private bool AddShape(
string shapeName,
List <SpatialUnderstandingDllShapes.ShapeComponent> shapeComponents,
List <SpatialUnderstandingDllShapes.ShapeConstraint> shapeConstraints)
{
if (!SpatialUnderstanding.Instance.AllowSpatialUnderstanding)
{
return(false);
}
IntPtr shapeComponentsPtr = (shapeComponents == null) ? IntPtr.Zero : HoloToolkit.Unity.SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(shapeComponents.ToArray());
IntPtr shapeConstraintsPtr = (shapeConstraints == null) ? IntPtr.Zero : HoloToolkit.Unity.SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(shapeConstraints.ToArray());
if (SpatialUnderstandingDllShapes.AddShape(
shapeName,
(shapeComponents == null) ? 0 : shapeComponents.Count,
shapeComponentsPtr,
(shapeConstraints == null) ? 0 : shapeConstraints.Count,
shapeConstraintsPtr) == 0)
{
Debug.LogError("Failed to create custom shape description");
return(false);
}
customShapeDefinitions.Add(shapeName);
return(true);
}
/// <summary>
///
/// </summary>
private void CreateCustomShapeDefinitions()
{
if (!SpatialUnderstanding.Instance.AllowSpatialUnderstanding)
{
return;
}
List <SpatialUnderstandingDllShapes.ShapeComponent> shapeComponents;
List <SpatialUnderstandingDllShapes.ShapeConstraint> shapeConstraints;
//add any shape components and constraints here and use AddShape to name it and add it to the list of shapes
//placeable
shapeComponents = new List <SpatialUnderstandingDllShapes.ShapeComponent>()
{
new SpatialUnderstandingDllShapes.ShapeComponent(
new List <SpatialUnderstandingDllShapes.ShapeComponentConstraint>()
{
SpatialUnderstandingDllShapes.ShapeComponentConstraint.Create_SurfaceHeight_Between(0.3f, 1.6f),
SpatialUnderstandingDllShapes.ShapeComponentConstraint.Create_SurfaceCount_Min(1),
SpatialUnderstandingDllShapes.ShapeComponentConstraint.Create_SurfaceArea_Min(0.1f),
}),
};
IntPtr shapeComponentsPtr = SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(shapeComponents.ToArray());
SpatialUnderstandingDllShapes.AddShape("Placeable", shapeComponents.Count, shapeComponentsPtr, 0, IntPtr.Zero);
}
public void Register()
{
List <SpatialUnderstandingDllShapes.ShapeComponent> compList = new List <SpatialUnderstandingDllShapes.ShapeComponent>();
List <SpatialUnderstandingDllShapes.ShapeConstraint> conList = new List <SpatialUnderstandingDllShapes.ShapeConstraint>();
foreach (STShapeComponent c in Components)
{
compList.Add(new SpatialUnderstandingDllShapes.ShapeComponent(c.GetConstraints()));
}
foreach (STShapeConstraint c in Constraints)
{
conList.Add(c.ToNativeConstraint());
}
IntPtr componentsPtr = SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(compList.ToArray());
IntPtr constraintsPtr = SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(conList.ToArray());
if (SpatialUnderstandingDllShapes.AddShape(ShapeName, compList.Count, componentsPtr, conList.Count, constraintsPtr) == 0)
{
Debug.LogError("Failed to create custom shape");
}
else
{
Debug.Log("Added Shape " + ShapeName + " with " + Components.Count + " components and " + Constraints.Count + " constraints");
}
}
void RegisterShapes()
{
foreach (STShape s in Shapes)
{
s.Register();
}
SpatialUnderstandingDllShapes.ActivateShapeAnalysis();
}
/// <summary>
/// Create shape definitions, add them and analyze the definitions to get the results to query later
/// </summary>
private void FindShapes()
{
if (HasCreatedShapes ||
!SpatialUnderstanding.Instance.AllowSpatialUnderstanding)
{
return;
}
CreateShapeDefinitions();
SpatialUnderstandingDllShapes.ActivateShapeAnalysis();
}
/**
* Create shape definitions.
*/
public void CreateShapes()
{
if (this.HasCreatedShapes || !SpatialUnderstanding.IsInitialized || !SpatialUnderstanding.Instance.AllowSpatialUnderstanding)
{
return;
}
// Create definitions and analyze
this.CreateCustomShapeDefinitions();
SpatialUnderstandingDllShapes.ActivateShapeAnalysis();
}
public void CreateShapes()
{
if (HasCreatedShapes ||
!SpatialUnderstandingManager.Instance.AllowSpatialUnderstanding)
{
return;
}
// Create definitions and analyze
CreateCustomShapeDefinitions();
SpatialUnderstandingDllShapes.ActivateShapeAnalysis();
}
/**
* Query the SpatialUnderstanding DLL for a specific shape.
