async Task ProcessSurface(SpatialSurfaceInfo surface)
{
var mesh = await surface.TryComputeLatestMeshAsync(trianglesPerCubicMeter, options).AsTask().ConfigureAwait(false);
if (observer == null || mesh == null)
{
RemoveSurfaceFromCache(surface.Id);
return;
}
var bounds = mesh.SurfaceInfo.TryGetBounds(currentCoordinateSystem);
if (bounds == null)
{
RemoveSurfaceFromCache(surface.Id);
return;
}
var transform = mesh.CoordinateSystem.TryGetTransformTo(currentCoordinateSystem);
if (transform == null)
{
RemoveSurfaceFromCache(surface.Id);
return;
}
//1. TriangleIndices
var trianglesBytes = mesh.TriangleIndices.Data.ToArray();
var indeces = new short[mesh.TriangleIndices.ElementCount];
int indexOffset = 0;
for (int i = 0; i < mesh.TriangleIndices.ElementCount; i++)
{
//DirectXPixelFormat.R16UInt
var index = BitConverter.ToInt16(trianglesBytes, indexOffset);
indexOffset += 2;
indeces[i] = index;
}
var vertexCount = mesh.VertexPositions.ElementCount;
var vertexRawData = mesh.VertexPositions.Data.ToArray();
var vertexScale = mesh.VertexPositionScale;
var normalsRawData = mesh.VertexNormals.Data.ToArray();
var vertexColor = DefaultColor.ToUInt();
var vertexData = new SpatialVertex[vertexCount];
var boundsRotation = new Quaternion(-bounds.Value.Orientation.X, -bounds.Value.Orientation.Y, bounds.Value.Orientation.Z, bounds.Value.Orientation.W);
var boundsCenter = new Vector3(bounds.Value.Center.X, bounds.Value.Center.Y, -bounds.Value.Center.Z);
var boundsExtents = new Vector3(bounds.Value.Extents.X, bounds.Value.Extents.Y, bounds.Value.Extents.Z);
var transformValue = transform.Value;
Matrix4 transformUrhoMatrix;
unsafe { transformUrhoMatrix = *(Matrix4 *)(void *)&transformValue; }
//these values won't change, let's declare them as consts
const int vertexStride = 16; // (int) mesh.VertexPositions.Stride;
const int normalStride = 16; // (int) mesh.VertexNormals.Stride;
//2,3 - VertexPositions and Normals
for (int i = 0; i < vertexCount; i++)
{
var positionX = BitConverter.ToSingle(vertexRawData, i * vertexStride + 0);
var positionY = BitConverter.ToSingle(vertexRawData, i * vertexStride + 4); //4 per X,Y,Z,W (stride is 16)
var positionZ = BitConverter.ToSingle(vertexRawData, i * vertexStride + 8); //also, we don't need the W component.
var normalX = BitConverter.ToSingle(normalsRawData, i * normalStride + 0);
var normalY = BitConverter.ToSingle(normalsRawData, i * normalStride + 4);
var normalZ = BitConverter.ToSingle(normalsRawData, i * normalStride + 8);
//merge vertex+normals for Urho3D (also, change RH to LH coordinate systems)
vertexData[i].PositionX = positionX * vertexScale.X;
vertexData[i].PositionY = positionY * vertexScale.Y;
vertexData[i].PositionZ = -positionZ * vertexScale.Z;
vertexData[i].NormalX = normalX;
vertexData[i].NormalY = normalY;
vertexData[i].NormalZ = -normalZ;
//Vertex color (for VCol techniques)
vertexData[i].ColorUint = vertexColor;
}
var surfaceInfo = new SharpReality.SpatialMeshInfo
{
SurfaceId = surface.Id.ToString(),
Date = surface.UpdateTime,
VertexData = vertexData,
IndexData = indeces,
BoundsCenter = boundsCenter,
BoundsRotation = boundsRotation,
Extents = boundsExtents,
Transform = transformUrhoMatrix,
};
currentHoloApp.HandleSurfaceUpdated(surfaceInfo);
}
