private void RaycastEntity(HaE_Entity entity)
{
Vector3D extrapolatedPosition = TrackingUtils.GetPredictedEntityLocation(entity);
HaE_Entity detectedEntity = RaycastPosition(extrapolatedPosition);
if (detectedEntity == null)
{
if (!AttemptReScan(entity))
{
return;
}
}
OnEntityDetected?.Invoke(detectedEntity);
}
private bool AttemptReScan(HaE_Entity entity)
{
Vector3D Direction = entity.entityInfo.Position - reference.GetPosition();
double distance = Direction.Normalize();
for (int i = 0; i < MaxReScanAmount; i++)
{
Vector3D scanDir = TrackingUtils.GenerateShotgunVector(random, Direction, ReScanConeAngle);
HaE_Entity detected = RaycastDirection(Direction, distance * ReScanMultiplier);
if (detected != null)
{
OnEntityDetected?.Invoke(detected);
return(true);
}
}
return(false);
}
public void Update()
{
// Fill in the data to draw the point cloud.
if (Frame.PointCloud.IsUpdatedThisFrame)
{
// Copy the point cloud points for mesh verticies.
for (int i = 0; i < Frame.PointCloud.PointCount; i++)
{
// Updates points from arcore to sturfee so that it can be visible from XrCamera
_points[i] = TrackingUtils.TrackingPosToSturfeePos(Frame.PointCloud.GetPointAsStruct(i));
}
// Update the mesh indicies array.
int[] indices = new int[Frame.PointCloud.PointCount];
for (int i = 0; i < Frame.PointCloud.PointCount; i++)
{
indices[i] = i;
}
_mesh.Clear();
_mesh.vertices = _points;
_mesh.SetIndices(indices, MeshTopology.Points, 0);
}
}
/// <summary>
/// Update mesh with a list of Vector3 and plane's center position.
/// </summary>
private void _UpdateMeshIfNeeded()
{
m_DetectedPlane.GetBoundaryPolygon(m_MeshVertices);
if (_AreVerticesListsEqual(m_PreviousFrameMeshVertices, m_MeshVertices))
{
return;
}
m_PreviousFrameMeshVertices.Clear();
m_PreviousFrameMeshVertices.AddRange(m_MeshVertices);
m_PlaneCenter = m_DetectedPlane.CenterPose.position;
Vector3 planeNormal = m_DetectedPlane.CenterPose.rotation * Vector3.up;
m_MeshRenderer.material.SetVector("_PlaneNormal", planeNormal);
int planePolygonCount = m_MeshVertices.Count;
// The following code converts a polygon to a mesh with two polygons, inner
// polygon renders with 100% opacity and fade out to outter polygon with opacity 0%, as shown below.
// The indices shown in the diagram are used in comments below.
// _______________ 0_______________1
// | | |4___________5|
// | | | | | |
// | | => | | | |
// | | | | | |
// | | |7-----------6|
// --------------- 3---------------2
m_MeshColors.Clear();
// Fill transparent color to vertices 0 to 3.
for (int i = 0; i < planePolygonCount; ++i)
{
m_MeshColors.Add(Color.clear);
}
// Feather distance 0.2 meters.
const float featherLength = 0.2f;
// Feather scale over the distance between plane center and vertices.
const float featherScale = 0.2f;
// Add vertex 4 to 7.
for (int i = 0; i < planePolygonCount; ++i)
{
Vector3 v = m_MeshVertices[i];
// Vector from plane center to current point
Vector3 d = v - m_PlaneCenter;
float scale = 1.0f - Mathf.Min(featherLength / d.magnitude, featherScale);
m_MeshVertices.Add((scale * d) + m_PlaneCenter);
m_MeshColors.Add(Color.white);
}
m_MeshIndices.Clear();
int firstOuterVertex = 0;
int firstInnerVertex = planePolygonCount;
// Generate triangle (4, 5, 6) and (4, 6, 7).
for (int i = 0; i < planePolygonCount - 2; ++i)
{
m_MeshIndices.Add(firstInnerVertex);
m_MeshIndices.Add(firstInnerVertex + i + 1);
m_MeshIndices.Add(firstInnerVertex + i + 2);
}
// Generate triangle (0, 1, 4), (4, 1, 5), (5, 1, 2), (5, 2, 6), (6, 2, 3), (6, 3, 7)
// (7, 3, 0), (7, 0, 4)
for (int i = 0; i < planePolygonCount; ++i)
{
int outerVertex1 = firstOuterVertex + i;
int outerVertex2 = firstOuterVertex + ((i + 1) % planePolygonCount);
int innerVertex1 = firstInnerVertex + i;
int innerVertex2 = firstInnerVertex + ((i + 1) % planePolygonCount);
m_MeshIndices.Add(outerVertex1);
m_MeshIndices.Add(outerVertex2);
m_MeshIndices.Add(innerVertex1);
m_MeshIndices.Add(innerVertex1);
m_MeshIndices.Add(outerVertex2);
m_MeshIndices.Add(innerVertex2);
}
for (int i = 0; i < m_MeshVertices.Count; i++)
{
m_MeshVertices[i] = TrackingUtils.TrackingPosToSturfeePos(m_MeshVertices[i]);
}
m_Mesh.Clear();
m_Mesh.SetVertices(m_MeshVertices);
m_Mesh.SetIndices(m_MeshIndices.ToArray(), MeshTopology.Triangles, 0);
m_Mesh.SetColors(m_MeshColors);
}