*
* @param shapeName name of the shape that should be detected
* @param nearPos position near which the shape should be detected
* @param drawBox indicates whether an animated box should be drawn around the shape
* @param callback callback method
*/
private void Query_Shape_FindShapeHalfDims(string shapeName, Vector3?nearPos, bool drawBox, ResponseDelegate callback)
{
// Check query permission
if (!SpatialUnderstanding.IsInitialized || !SpatialUnderstanding.Instance.AllowSpatialUnderstanding)
{
return;
}
// Query
System.IntPtr resultsShapePtr = SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(this.resultsShape);
int shapeCount = SpatialUnderstandingDllShapes.QueryShape_FindShapeHalfDims(shapeName, this.resultsShape.Length, resultsShapePtr);
// Output
this.HandleResults("Find Shape Min/Max '" + shapeName + "'", shapeCount, Color.blue, new Vector3(0.25f, 0.025f, 0.25f), nearPos, drawBox, callback);
}
/*
* private void LogSurfaceState()
* {
* IntPtr statPtr = SpatialUnderstanding.Instance.UnderstandingDLL.GetStaticPlayspaceStatsPtr();
* if (SpatialUnderstandingDll.Imports.QueryPlayspaceStats(statPtr) != 0)
* {
* var stats = SpatialUnderstanding.Instance.UnderstandingDLL.GetStaticPlayspaceStats();
* string debugInfo = String.Format("TotalSurfaceArea: {0:0.##}\n" +
* "WallSurfaceArea: {1:0.##}\n" +
* "HorizSurfaceArea: {2:0.##}",
* stats.TotalSurfaceArea,
* stats.WallSurfaceArea,
* stats.HorizSurfaceArea);
* Debug.Log(debugInfo);
* }
* }
*/
void AddShapeDefinition(string shapeName,
List <SpatialUnderstandingDllShapes.ShapeComponent> shapeComponent,
List <SpatialUnderstandingDllShapes.ShapeConstraint> shapeConstraint)
{
IntPtr shapeComponentsPtr = (shapeComponent == null) ? IntPtr.Zero : SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(shapeComponent.ToArray());
IntPtr shapeConstraintsPtr = (shapeConstraint == null) ? IntPtr.Zero : SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(shapeConstraint.ToArray());
if (SpatialUnderstandingDllShapes.AddShape(shapeName,
(shapeComponent == null) ? 0 : shapeComponent.Count,
shapeComponentsPtr,
(shapeConstraint == null) ? 0 : shapeConstraint.Count,
shapeConstraintsPtr) == 0)
{
SpatialText.text = "Failed to create object";
}
}
public void Query_Shape_FindShapeHalfDims(string shapeName)
{
// Only if we're enabled
if (!SpatialUnderstanding.Instance.AllowSpatialUnderstanding)
{
return;
}
// Query
IntPtr resultsShapePtr = SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(resultsShape);
int shapeCount = SpatialUnderstandingDllShapes.QueryShape_FindShapeHalfDims(
shapeName,
resultsShape.Length, resultsShapePtr);
// Output
HandleResults_Shape("Find Shape Min/Max '" + shapeName + "'", shapeCount, Color.blue, new Vector3(0.25f, 0.025f, 0.25f));
}
/// <summary>
///
/// </summary>
public void InstantiateObjectOnPlaceable()
{
const int QueryResultMaxCount = 512;
SpatialUnderstandingDllShapes.ShapeResult[] resultsShape = new SpatialUnderstandingDllShapes.ShapeResult[QueryResultMaxCount];
// Pin managed object memory going to native code
IntPtr resultsShapePtr = SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(resultsShape);
// Find the half dimensions of "Sittable" objects via the DLL
int shapeCount = SpatialUnderstandingDllShapes.QueryShape_FindShapeHalfDims("Placeable", resultsShape.Length, resultsShapePtr);
for (int i = 0; i < shapeCount; i++)
{
Instantiate(PlaceablePrefab, resultsShape[i].position, Quaternion.identity);
}
}
/**
* Add a new shape definition.
