private static void AssertExpectedPlane(BoundedPlane plane, Vector3 bounds, Matrix4x4 vertDataTransform, Matrix4x4 meshTransform)
{
float expectedArea = 4.0f * bounds.x * bounds.y;
Vector3 expectedPlaneNormal = meshTransform.TransformDirection(vertDataTransform.TransformDirection(new Vector3(0, 0, 1)));
Vector3 expectedPlaneCenter = meshTransform.TransformPoint(vertDataTransform.TransformPoint(Vector3.zero));
Assert.AreEqual(expectedArea, plane.Area, expectedArea * 0.01f);
AssertAreEqual(expectedPlaneNormal, plane.Plane.normal, 0.01f, "Normal");
AssertAreEqual(expectedPlaneCenter, plane.Bounds.Center, bounds.Length() * 0.01f, "Center");
}
private List <GameObject> GetTablesInDescendingAreaOrder()
{
List <GameObject> floors = m_playspace_manager.GetTables();
floors.Sort((plane1, plane2) =>
{
HoloToolkit.Unity.BoundedPlane bp1 = plane1.GetComponent <HoloToolkit.Unity.SurfacePlane>().Plane;
HoloToolkit.Unity.BoundedPlane bp2 = plane2.GetComponent <HoloToolkit.Unity.SurfacePlane>().Plane;
// Sort descending
return(bp2.Area.CompareTo(bp1.Area));
});
return(floors);
}
/// <summary>
/// Marshals BoundedPlane data returned from a DLL API call into a managed BoundedPlane array
/// and then frees the memory that was allocated within the DLL.
/// </summary>
/// <remarks>Disabling warning 618 when calling Marshal.SizeOf(), because
/// Unity does not support .Net 4.5.1+ for using the preferred Marshal.SizeOf(T) method."/>, </remarks>
private static BoundedPlane[] MarshalBoundedPlanesFromIntPtr(IntPtr outArray, int size)
{
BoundedPlane[] resArray = new BoundedPlane[size];
#pragma warning disable 618
int structsize = Marshal.SizeOf(typeof(BoundedPlane));
#pragma warning restore 618
IntPtr current = outArray;
for (int i = 0; i < size; i++)
{
#pragma warning disable 618
resArray[i] = (BoundedPlane)Marshal.PtrToStructure(current, typeof(BoundedPlane));
#pragma warning restore 618
current = (IntPtr)((long)current + structsize);
}
Marshal.FreeCoTaskMem(outArray);
return(resArray);
}
/// <summary>
/// Iterator block, analyzes surface meshes to find planes and create new 3D cubes to represent each plane.
/// </summary>
/// <returns>Yield result.</returns>
private IEnumerator MakePlanesRoutine()
{
// Remove any previously existing planes, as they may no longer be valid.
for (int index = 0; index < ActivePlanes.Count; index++)
{
Destroy(ActivePlanes[index]);
}
// Pause our work, and continue on the next frame.
yield return(null);
float start = Time.realtimeSinceStartup;
ActivePlanes.Clear();
// Get the latest Mesh data from the Spatial Mapping Manager.
List <PlaneFinding.MeshData> meshData = new List <PlaneFinding.MeshData>();
List <MeshFilter> filters = SpatialMappingManager.Instance.GetMeshFilters();
for (int index = 0; index < filters.Count; index++)
{
MeshFilter filter = filters[index];
if (filter != null && filter.sharedMesh != null)
{
// fix surface mesh normals so we can get correct plane orientation.
filter.mesh.RecalculateNormals();
meshData.Add(new PlaneFinding.MeshData(filter));
}
if ((Time.realtimeSinceStartup - start) > FrameTime)
{
// Pause our work, and continue to make more PlaneFinding objects on the next frame.
yield return(null);
start = Time.realtimeSinceStartup;
}
}
// Pause our work, and continue on the next frame.
yield return(null);
#if !UNITY_EDITOR && UNITY_METRO
// When not in the unity editor we can use a cool background task to help manage FindPlanes().
Task <BoundedPlane[]> planeTask = Task.Run(() => PlaneFinding.FindPlanes(meshData, snapToGravityThreshold, MinArea));
while (planeTask.IsCompleted == false)
{
yield return(null);
}
BoundedPlane[] planes = planeTask.Result;
#else
// In the unity editor, the task class isn't available, but perf is usually good, so we'll just wait for FindPlanes to complete.
BoundedPlane[] planes = PlaneFinding.FindPlanes(meshData, snapToGravityThreshold, MinArea);
#endif
// Pause our work here, and continue on the next frame.
yield return(null);
start = Time.realtimeSinceStartup;
float maxFloorArea = 0.0f;
float maxCeilingArea = 0.0f;
FloorYPosition = 0.0f;
CeilingYPosition = 0.0f;
float upNormalThreshold = 0.9f;
if (SurfacePlanePrefab != null && SurfacePlanePrefab.GetComponent <SurfacePlane>() != null)
{
upNormalThreshold = SurfacePlanePrefab.GetComponent <SurfacePlane>().UpNormalThreshold;
}
// Find the floor and ceiling.
// We classify the floor as the maximum horizontal surface below the user's head.
