private void CustomRender(ScriptableRenderContext context, HDCamera hd)
{
var cmd = CommandBufferPool.Get();
void RenderPointCloud(CubemapFace face)
{
PointCloudManager.RenderLidar(context, cmd, hd, renderTarget.ColorHandle, renderTarget.DepthHandle, face);
}
RenderMarker.Begin();
SensorPassRenderer.Render(context, cmd, hd, renderTarget, passId, Color.clear, RenderPointCloud);
RenderMarker.End();
ComputeMarker.Begin();
var kernel = cs.FindKernel(Compensated ? "CubeComputeComp" : "CubeCompute");
cmd.SetComputeTextureParam(cs, kernel, Properties.InputCubemapTexture, renderTarget.ColorHandle);
cmd.SetComputeBufferParam(cs, kernel, Properties.Output, PointCloudBuffer);
cmd.SetComputeBufferParam(cs, kernel, Properties.LatitudeAngles, LatitudeAnglesBuffer);
cmd.SetComputeIntParam(cs, Properties.LaserCount, LaserCount);
cmd.SetComputeIntParam(cs, Properties.MeasuresPerRotation, UsedMeasurementsPerRotation);
cmd.SetComputeFloatParam(cs, Properties.AntialiasingThreshold, AntialiasingThreshold);
cmd.SetComputeVectorParam(cs, Properties.Origin, SensorCamera.transform.position);
cmd.SetComputeMatrixParam(cs, Properties.RotMatrix, Matrix4x4.Rotate(transform.rotation));
cmd.SetComputeMatrixParam(cs, Properties.Transform, transform.worldToLocalMatrix);
cmd.SetComputeVectorParam(cs, Properties.PackedVec, new Vector4(MaxDistance, DeltaLongitudeAngle, MinDistance, StartLongitudeOffset));
cmd.DispatchCompute(cs, kernel, HDRPUtilities.GetGroupSize(UsedMeasurementsPerRotation, 8), HDRPUtilities.GetGroupSize(LaserCount, 8), 1);
ComputeMarker.End();
context.ExecuteCommandBuffer(cmd);
cmd.Clear();
CommandBufferPool.Release(cmd);
}
private void OnSegmentationRender(ScriptableRenderContext context, HDCamera hdCamera)
{
var cmd = CommandBufferPool.Get();
SensorPassRenderer.Render(context, cmd, hdCamera, renderTarget, passId, SimulatorManager.Instance.SkySegmentationColor);
var clearKernel = cs.FindKernel("Clear");
cmd.SetComputeVectorParam(cs, Properties.TexSize, new Vector4(Width, Height, 1f / Width, 1f / Height));
cmd.SetComputeBufferParam(cs, clearKernel, Properties.MinX, minX);
cmd.SetComputeBufferParam(cs, clearKernel, Properties.MaxX, maxX);
cmd.SetComputeBufferParam(cs, clearKernel, Properties.MinY, minY);
cmd.SetComputeBufferParam(cs, clearKernel, Properties.MaxY, maxY);
cmd.DispatchCompute(cs, clearKernel, 4, 1, 1);
var detectKernel = cs.FindKernel("Detect");
cmd.SetComputeTextureParam(cs, detectKernel, Properties.Input, renderTarget.ColorHandle);
cmd.SetComputeVectorParam(cs, Properties.TexSize, new Vector4(Width, Height, 1f / Width, 1f / Height));
cmd.SetComputeBufferParam(cs, detectKernel, Properties.MinX, minX);
cmd.SetComputeBufferParam(cs, detectKernel, Properties.MaxX, maxX);
cmd.SetComputeBufferParam(cs, detectKernel, Properties.MinY, minY);
cmd.SetComputeBufferParam(cs, detectKernel, Properties.MaxY, maxY);
cmd.DispatchCompute(cs, detectKernel, HDRPUtilities.GetGroupSize(Width, 8), HDRPUtilities.GetGroupSize(Height, 8), 1);
context.ExecuteCommandBuffer(cmd);
cmd.Clear();
CommandBufferPool.Release(cmd);
}
void CustomRender(ScriptableRenderContext context, HDCamera hd)
{
var cmd = CommandBufferPool.Get();
SensorPassRenderer.Render(context, cmd, hd, renderTarget, passId, SimulatorManager.Instance.SkySegmentationColor);
var kernel = computeUtils.FindKernel("FillAlphaXR");
cmd.SetComputeTextureParam(computeUtils, kernel, Properties.Output, renderTarget.ColorHandle);
cmd.SetComputeVectorParam(computeUtils, Properties.TexSize, new Vector4(Width, Height, 1f / Width, 1f / Height));
cmd.DispatchCompute(computeUtils, kernel, HDRPUtilities.GetGroupSize(Width, 8), HDRPUtilities.GetGroupSize(Height, 8), 1);
context.ExecuteCommandBuffer(cmd);
cmd.Clear();
CommandBufferPool.Release(cmd);
}
public static SignedDistanceFieldData Generate(GameObject obj, ComputeShader cs, Vector3Int resolution, Bounds bounds, float step)
{
var width = resolution.x;
var height = resolution.y;
var depth = resolution.z;
var meshFilters = obj.GetComponentsInChildren <MeshFilter>();
var voxelRes = new[] { width, height, depth };
var resVoxels = new bool[width][][];
for (var i = 0; i < width; ++i)
{
resVoxels[i] = new bool[height][];
for (var j = 0; j < height; ++j)
{
resVoxels[i][j] = new bool[depth];
}
}
foreach (var meshFilter in meshFilters)
{
Voxelize(meshFilter, bounds, resolution, step, resVoxels);
}
var count = width * height * depth;
var bufferCpu = new float[count];
for (var x = 0; x < width; ++x)
{
for (var z = 0; z < depth; ++z)
{
var filled = false;
for (var y = height - 1; y >= 0; --y)
{
var full = resVoxels[x][y][z] || filled;
if (!filled && full)
{
filled = true;
}
var pos = TreeUtility.Flatten(x, y, z, voxelRes);
bufferCpu[pos] = full ? 1f : 0f;
}
}
}
var buffer = new ComputeBuffer(count, sizeof(float));
buffer.SetData(bufferCpu);
var texture = new RenderTexture(width, height, 0, RenderTextureFormat.R8, RenderTextureReadWrite.Default)
{
dimension = TextureDimension.Tex3D,
volumeDepth = depth,
enableRandomWrite = true,
wrapMode = TextureWrapMode.Clamp
};
texture.Create();
var initializeKernel = cs.FindKernel("Initialize");
cs.SetTexture(initializeKernel, "_Texture", texture);
cs.SetBuffer(initializeKernel, "_VoxelBuffer", buffer);
cs.SetVector("_TexSize", new Vector4(width, height, depth, 0f));
cs.Dispatch(initializeKernel, HDRPUtilities.GetGroupSize(width, 8),
HDRPUtilities.GetGroupSize(height, 8), HDRPUtilities.GetGroupSize(depth, 8));
buffer.Dispose();
return(new SignedDistanceFieldData()
{
texture = texture,
bounds = bounds,
voxels = resVoxels,
step = step
});
}