*
* @param shapeName shape name
* @param shapeComponents list of shape components
* @param shapeConstraints list of shape constraints
*/
private void AddShape(string shapeName, List <ShapeComp> shapeComponents, List <ShapeConst> shapeConstraints = null)
{
if (!SpatialUnderstanding.IsInitialized || !SpatialUnderstanding.Instance.AllowSpatialUnderstanding)
{
return;
}
IntPtr shapeComponentsPtr = (shapeComponents == null) ? IntPtr.Zero : SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(shapeComponents.ToArray());
IntPtr shapeConstraintsPtr = (shapeConstraints == null) ? IntPtr.Zero : SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(shapeConstraints.ToArray());
int shapeComponentCount = (shapeComponents == null) ? 0 : shapeComponents.Count;
int shapeConstraintCount = (shapeConstraints == null) ? 0 : shapeConstraints.Count;
if (SpatialUnderstandingDllShapes.AddShape(shapeName, shapeComponentCount, shapeComponentsPtr, shapeConstraintCount, shapeConstraintsPtr) == 0)
{
Debug.LogError("Failed to create custom shape description.");
}
}
public void Query_Shape_FindPositionsOnShape(string shapeName)
{
// Setup
float minRadius = 0.1f;
// Only if we're enabled
if (!SpatialUnderstanding.Instance.AllowSpatialUnderstanding)
{
return;
}
// Query
IntPtr resultsShapePtr = SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(resultsShape);
int shapeCount = SpatialUnderstandingDllShapes.QueryShape_FindPositionsOnShape(
shapeName, minRadius,
resultsShape.Length, resultsShapePtr);
// Output
HandleResults_Shape("Find Positions on Shape '" + shapeName + "'", shapeCount, Color.cyan, new Vector3(0.1f, 0.025f, 0.1f));
}
private void CreateElectricBoxShape()
{
var shapeComponents = new List <SpatialUnderstandingDllShapes.ShapeComponent>()
{
new SpatialUnderstandingDllShapes.ShapeComponent(
new List <SpatialUnderstandingDllShapes.ShapeComponentConstraint>()
{
SpatialUnderstandingDllShapes.ShapeComponentConstraint.Create_IsRectangle(0.1f),
SpatialUnderstandingDllShapes.ShapeComponentConstraint.Create_RectangleLength_Between(0.4f, 0.6f),
SpatialUnderstandingDllShapes.ShapeComponentConstraint.Create_RectangleWidth_Between(0.3f, 0.5f)
}),
new SpatialUnderstandingDllShapes.ShapeComponent(
new List <SpatialUnderstandingDllShapes.ShapeComponentConstraint>()
{
SpatialUnderstandingDllShapes.ShapeComponentConstraint.Create_IsRectangle(0.1f),
SpatialUnderstandingDllShapes.ShapeComponentConstraint.Create_RectangleLength_Between(0.15f, 0.2f),
SpatialUnderstandingDllShapes.ShapeComponentConstraint.Create_RectangleWidth_Between(0.3f, 0.5f)
}),
new SpatialUnderstandingDllShapes.ShapeComponent(
new List <SpatialUnderstandingDllShapes.ShapeComponentConstraint>()
{
SpatialUnderstandingDllShapes.ShapeComponentConstraint.Create_IsRectangle(0.1f),
SpatialUnderstandingDllShapes.ShapeComponentConstraint.Create_RectangleLength_Between(0.4f, 0.6f),
SpatialUnderstandingDllShapes.ShapeComponentConstraint.Create_RectangleWidth_Between(0.15f, 0.2f)
}),
};
var shapeConstraints = new List <SpatialUnderstandingDllShapes.ShapeConstraint>()
{
SpatialUnderstandingDllShapes.ShapeConstraint.Create_RectanglesSameLength(0, 2),
SpatialUnderstandingDllShapes.ShapeConstraint.Create_RectanglesPerpendicular(0, 1),
SpatialUnderstandingDllShapes.ShapeConstraint.Create_RectanglesPerpendicular(0, 2)
};
AddShapeDefinition("ElectricBox", shapeComponents, shapeConstraints);
SpatialUnderstandingDllShapes.ActivateShapeAnalysis();
}
public int RunQuery()
{
Results = new SpatialUnderstandingDllShapes.ShapeResult[_queryMaxResultCount];
IntPtr resultsShapePtr = SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(Results);
int shapeCount = 0;
if (String.IsNullOrEmpty(ShapeName))
{
Debug.LogError("Empty shape name, cannot run query.");
return(0);
}
switch (Type)
{
case STShapeQueryType.ShapeBounds:
shapeCount = SpatialUnderstandingDllShapes.QueryShape_FindShapeHalfDims(ShapeName, Results.Length, resultsShapePtr);
break;
case STShapeQueryType.PositionsOnShape:
shapeCount = SpatialUnderstandingDllShapes.QueryShape_FindPositionsOnShape(ShapeName, _minRadius, Results.Length, resultsShapePtr);
break;
}
List <SpatialUnderstandingDllShapes.ShapeResult> resultTemp = new List <SpatialUnderstandingDllShapes.ShapeResult>();
for (int i = 0; i < shapeCount; i++)
{
resultTemp.Add(Results[i]);
}
Results = resultTemp.ToArray();
_hasRun = true;
return(shapeCount);
}
private void InstantiateObjectOnTable()
{
const int MaxResultCount = 512;
var shapeResults = new SpatialUnderstandingDllShapes.ShapeResult[MaxResultCount];
var resultsShapePtr = SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(shapeResults);
var locationCount = SpatialUnderstandingDllShapes.QueryShape_FindPositionsOnShape("ElectricBox", 0.1f, shapeResults.Length, resultsShapePtr);
if (locationCount > 0)
{
Instantiate(_object,
shapeResults[0].position,
Quaternion.LookRotation(shapeResults[0].position.normalized, Vector3.up));
// For some reason the halfDims of the shape result are always 0,0,0 so we can't scale
// to the size of the surface. This may be a bug in the HoloToolkit?