async Task ProcessSurface(SpatialSurfaceInfo surface, bool convertToLH)
{
var mesh = await surface.TryComputeLatestMeshAsync(trianglesPerCubicMeter, options).AsTask().ConfigureAwait(false);
if (observer == null || mesh == null)
{
RemoveSurfaceFromCache(surface.Id);
return;
}
var bounds = mesh.SurfaceInfo.TryGetBounds(currentCoordinateSystem);
if (bounds == null)
{
RemoveSurfaceFromCache(surface.Id);
return;
}
var transform = mesh.CoordinateSystem.TryGetTransformTo(currentCoordinateSystem);
if (transform == null)
{
RemoveSurfaceFromCache(surface.Id);
return;
}
// convert from RH to LH coordinate system
int rhToLh = convertToLH ? -1 : 1;
//1. TriangleIndices
var trianglesBytes = mesh.TriangleIndices.Data.ToArray();
var indeces = new short[mesh.TriangleIndices.ElementCount];
int indexOffset = 0;
for (int i = 0; i < mesh.TriangleIndices.ElementCount; i++)
{
//DirectXPixelFormat.R16UInt
var index = BitConverter.ToInt16(trianglesBytes, indexOffset);
indexOffset += 2;
indeces[i] = index;
}
var vertexCount = mesh.VertexPositions.ElementCount;
var vertexRawData = mesh.VertexPositions.Data.ToArray();
var vertexScale = mesh.VertexPositionScale;
var normalsRawData = mesh.VertexNormals.Data.ToArray();
var vertexColor = DefaultColor.ToUInt();
var vertexData = new SpatialVertex[vertexCount];
//2,3 - VertexPositions and Normals
for (int i = 0; i < vertexCount; i++)
{
//VertexPositions: DirectXPixelFormat.R16G16B16A16IntNormalized
short x = BitConverter.ToInt16(vertexRawData, i * 8 + 0);
short y = BitConverter.ToInt16(vertexRawData, i * 8 + 2);
short z = BitConverter.ToInt16(vertexRawData, i * 8 + 4);
//short to float:
float xx = (x == -32768) ? -1.0f : x * 1.0f / (32767.0f);
float yy = (y == -32768) ? -1.0f : y * 1.0f / (32767.0f);
float zz = (z == -32768) ? -1.0f : z * 1.0f / (32767.0f);
//Normals: DirectXPixelFormat.R8G8B8A8IntNormalized
var normalX = normalsRawData[i * 4 + 0];
var normalY = normalsRawData[i * 4 + 1];
var normalZ = normalsRawData[i * 4 + 2];
//merge vertex+normals for Urho3D (also, change RH to LH coordinate systems)
vertexData[i].PositionX = xx * vertexScale.X;
vertexData[i].PositionY = yy * vertexScale.Y;
vertexData[i].PositionZ = rhToLh * zz * vertexScale.Z;
vertexData[i].NormalX = normalX == 0 ? 0 : 255 / normalX;
vertexData[i].NormalY = normalY == 0 ? 0 : 255 / normalY;
vertexData[i].NormalZ = normalZ == 0 ? 0 : rhToLh * 255 / normalZ;
//Vertex color
vertexData[i].ColorUint = vertexColor;
}
var boundsRotation = new Quaternion(rhToLh * bounds.Value.Orientation.X, rhToLh * bounds.Value.Orientation.Y, bounds.Value.Orientation.Z, bounds.Value.Orientation.W);
var boundsCenter = new Vector3(bounds.Value.Center.X, bounds.Value.Center.Y, rhToLh * bounds.Value.Center.Z);
var boundsExtents = new Vector3(bounds.Value.Extents.X, bounds.Value.Extents.Y, bounds.Value.Extents.Z);
var transformValue = transform.Value;
Matrix4 transformUrhoMatrix;
unsafe { transformUrhoMatrix = *(Matrix4 *)(void *)&transformValue; }
var surfaceInfo = new HoloLens.SpatialMeshInfo
{
SurfaceId = surface.Id.ToString(),
Date = surface.UpdateTime,
VertexData = vertexData,
IndexData = indeces,
BoundsCenter = boundsCenter,
BoundsRotation = boundsRotation,
Extents = boundsExtents,
Transform = transformUrhoMatrix,
};
currentHoloApp.HandleSurfaceUpdated(surfaceInfo);
}