// We classify the ceiling as the maximum horizontal surface above the user's head.
for (int i = 0; i < planes.Length; i++)
{
BoundedPlane boundedPlane = planes[i];
if (boundedPlane.Bounds.Center.y < 0 && boundedPlane.Plane.normal.y >= upNormalThreshold)
{
maxFloorArea = Mathf.Max(maxFloorArea, boundedPlane.Area);
if (maxFloorArea == boundedPlane.Area)
{
FloorYPosition = boundedPlane.Bounds.Center.y;
}
}
else if (boundedPlane.Bounds.Center.y > 0 && boundedPlane.Plane.normal.y <= -(upNormalThreshold))
{
maxCeilingArea = Mathf.Max(maxCeilingArea, boundedPlane.Area);
if (maxCeilingArea == boundedPlane.Area)
{
CeilingYPosition = boundedPlane.Bounds.Center.y;
}
}
}
// Create SurfacePlane objects to represent each plane found in the Spatial Mapping mesh.
for (int index = 0; index < planes.Length; index++)
{
GameObject destPlane;
BoundedPlane boundedPlane = planes[index];
// Instantiate a SurfacePlane object, which will have the same bounds as our BoundedPlane object.
if (SurfacePlanePrefab != null && SurfacePlanePrefab.GetComponent <SurfacePlane>() != null)
{
destPlane = Instantiate(SurfacePlanePrefab);
}
else
{
destPlane = GameObject.CreatePrimitive(PrimitiveType.Cube);
destPlane.AddComponent <SurfacePlane>();
destPlane.GetComponent <Renderer>().shadowCastingMode = UnityEngine.Rendering.ShadowCastingMode.Off;
}
destPlane.transform.parent = planesParent.transform;
SurfacePlane surfacePlane = destPlane.GetComponent <SurfacePlane>();
// Set the Plane property to adjust transform position/scale/rotation and determine plane type.
surfacePlane.Plane = boundedPlane;
SetPlaneVisibility(surfacePlane);
if ((destroyPlanesMask & surfacePlane.PlaneType) == surfacePlane.PlaneType)
{
DestroyImmediate(destPlane);
}
else
{
// Set the plane to use the same layer as the SpatialMapping mesh.
destPlane.layer = SpatialMappingManager.Instance.PhysicsLayer;
ActivePlanes.Add(destPlane);
}
// If too much time has passed, we need to return control to the main game loop.
if ((Time.realtimeSinceStartup - start) > FrameTime)
{
// Pause our work here, and continue making additional planes on the next frame.
yield return(null);
start = Time.realtimeSinceStartup;
}
}
Debug.Log("Finished making planes.");
// We are done creating planes, trigger an event.
EventHandler handler = MakePlanesComplete;
if (handler != null)
{
handler(this, EventArgs.Empty);
}
makingPlanes = false;
}
private void Awake()
{
plane = new BoundedPlane(transform);
}
// Used for gameObject initialization.
private void Start()
{
plane = new BoundedPlane();
}
/// <summary>
/// Marshals BoundedPlane data returned from a DLL API call into a managed BoundedPlane array
/// and then frees the memory that was allocated within the DLL.
/// </summary>
/// <remarks>Disabling warning 618 when calling Marshal.SizeOf(), because
/// Unity does not support .Net 4.5.1+ for using the preferred Marshal.SizeOf(T) method."/>, </remarks>
private static BoundedPlane[] MarshalBoundedPlanesFromIntPtr(IntPtr outArray, int size)
{
BoundedPlane[] resArray = new BoundedPlane[size];
#pragma warning disable 618
int structsize = Marshal.SizeOf(typeof(BoundedPlane));
#pragma warning restore 618
IntPtr current = outArray;
for (int i = 0; i < size; i++)
{
#pragma warning disable 618
resArray[i] = (BoundedPlane)Marshal.PtrToStructure(current, typeof(BoundedPlane));
#pragma warning restore 618
current = (IntPtr)((long)current + structsize);
}
Marshal.FreeCoTaskMem(outArray);
return resArray;
}
/// <summary>
/// Takes the subplanes returned by one or more previous calls to FindSubPlanes() and merges
/// them together into larger planes that can potentially span across multiple meshes.
/// Overlapping subplanes that have similar plane equations will be merged together to form
/// larger planes.
/// </summary>
/// <param name="subPlanes">
/// The output from one or more previous calls to FindSubPlanes().
/// </param>
/// <param name="snapToGravityThreshold">
/// Planes whose normal vectors are within this threshold (in degrees) from vertical/horizontal
/// will be snapped to be perfectly gravity aligned. When set to something other than zero, the
/// bounding boxes for each plane will be gravity aligned as well, rather than rotated for an
/// optimally tight fit. Pass 0.0 for this parameter to completely disable the gravity alignment
/// logic.
/// </param>
/// <param name="minArea">
/// While merging subplanes together, any candidate merged plane whose constituent mesh
/// triangles have a total area less than this threshold are ignored.
/// </param>
public static BoundedPlane[] MergeSubPlanes(BoundedPlane[] subPlanes, float snapToGravityThreshold = 0.0f, float minArea = 0.0f)
{
StartPlaneFinding();
try
{
int planeCount;
IntPtr planesPtr;
DLLImports.MergeSubPlanes(subPlanes.Length, PinObject(subPlanes), minArea, snapToGravityThreshold, out planeCount, out planesPtr);
return MarshalBoundedPlanesFromIntPtr(planesPtr, planeCount);
}
finally
{
FinishPlaneFinding();
}
}
private void Awake()
{
plane = new BoundedPlane(transform);
}