SpatialText.text = "Placed Hologram";
}
else
{
SpatialText.text = "Hologram not placed";
}
}
//if any problems arises (i.e. fps spikes when placing), this function will need to be split in multiple stages.
//Then, rest must be given to Unity between the stages. I.e. call the stages one at a time in the Update() part. Don't call multiple stages in the same Update() call.
//placePlat handles the placement for the Platform type of placement.
//it relies on the SpatialUnderstandingDllShapes API. To add other Shape Definitions, see the ShapeDefinition script from HoloToolkit-Example/SpatialUnderstanding scripts
private void placePlat()
{
List <Vector3>[] lPositions = new List <Vector3> [mPlatformLeftToPlace.Count];
SpatialUnderstandingDllShapes.ShapeResult[] lPlatPos = new SpatialUnderstandingDllShapes.ShapeResult[mMaxPlatLoc];
System.IntPtr lPlatPtr = SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(lPlatPos);
for (int i = 0; i < mPlatformLeftToPlace.Count; i++) //prepare to find all positions for each clue
{
lPositions[i] = new List <Vector3>();
}
for (int lIt = 0; lIt < mPlatformLeftToPlace.Count; lIt++) //here we find all Platform positions for each clue
{
int i = mPlatformLeftToPlace[lIt];
Collider lColl = mToPlace[i].GetComponent <Collider>();
float lMax = Mathf.Max(lColl.bounds.extents.x, Mathf.Max(lColl.bounds.extents.y, lColl.bounds.extents.z));
int lPlatCount = SpatialUnderstandingDllShapes.QueryShape_FindPositionsOnShape(
"Platform", 1.1f * lMax,
lPlatPos.Length, lPlatPtr);
for (int lPlatIt = 0; lPlatIt < lPlatCount; lPlatIt++)
{
lPositions[lIt].Add(lPlatPos[lPlatIt].position);
}
if (lPositions[lIt].Count == 0) //if there is no position for an object, just exit. The placement failed.
{
lIt = mPlatformLeftToPlace.Count + 2;
}
}
int lItObj;
//here we choose a random position from all our positions for each clue.
//since there might be multiple clues of the same size on platforms, those will have exactly the same positions.
//So it would be faster to try to select a position at random than collide for a while on the first positions
for (lItObj = 0; lItObj < mPlatformLeftToPlace.Count; lItObj++)
{
int iObj = mPlatformLeftToPlace[lItObj];
int lItPos = 2;
bool lPlaced = false;
while ((lPositions[lItObj].Count != 0) && (!lPlaced)) //choose positions at random until we run out of positions
{
lItPos = Random.Range(0, lPositions[lItObj].Count - 1);
//put object correctly on position. Without placing it upper than the position returned, we would have the center of the object at the position on the Platform
//which essentially means the lower half will go through the Platform
mToPlace[iObj].transform.localPosition = lPositions[lItObj][lItPos] + mToPlace[iObj].GetComponent <Collider>().bounds.extents.y *Vector3.up;
if (canPlace(iObj)) //can place the object at this position
{
mPlaced.Add(iObj);
lPlaced = true;
}
else
{
lPositions[lItObj].RemoveAt(lItPos); //position unusable
}
}
if (!lPlaced) //couldn't place the object, so just exit this for loop. The placement failed.
