public void Query_Topology_FindLargePositionsOnWalls()
{
// Setup
//float minHeightOfWallSpace = 1.0f;
//float minWidthOfWallSpace = 1.5f;
//float minHeightAboveFloor = 1.5f;
//float minFacingClearance = 0.5f;
float minHeightOfWallSpace = 0.5f;
float minWidthOfWallSpace = 0.5f;
float minHeightAboveFloor = 1f;
float minFacingClearance = 0.5f;
// Only if we're enabled
if (!SpatialUnderstanding.Instance.AllowSpatialUnderstanding)
{
return;
}
// Query
IntPtr resultsTopologyPtr = SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(resultsTopology);
int locationCount = SpatialUnderstandingDllTopology.QueryTopology_FindLargePositionsOnWalls(
minHeightOfWallSpace, minWidthOfWallSpace, minHeightAboveFloor, minFacingClearance,
resultsTopology.Length, resultsTopologyPtr);
// Output
HandleResults_Topology("Find Large Positions On Walls", locationCount, new Vector3(minWidthOfWallSpace, minHeightOfWallSpace, 0.025f), Color.yellow);
}
void Update()
{
if (SpatialUnderstanding.Instance.ScanState == SpatialUnderstanding.ScanStates.Done && !done)
{
SpatialUnderstandingDllTopology.TopologyResult[] result = new SpatialUnderstandingDllTopology.TopologyResult[1];
System.IntPtr intptr = SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(result);
int locationCount = SpatialUnderstandingDllTopology.QueryTopology_FindLargePositionsOnWalls(0.1f, 0.1f, 0.0f, 0.2f, result.Length, intptr);
if (locationCount > 0)
{
something.transform.position = result[0].position;
Debug.Log(result[0].position);
Debug.Log(result[0].length);
Debug.Log(result[0].width);
Debug.Log(result[0].normal);
SpatialUnderstanding.Instance.UnderstandingDLL.UnpinAllObjects();
done = true;
Debug.Log("Retrieved spatial understanding position.");
}
}
if (!scanDone && Time.fixedTime > 20.0f)
{
SpatialUnderstanding.Instance.RequestFinishScan();
scanDone = true;
}
}
public int RunQuery()
{
Results = new SpatialUnderstandingDllTopology.TopologyResult[_queryMaxResultCount];
SpatialUnderstandingDllTopology.TopologyResult SingleResult = new SpatialUnderstandingDllTopology.TopologyResult();
IntPtr resultsTopologyPtr = SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(Results);
IntPtr singleResultPtr = SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(SingleResult);
int resultCount = 0;
switch (Type)
{
case STTopologyQueryType.LargePositionsOnWalls:
resultCount = SpatialUnderstandingDllTopology.QueryTopology_FindLargePositionsOnWalls(MinHeight, MinWidth, Wall_MinHeightAboveFloor, MinFacingClearance, Results.Length, resultsTopologyPtr);
break;
case STTopologyQueryType.LargestPositionsOnFloor:
resultCount = SpatialUnderstandingDllTopology.QueryTopology_FindLargestPositionsOnFloor(Results.Length, resultsTopologyPtr);
break;
case STTopologyQueryType.LargestWall:
resultCount = SpatialUnderstandingDllTopology.QueryTopology_FindLargestWall(singleResultPtr);
Results = new SpatialUnderstandingDllTopology.TopologyResult[] { SingleResult };
break;
case STTopologyQueryType.PositionsOnFloor:
resultCount = SpatialUnderstandingDllTopology.QueryTopology_FindPositionsOnFloor(Floor_MinLength, MinWidth, Results.Length, resultsTopologyPtr);
break;
case STTopologyQueryType.PositionsOnWalls:
resultCount = SpatialUnderstandingDllTopology.QueryTopology_FindPositionsOnWalls(MinHeight, MinWidth, Wall_MinHeightAboveFloor, MinFacingClearance, Results.Length, resultsTopologyPtr);
break;
case STTopologyQueryType.PositionsSittable:
resultCount = SpatialUnderstandingDllTopology.QueryTopology_FindPositionsSittable(MinHeight, Sittable_MaxHeight, MinFacingClearance, Results.Length, resultsTopologyPtr);
break;
}
List <SpatialUnderstandingDllTopology.TopologyResult> resultTemp = new List <SpatialUnderstandingDllTopology.TopologyResult>();
for (int i = 0; i < resultCount; i++)
{
resultTemp.Add(Results[i]);
}
Results = resultTemp.ToArray();
_hasRun = true;
return(resultCount);
}