MaxColor));
}
else
{
// render all visible voxel vertices
List <Voxel <byte> > curVoxels = VoxGridMan.Voxels();
for (int i = 0; i < curVoxels.Count; i++)
{
List <Intersector.PointValue <byte> > tmp = new List <Intersector.PointValue <byte> >();
tmp.Add(new Intersector.PointValue <byte>(curVoxels[i].point, curVoxels[i].value));
content.AddRange(Visualizer.CreateMarkers(tmp,
VertexMarkerSize, MinColorVal, MaxColorVal, MinColor, MaxColor));
}
}
}
// visualize voxels
if (VoxVis)
{
for (int i = 0; i < Voxels.Count; i++)
{
if (BoundsRandNums[i] <= ShowFrac)
{
Bounds voxBound = new Bounds();
voxBound.min = Voxels[i].min;
voxBound.max = Voxels[i].max;
if (VertexInter.AnyInView(MeshManager.IntersectionPoints(voxBound), SensorField))
{
content.AddRange(Visualizer.CreateBoundingLines(voxBound, BoundsLineWidth, BoundColors[i]));
}
}
}
}
// visualize mesh bounds
if (MeshBoundsVis)
{
for (int i = 0; i < MeshBounds.Count; i++)
{
if (BoundsRandNums[i] <= ShowFrac &&
VertexInter.AnyInView(MeshManager.IntersectionPoints(MeshBounds[i]), SensorField))
{
content.AddRange(Visualizer.CreateBoundingLines(MeshBounds[i], BoundsLineWidth, BoundColors[i]));
}
}
}
VertVis.Visualize(content);
}