/// <summary>
/// Request the list of detected found objects.
/// Callback will never be called while request is still pending.
/// </summary>
/// <param name="queryFilter">Filter used to customize query results.</param>
/// <param name="callback">
/// Callback used to report query results.
/// Callback MLResult code will never be <c>MLResult.Code.Pending</c>.
/// </param>
/// <returns>
/// MLResult.Result inside callback will be <c>MLResult.Code.Ok</c> if successful.
/// MLResult.Result inside callback will be <c>MLResult.Code.InvalidParam</c> if failed due to invalid input parameter.
/// MLResult.Result inside callback will be <c>MLResult.Code.UnspecifiedFailure</c> if failed due to internal error.
/// </returns>
public static MLResult GetObjectsAsync(Query.Filter queryFilter, QueryResultsDelegate callback)
{
if (MLFoundObjects.IsValidInstance())
{
// Don't allow null callbacks to be registered.
if (callback == null)
{
MLPluginLog.Error("MLFoundObjects.GetObjects failed. Reason: Passed input callback is null.");
return(MLResult.Create(MLResult.Code.InvalidParam));
}
MLThreadDispatch.ScheduleWork(() =>
{
_instance.BeginObjectQueryAsync(queryFilter, callback);
return(true);
});
return(MLResult.Create(MLResult.Code.Ok));
}
else
{
MLPluginLog.ErrorFormat("MLFoundObjects.GetObjects failed. Reason: No Instance for MLFoundObjects");
return(MLResult.Create(MLResult.Code.UnspecifiedFailure, "MLFoundObjects.GetFoundObjects failed. Reason: No Instance for MLFoundObjects"));
}
}
/// <summary>
/// Requests a ray cast with the given query parameters.
/// </summary>
/// <param name="query">Query parameters describing ray being cast.</param>
/// <param name="callback">Delegate which will be called when the result of the ray cast is ready.</param>
/// <returns>
/// MLResult.Result will be <c>MLResult.Code.Ok</c> if successful.
/// MLResult.Result will be <c>MLResult.Code.InvalidParam</c> if failed due to invalid input parameter.
/// MLResult.Result will be <c>MLResult.Code.UnspecifiedFailure</c> if failed due to internal error.
/// </returns>
public static MLResult Raycast(QueryParams query, OnRaycastResultDelegate callback)
{
try
{
if (MLRaycast.IsValidInstance())
{
if (query == null || callback == null)
{
MLPluginLog.ErrorFormat("MLRaycast.Raycast failed. Reason: Invalid input parameters.");
return(MLResult.Create(MLResult.Code.InvalidParam));
}
bool RequestRaycast()
{
if (MLRaycast.IsValidInstance())
{
NativeBindings.MLRaycastQueryNative queryNative = new NativeBindings.MLRaycastQueryNative()
{
Position = MLConvert.FromUnity(query.Position),
Direction = MLConvert.FromUnity(query.Direction, true, false),
UpVector = MLConvert.FromUnity(query.UpVector, true, false),
Width = query.Width,
Height = query.Height,
HorizontalFovDegrees = query.HorizontalFovDegrees,
CollideWithUnobserved = query.CollideWithUnobserved,
};
ulong requestHandle = MagicLeapNativeBindings.InvalidHandle;
MLResult.Code resultCode = NativeBindings.MLRaycastRequest(_instance.trackerHandle, ref queryNative, ref requestHandle);
if (resultCode != MLResult.Code.Ok)
{
MLPluginLog.ErrorFormat("MLRaycast.Raycast failed to request a new ray cast. Reason: {0}", MLResult.CodeToString(resultCode));
return(true);
}
if (requestHandle == MagicLeapNativeBindings.InvalidHandle)
{
MLPluginLog.Error("MLRaycast.Raycast failed to request a new ray cast. Reason: Request handle is invalid.");
return(true);
}
bool GetRaycastResults()
{
if (MLRaycast.IsValidInstance())
{
NativeBindings.MLRaycastResultNative raycastResult = NativeBindings.MLRaycastResultNative.Create();
resultCode = NativeBindings.MLRaycastGetResult(_instance.trackerHandle, requestHandle, ref raycastResult);
if (resultCode == MLResult.Code.Pending)
{
return(false);
}
if (resultCode == MLResult.Code.Ok)
{
// Check if there is a valid hit result.
bool didHit = raycastResult.State != ResultState.RequestFailed && raycastResult.State != ResultState.NoCollision;
MLThreadDispatch.ScheduleMain(() =>
{
if (MLRaycast.IsValidInstance())
{
callback(
raycastResult.State,
didHit ? MLConvert.ToUnity(raycastResult.Hitpoint) : Vector3.zero,
didHit ? MLConvert.ToUnity(raycastResult.Normal, true, false) : Vector3.zero,
raycastResult.Confidence);
}
else
{
MLPluginLog.ErrorFormat("MLRaycast.Raycast failed. Reason: No Instance for MLRaycast");
}
});
}
else
{
MLPluginLog.ErrorFormat("MLRaycast.Raycast failed to get raycast result. Reason: {0}", MLResult.CodeToString(resultCode));
}
}
else
{
MLPluginLog.ErrorFormat("MLRaycast.Raycast failed. Reason: No Instance for MLRaycast");
}
return(true);
}
MLThreadDispatch.ScheduleWork(GetRaycastResults);
}
else
{
MLPluginLog.ErrorFormat("MLRaycast.Raycast failed. Reason: No Instance for MLRaycast");
}
return(true);
}
MLThreadDispatch.ScheduleWork(RequestRaycast);
return(MLResult.Create(MLResult.Code.Ok));
}
else
{
MLPluginLog.ErrorFormat("MLRaycast.Raycast failed. Reason: No Instance for MLRaycast");
return(MLResult.Create(MLResult.Code.UnspecifiedFailure, "MLRaycast.Raycast failed. Reason: No Instance for MLRaycast"));
}
}
catch (System.EntryPointNotFoundException)
{
MLPluginLog.Error("MLRaycast.Raycast failed. Reason: API symbols not found");
return(MLResult.Create(MLResult.Code.UnspecifiedFailure, "MLRaycast.Raycast failed. Reason: API symbols not found"));
}
}
/// <summary>
/// Begin querying for planes.
