/// <summary>
/// Returns best placement position in local space to the plane
/// </summary>
/// <param name="plane">The <see cref="SpatialAwarenessMeshObject"/> who's plane will be used for placement</param>
/// <param name="objExtents">Total width and height of object to be placed in meters.</param>
/// <param name="placementPosOnPlane">Base position on plane in local space.</param>
/// <returns>returns <see cref="false"/> if API returns null.</returns>
public bool TryFindCentermostPlacement(Guid quadGuid, Vector2 objExtents, out Vector3 placementPosOnPlane)
{
Tuple <SceneQuad, SceneObject> result;
if (!cachedSceneQuads.TryGetValue(quadGuid, out result))
{
placementPosOnPlane = Vector2.zero;
return(false);
}
SceneQuad quad = result.Item1;
SceneObject sceneObject = result.Item2;
System.Numerics.Vector2 ext = new System.Numerics.Vector2(objExtents.x, objExtents.y);
System.Numerics.Vector2 centerPosition = new System.Numerics.Vector2();
quad.FindCentermostPlacement(ext, out centerPosition);
// best placement origin is top left (2d sheet of paper)
centerPosition -= quad.Extents / new System.Numerics.Vector2(2.0f);
var centerUnity = new Vector3(centerPosition.X, centerPosition.Y, 0);
placementPosOnPlane = (sceneObject.GetLocationAsMatrix() * sceneToWorldXformSystem * correctOrientation).ToUnity().MultiplyPoint(centerUnity);
return(true);
}
/// <summary>
/// Orients the root game object, such that the Scene Understanding floor lies on the Unity world's X-Z plane.
/// The floor type with the largest area is choosen as the reference.
/// If no floor is found....???
/// </summary>
/// <param name="scene">Scene Understanding scene.</param>
private System.Numerics.Vector3 ToUpFromBiggestFloor(IReadOnlyList <SceneObject> sasos)
{
float areaForlargestFloorSoFar = 0;
SceneObject floorSceneObject = null;
SceneQuad floorQuad = null;
var result = System.Numerics.Vector3.Zero;
// Find the largest floor quad.
var count = sasos.Count;
for (var i = 0; i < count; ++i)
{
if (sasos[i].Kind == SceneObjectKind.Floor)
{
var quads = sasos[i].Quads;
Assert.IsNotNull(quads);
var qcount = quads.Count;
for (int j = 0; j < qcount; j++)
{
float quadArea = quads[j].Extents.X * quads[j].Extents.Y;
if (quadArea > areaForlargestFloorSoFar)
{
areaForlargestFloorSoFar = quadArea;
floorSceneObject = sasos[i];
floorQuad = quads[j];
}
}
}
}
if (floorQuad != null)
{
// Compute the floor quad's normal.
float halfWidthMeters = floorQuad.Extents.X * .5f;
float halfHeightMeters = floorQuad.Extents.Y * .5f;
System.Numerics.Vector3 point1 = new System.Numerics.Vector3(-halfWidthMeters, -halfHeightMeters, 0);
System.Numerics.Vector3 point2 = new System.Numerics.Vector3(halfWidthMeters, -halfHeightMeters, 0);
System.Numerics.Vector3 point3 = new System.Numerics.Vector3(-halfWidthMeters, halfHeightMeters, 0);
System.Numerics.Matrix4x4 objectToSceneOrigin = floorSceneObject.GetLocationAsMatrix();
objectToSceneOrigin = RightToLeftHanded(objectToSceneOrigin);
System.Numerics.Vector3 tPoint1 = System.Numerics.Vector3.Transform(point1, objectToSceneOrigin);
System.Numerics.Vector3 tPoint2 = System.Numerics.Vector3.Transform(point2, objectToSceneOrigin);
System.Numerics.Vector3 tPoint3 = System.Numerics.Vector3.Transform(point3, objectToSceneOrigin);
System.Numerics.Vector3 p21 = tPoint2 - tPoint1;
System.Numerics.Vector3 p31 = tPoint3 - tPoint1;
result = System.Numerics.Vector3.Cross(p21, p31);
}
return(result);
}
/// <summary>
/// Apply Region mask to a Scene Object
/// </summary>
private void ApplyQuadRegionMask(SceneQuad quad, GameObject gameobject, Color color)
{
if (quad == null || gameobject == null)
{
Debug.LogWarning("SceneUnderstandingManager.ApplyQuadRegionMask: One or more arguments are null.");
return;
}
// Resolution of the mask.
ushort width = 256;
ushort height = 256;
byte[] mask = new byte[width * height];
quad.GetSurfaceMask(width, height, mask);
MeshRenderer meshRenderer = gameobject.GetComponent <MeshRenderer>();
if (meshRenderer == null || meshRenderer.sharedMaterial == null || meshRenderer.sharedMaterial.HasProperty("_MainTex") == false)
{
Debug.LogWarning("SceneUnderstandingManager.ApplyQuadRegionMask: Mesh renderer component is null or does not have a valid material.");
return;
}
// Create a new texture.
Texture2D texture = new Texture2D(width, height);
texture.filterMode = FilterMode.Bilinear;
texture.wrapMode = TextureWrapMode.Clamp;
// Transfer the invalidation mask onto the texture.
