protected bool TryGetPlaneData(LayerPlaneData layerPlane, Pose layerOriginPose,
List <Vector3> vertices, out Pose pose, out Vector3 center, out Vector2 extents)
{
var layerPlaneVertices = layerPlane.Vertices;
extents = GeometryUtils.OrientedMinimumBoundingBox2D(layerPlaneVertices, k_PlaneBoundingBox);
if (extents.x < m_MinSideLength || extents.y < m_MinSideLength)
{
pose = default;
center = default;
return(false);
}
var centroid = GeometryUtils.PolygonCentroid2D(layerPlaneVertices);
var layerPlanePose = new Pose(centroid, GeometryUtils.RotationForBox(k_PlaneBoundingBox));
foreach (var vertex in layerPlaneVertices)
{
var localVertex = layerPlanePose.ApplyInverseOffsetTo(vertex);
vertices.Add(localVertex);
}
for (var j = 0; j < k_PlaneBoundingBox.Length; ++j)
{
k_PlaneBoundingBox[j] = layerPlanePose.ApplyInverseOffsetTo(k_PlaneBoundingBox[j]);
}
layerPlanePose.position += k_Up * (layerPlane.YOffsetFromLayer + k_PlaneYEpsilon);
pose = layerOriginPose.ApplyOffsetTo(layerPlanePose);
center = (k_PlaneBoundingBox[0] + k_PlaneBoundingBox[2]) * 0.5f;
return(true);
}
void UpdateLayerPlaneVertices(LayerPlaneData layerPlane)
{
k_VoxelCornersInPlane.Clear();
foreach (var voxel in layerPlane.Voxels)
{
AddVoxelCorners(voxel, k_VoxelCornersInPlane);
}
layerPlane.Vertices.Clear();
GeometryUtils.ConvexHull2D(k_VoxelCornersInPlane, layerPlane.Vertices);
}