/// </summary>
/// <param name="queryParams">All values are required, omitting values may result in unexpected behavior.</param>
/// <param name="callback">Callback used to report query results.</param>
/// <returns>
/// MLResult.Result will be <c>MLResult.Code.Ok</c> if successful.
/// MLResult.Result will be <c>MLResult.Code.InvalidParam</c> if failed due to invalid input parameter.
/// MLResult.Result will be <c>MLResult.Code.UnspecifiedFailure</c> if failed due to internal error.
/// </returns>
private MLResult BeginPlaneQuery(QueryParams queryParams, QueryResultsDelegate callback)
{
try
{
if (!NativeBindings.MLHandleIsValid(_instance.planesTracker))
{
MLPluginLog.Error("MLPlanes.BeginPlaneQuery failed to request planes. Reason: Tracker handle is invalid");
return(MLResult.Create(MLResult.Code.InvalidParam));
}
bool BeginQuery()
{
if (MLPlanes.IsValidInstance())
{
NativeBindings.QueryParamsNative planeQuery = new NativeBindings.QueryParamsNative()
{
Data = queryParams
};
ulong queryHandle = MagicLeapNativeBindings.InvalidHandle;
MLResult.Code resultCode = NativeBindings.MLPlanesQueryBegin(_instance.planesTracker, ref planeQuery, ref queryHandle);
if (resultCode != MLResult.Code.Ok)
{
MLPluginLog.ErrorFormat("MLPlanes.BeginPlaneQuery failed to request planes. Reason: {0}", MLResult.CodeToString(resultCode));
return(true);
}
// Create query object to prepresent this newly registered plane query.
NativeBindings.Query query = new NativeBindings.Query((QueryResultsDelegate)callback, planeQuery.MaxResults, _instance.IsRequestingBoundaries(planeQuery.Flags));
bool GetPlanesResults()
{
if (MLPlanes.IsValidInstance())
{
// Request the update.
resultCode = NativeBindings.MLPlanesQueryGetResultsWithBoundaries(_instance.planesTracker, queryHandle, query.PlanesResultsUnmanaged, out uint numResults, ref query.PlaneBoundariesList);
if (resultCode == MLResult.Code.Pending)
{
return(false);
}
if (resultCode == MLResult.Code.Ok)
{
query.ExtractPlanesFromQueryResults(numResults);
resultCode = NativeBindings.MLPlanesReleaseBoundariesList(_instance.planesTracker, ref query.PlaneBoundariesList);
if (resultCode == MLResult.Code.Ok)
{
query.Result = MLResult.Create(resultCode);
if (query.Planes == null)
{
query.Planes = new Plane[] { };
}
if (query.PlaneBoundaries == null)
{
query.PlaneBoundaries = new Boundaries[] { };
}
MLThreadDispatch.ScheduleMain(() =>
{
if (MLPlanes.IsValidInstance())
{
callback(query.Result, query.Planes, query.PlaneBoundaries);
}
else
{
MLPluginLog.ErrorFormat("MLPlanes.BeginPlaneQuery failed. Reason: No Instance for MLPlanes");
}
});
}
else
{
MLPluginLog.ErrorFormat("MLPlanes.BeginPlaneQuery failed to release boundaries list. Reason: {0}", MLResult.CodeToString(resultCode));
}
}
else
{
MLPluginLog.ErrorFormat("MLPlanes.BeginPlaneQuery failed to query planes. Reason: {0}", MLResult.CodeToString(resultCode));
}
}
else
{
MLPluginLog.ErrorFormat("MLPlanes.BeginPlaneQuery failed. Reason: No Instance for MLPlanes");
}
return(true);
}
MLThreadDispatch.ScheduleWork(GetPlanesResults);
}
else
{
MLPluginLog.ErrorFormat("MLPlanes.BeginPlaneQuery failed. Reason: No Instance for MLPlanes");
}
return(true);
}
MLThreadDispatch.ScheduleWork(BeginQuery);
return(MLResult.Create(MLResult.Code.Ok));
}
catch (System.EntryPointNotFoundException)
{
MLPluginLog.Error("MLPlanes.BeginPlaneQuery failed. Reason: API symbols not found");
return(MLResult.Create(MLResult.Code.UnspecifiedFailure, "MLPlanes.BeginPlaneQuery failed. Reason: API symbols not found"));
}
}