Color[] pixels = texture.GetPixels();
for (int i = 0; i < pixels.Length; ++i)
{
byte value = mask[i];
if (value == (byte)SceneRegionSurfaceKind.NotSurface)
{
pixels[i] = Color.clear;
}
else
{
pixels[i] = color;
}
}
texture.SetPixels(pixels);
texture.Apply(true);
// Set the texture on the material.
meshRenderer.sharedMaterial.mainTexture = texture;
}
private GameObject CreateOrUpdateQuad(Transform sceneObjectTransform, SceneQuad quad)
{
GameObject quadObj;
if (sceneGeometries.ContainsKey(quad.Id))
{
quadObj = sceneGeometries[quad.Id];
}
else
{
quadObj = GameObject.CreatePrimitive(PrimitiveType.Quad);
quadObj.transform.SetParent(sceneObjectTransform, false);
quadObj.name = $"Quad-{quad.Id}";
sceneGeometries.Add(quad.Id, quadObj);
}
quadObj.transform.localScale = new Vector3(quad.Extents.X, quad.Extents.Y, 1);
return(quadObj);
}
/// <summary>
/// Create a Unity Mesh from a Scene Understanding Quad
/// </summary>
/// <param name="suQuad">The Scene Understanding quad to generate in Unity</param>
private Mesh GenerateUnityMeshFromSceneObjectQuad(SceneQuad suQuad)
{
if (suQuad == null)
{
Debug.LogWarning("SceneUnderstandingManager.GenerateUnityMeshForSceneObjectQuad: Quad is null.");
return(null);
}
float widthInMeters = suQuad.Extents.X;
float heightInMeters = suQuad.Extents.Y;
// Bounds of the quad.
List <Vector3> vertices = new List <Vector3>()
{
new Vector3(-widthInMeters / 2, -heightInMeters / 2, 0),
new Vector3(widthInMeters / 2, -heightInMeters / 2, 0),
new Vector3(-widthInMeters / 2, heightInMeters / 2, 0),
new Vector3(widthInMeters / 2, heightInMeters / 2, 0)
};
List <int> triangles = new List <int>()
{
1, 3, 0,
3, 2, 0
};
List <Vector2> uvs = new List <Vector2>()
{
new Vector2(0, 0),
new Vector2(1, 0),
new Vector2(0, 1),
new Vector2(1, 1)
};
Mesh unityMesh = new Mesh();
unityMesh.SetVertices(vertices);
unityMesh.SetIndices(triangles.ToArray(), MeshTopology.Triangles, 0);
unityMesh.SetUVs(0, uvs);
return(unityMesh);
}
public bool TryGetOcclusionMask(Guid quadId, ushort textureWidth, ushort textureHeight, out byte[] mask)
{
Tuple <SceneQuad, SceneObject> result;
if (!cachedSceneQuads.TryGetValue(quadId, out result))
{
mask = null;
return(false);
}
SceneQuad quad = result.Item1;
SceneObject sceneObject = result.Item2;
var maskResult = new byte[textureWidth * textureHeight];
quad.GetSurfaceMask(textureWidth, textureHeight, maskResult);
mask = maskResult;
return(true);
}
private SpatialAwarenessSceneObject ConvertSceneObject(SceneObject sceneObject)
{
int quadCount = sceneObject.Quads.Count;
int meshCount = sceneObject.Meshes.Count;
List <SpatialAwarenessSceneObject.Quad> quads = new List <SpatialAwarenessSceneObject.Quad>(quadCount);
List <SpatialAwarenessSceneObject.MeshData> meshes = new List <SpatialAwarenessSceneObject.MeshData>(meshCount);
if (RequestPlaneData)
{
SceneQuad sceneQuad = null;
for (int i = 0; i < quadCount; ++i)
{
sceneQuad = sceneObject.Quads[i];
var quadIdKey = sceneQuad.Id;
byte[] occlusionMaskBytes = null;
if (RequestOcclusionMask)
{
occlusionMaskBytes = new byte[OcclusionMaskResolution.x * OcclusionMaskResolution.y];
sceneQuad.GetSurfaceMask((ushort)OcclusionMaskResolution.x, (ushort)OcclusionMaskResolution.y, occlusionMaskBytes);
}
var extents = new UnityEngine.Vector2(sceneQuad.Extents.X, sceneQuad.Extents.Y);
var quad = new SpatialAwarenessSceneObject.Quad(quadIdKey, extents, occlusionMaskBytes);
quads.Add(quad);
// Store a cache so we can retrieve best position on plane later.
if (!cachedSceneQuads.ContainsKey(quadIdKey))
{
cachedSceneQuads.Add(quadIdKey, new Tuple <SceneQuad, SceneObject>(sceneQuad, sceneObject));
}
}
}
if (RequestMeshData)
{
SceneMesh sceneMesh = null;
for (int i = 0; i < meshCount; ++i)
{
sceneMesh = sceneObject.Meshes[i];
var meshData = MeshData(sceneMesh);
meshes.Add(meshData);
}
}
// World space conversion
System.Numerics.Matrix4x4 worldXformSystem = sceneObject.GetLocationAsMatrix() * sceneToWorldXformSystem * correctOrientation;
System.Numerics.Vector3 worldTranslationSystem;
System.Numerics.Quaternion worldRotationSytem;
System.Numerics.Vector3 localScale;
System.Numerics.Matrix4x4.Decompose(worldXformSystem, out localScale, out worldRotationSytem, out worldTranslationSystem);
var result = new SpatialAwarenessSceneObject(
sceneObject.Id,
SpatialAwarenessSurfaceType(sceneObject.Kind),
worldTranslationSystem.ToUnityVector3(),
worldRotationSytem.ToUnityQuaternion(),
quads,
meshes);
return(result);
}