{
lItObj = mPlatformLeftToPlace.Count + 2;
mToPlace[iObj].transform.localPosition = new Vector3(0, -1000, 0);
}
}
if (lItObj == mPlatformLeftToPlace.Count) //successfully placed all the objects
{
mPlacePComplete = true;
}
else //could not place the objects
{
mPlacePComplete = false;
mSuccessful = false;
mComplete = true;
}
}
/// <summary>
///
/// </summary>
public void CreateShapes()
{
// Create definitions and analyze
CreateCustomShapeDefinitions();
SpatialUnderstandingDllShapes.ActivateShapeAnalysis();
}
/**
* Remove all shape definitions.
*/
public void Clear()
{
this.HasCreatedShapes = false;
SpatialUnderstandingDllShapes.RemoveAllShapes();
}
//Examples of ways to et locations and store them in location list.
private IEnumerator GetSpawnLocations()
{
yield return(new WaitForSeconds(3));
//IntPtr resultsTopologyPtr = SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(resultsTopology);
//int locationCount = SpatialUnderstandingDllTopology.QueryTopology_FindLargestPositionsOnFloor(
// resultsTopology.Length, resultsTopologyPtr);
//Debug.Log(locationCount);
//Debug.Log(resultsTopology[0].position);
//END OF TEST EXAMPLES.. FINDING LOCATIONS FOR THE FLOOR NOW.
SpatialUnderstandingDllObjectPlacement.Solver_RemoveAllObjects();
SpaceVisualizer.Instance.ClearGeometry();
IntPtr resultsTopologyPtr = SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(resultsTopology);
int locationCount = SpatialUnderstandingDllTopology.QueryTopology_FindPositionsOnFloor(
GameManager.Instance.shipManager.shipMaxHeight, GameManager.Instance.shipManager.shipMinHeight,
resultsTopology.Length, resultsTopologyPtr);
foreach (SpatialUnderstandingDllTopology.TopologyResult potentialShipFloor in resultsTopology)
{
SpatialLocation shipFloor = new SpatialLocation();
shipFloor.position = potentialShipFloor.position;
shipFloor.normal = potentialShipFloor.normal;
shipFloor.name = "shipFloor"; // this sould be a descriptive name of what positin is.
spatialLocationList.Add(shipFloor);
}
// GETTING SPAWN LOCATION FOR GRID
// SpaceVisualizer.Instance.ClearGeometry();
// resultsTopologyPtr = SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(resultsTopology);
// locationCount = SpatialUnderstandingDllTopology.QueryTopology_FindLargestPositionsOnFloor(
//resultsTopology.Length, resultsTopologyPtr);
// SpatialLocation gridSittingLoc = new SpatialLocation();
// gridSittingLoc.position = resultsTopology[0].position;
// gridSittingLoc.normal = resultsTopology[0].normal;
// gridSittingLoc.name = "gridSittingLoc"; // this sould be a descriptive name of what positin is.
// spatialLocationList.Add(gridSittingLoc);
//SpatialUnderstandingDllObjectPlacement.Solver_RemoveAllObjects();
//SpaceVisualizer.Instance.ClearGeometry();
//float sitMinHeight = 0f;
//float sitMaxHeight = 1.2f;
//float sitMinFacingClearance = 2f;
//SpatialUnderstandingDllObjectPlacement.Solver_RemoveAllObjects();
//resultsTopologyPtr = SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(resultsTopology);
//int locationCount3 = SpatialUnderstandingDllTopology.QueryTopology_FindPositionsSittable(
// sitMinHeight, sitMaxHeight, sitMinFacingClearance,
// resultsTopology.Length, resultsTopologyPtr);
//SpatialLocation gridSittingLoc = new SpatialLocation();
//gridSittingLoc.position = resultsTopology[0].position;
//gridSittingLoc.normal = resultsTopology[0].normal;
//gridSittingLoc.name = "gridSittingLoc"; // this sould be a descriptive name of what positin is.
//spatialLocationList.Add(gridSittingLoc);
SpatialUnderstandingDllObjectPlacement.Solver_RemoveAllObjects();
SpaceVisualizer.Instance.ClearGeometry();
IntPtr resultsShapePtr = SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(resultsShape);
int shapeCount = SpatialUnderstandingDllShapes.QueryShape_FindShapeHalfDims(
"Grid",
resultsShape.Length, resultsShapePtr);
Debug.Log(resultsShape[0].position);
Debug.Log(resultsShape[0].halfDims);
SpatialLocation gridSittingLoc = new SpatialLocation();
gridSittingLoc.position = resultsShape[0].position;
gridSittingLoc.normal = resultsShape[0].halfDims;
gridSittingLoc.name = "gridSittingLoc"; // this sould be a descriptive name of what positin is.
spatialLocationList.Add(gridSittingLoc);
yield return(null);
}
