// Raycast from screen space to world space
// The GetWorldPositionAtPixel function is innacurate when using ZED_Rig_Mono for some reason. May be a bug with the Unity plugin.
// Raycast from the camera in the direction of the world space position we determined from the provided screen space position
public RaycastHit raycastFromScreenSpace(Vector2 screenPosition, ZEDManager manager)
{
Camera leftcamera = manager.GetLeftCamera();
RaycastHit hit;
int raycastLength = 20;
Vector3 worldPos;
ZEDSupportFunctions.GetWorldPositionAtPixel(zedCamera, screenPosition, leftcamera, out worldPos);
Vector3 direction = (worldPos - leftcamera.transform.position).normalized;
// Debug.DrawRay(leftcamera.transform.position, direction * raycastLength, Color.green, 30f);
Physics.Raycast(leftcamera.transform.position, direction * raycastLength, out hit);
return(hit);
}
// Update is called once per frame
void Update()
{
if (!sl.ZEDCamera.GetInstance().IsCameraReady)
{
return;
}
if (Input.GetMouseButtonDown(0))
{
/// Mouse Input gives the screen pixel position
Vector2 ScreenPosition = Input.mousePosition;
Vector3 Normal;
Vector3 WorldPos;
// Get Normal and real world position defined by the pixel
ZEDSupportFunctions.GetNormalAtPixel(ScreenPosition, sl.REFERENCE_FRAME.WORLD, LeftCamera, out Normal);
ZEDSupportFunctions.GetWorldPositionAtPixel(ScreenPosition, LeftCamera, out WorldPos);
// To consider the location as a floor, we check that the normal is valid and is closely aligned with the gravity
bool validFloor = Normal.x != float.NaN && Vector3.Dot(Normal, Vector3.up) > 0.85f;
// If we've found a floor to place the bunny, then set its location and show it.
if (validFloor)
{
GameObject newbunny = Instantiate(Object);
newbunny.transform.localPosition = WorldPos;
newbunny.transform.LookAt(new Vector3(ZedManager.transform.position.x, newbunny.transform.position.y, ZedManager.transform.position.z), Vector3.up);
newbunny.SetActive(true);
}
else
{
if (Normal.x == float.NaN)
{
Debug.Log("cannot place object at this position. Normal vector not detected.");
}
if (Vector3.Dot(Normal, Vector3.up) <= 0.85f)
{
Debug.Log("cannot place object at this position. Normal vector angled too far from up: " + Mathf.Acos(Vector3.Dot(Normal, Vector3.up)) * Mathf.Rad2Deg + "°");
}
Object.SetActive(false);
}
}
}
// Update is called once per frame
void Update()
{
if (!zedManager.zedCamera.IsCameraReady)
{
return;
}
if (Input.GetMouseButtonDown(0)) //Checks for left click.
{
/// Mouse Input gives the screen pixel position
Vector2 ScreenPosition = Input.mousePosition;
//Get Normal and real world position defined by the pixel .
Vector3 Normal;
Vector3 WorldPos;
ZEDSupportFunctions.GetNormalAtPixel(zedManager.zedCamera, ScreenPosition, sl.REFERENCE_FRAME.WORLD, LeftCamera, out Normal);
ZEDSupportFunctions.GetWorldPositionAtPixel(zedManager.zedCamera, ScreenPosition, LeftCamera, out WorldPos);
//To consider the location as a flat surface, we check that the normal is valid and is closely aligned with gravity.
bool validFloor = Normal.x != float.NaN && Vector3.Dot(Normal, Vector3.up) > 0.85f;
//If we've found a floor to place the object, spawn a copy of the prefab.
if (validFloor)
{
GameObject newgo = Instantiate(ObjectToPlace);
newgo.transform.localPosition = WorldPos;
newgo.transform.LookAt(new Vector3(zedManager.transform.position.x, newgo.transform.position.y, zedManager.transform.position.z), Vector3.up);
}
else
{
if (Normal.x == float.NaN)
{
Debug.Log("Cannot place object at this position. Normal vector not detected.");
}
if (Vector3.Dot(Normal, Vector3.up) <= 0.85f)
{
Debug.Log("Cannot place object at this position. Normal vector angled too far from up: " + Mathf.Acos(Vector3.Dot(Normal, Vector3.up)) * Mathf.Rad2Deg + "°");
}
}
}
}
/// <summary>
/// Looks for a random point in a radius around itself.
/// Upon collision, the point is moved slightly towards the camera and if its too far it's set to "maxSpawnDistance".
/// A more thorough search is then done for any other obstacles around it, also, in a radius.
/// If the number of collision doesn't exeeds the set threshold, then return true and output the new position.
/// </summary>
/// <returns><c>true</c>, if random spawn location was checked, <c>false</c> otherwise.</returns>
/// <param name="newRandomPos">Random position.</param>
private bool CheckRandomSpawnLocation(out Vector3 newRandomPos)
{
//We can't do anything if the ZED isn't initialized.
if (!zedManager.IsZEDReady)
{
newRandomPos = Vector3.zero;
return(false);
}
//Pick a screen position at random between 0.25 and 0.75.
Vector2 randomScreenPoint = new Vector2(Random.Range(0.25f, 0.75f) * Screen.width, Random.Range(0.25f, 0.75f) * Screen.height);
//Get the world position of that position in the real world
Vector3 randomWorldPoint;
bool foundWorldPoint = ZEDSupportFunctions.GetWorldPositionAtPixel(zedManager.zedCamera, randomScreenPoint, leftcamera, out randomWorldPoint);
if (!foundWorldPoint) //We can't read depth from that point.
{
newRandomPos = Vector3.zero;
return(false);
}
float firstDistance = Vector3.Distance(leftcamera.transform.position, randomWorldPoint);
float newClearRadius;
//Check that the distance isn't too far.
if (firstDistance > maxSpawnDistance)
{
newClearRadius = firstDistance - maxSpawnDistance;
}
else
{
newClearRadius = clearRadius;
}
//If we spawn the drone at that world point, it'll spawn inside a wall. Bring it between you and that wall.
Quaternion directionToCamera = Quaternion.LookRotation(leftcamera.transform.position - randomWorldPoint, Vector3.up);
Vector3 closerWorldPoint = randomWorldPoint + directionToCamera * Vector3.forward * newClearRadius;
//Check that distance isn't too close
float secondDistance = Vector3.Distance(leftcamera.transform.position, closerWorldPoint);
if (secondDistance < 1f)
{
newRandomPos = Vector3.zero;
return(false);
}
//Also check nearby points in a sphere of radius=ClearRadius to make sure the whole drone has a clear space.
if (ZEDSupportFunctions.HitTestOnSphere(zedManager.zedCamera, leftcamera, closerWorldPoint, 1f, radiusCheckRate, percentagethreshold))
{
//Not clear.
newRandomPos = Vector3.zero;
return(false);
}
else
{
//Clear.
newRandomPos = closerWorldPoint;
return(true);
}
}
