public override void OnInspectorGUI()
{
aux = (MeshArray)target;
if (GUILayout.Button("Update"))
{
Quaternion rot = aux.transform.rotation;
aux.transform.rotation = Quaternion.identity;
aux.UpdateArray();
aux.transform.rotation = rot;
EditorUtility.SetDirty(aux);
}
base.OnInspectorGUI();
}
public void SetMesh(Dictionary <long[], MeshArray> mesh_dict)
{
foreach (KeyValuePair <long[], MeshArray> entry in mesh_dict)
{
long[] index = entry.Key;
MeshArray meshArray = entry.Value;
Mesh mesh = meshArray.GetMesh();
// If there is no existing game object for the block, create one.
if (!gameobject_dict.ContainsKey(index))
{
GameObject meshObject = new GameObject(index.ToString());
meshObject.transform.parent = meshParent.transform;
meshObject.transform.localPosition = new Vector3(0, 0, 0);
meshObject.transform.localEulerAngles = new Vector3(0, 0, 0);
meshObject.transform.localScale = new Vector3(1, 1, 1);
MeshFilter meshFilter = meshObject.AddComponent <MeshFilter>();
MeshRenderer meshRenderer = meshObject.AddComponent <MeshRenderer>();
//meshRenderer.sharedMaterial = new Material(Shader.Find("Particles/Standard Unlit"));
meshRenderer.sharedMaterial = material;
gameobject_dict.Add(index, meshObject);
}
gameobject_dict[index].GetComponent <MeshFilter>().mesh = mesh;
}
}
/// <summary>
/// Generates a dictionary of MeshArrays specified by the message.
/// </summary>
/// <param name="meshMsg">Voxblox Mesh message to generate Meshes with.</param>
/// <returns>A dictionary of MeshArrays.</returns>
public Dictionary <long[], MeshArray> generateMesh(MeshMsg meshMsg)
{
Dictionary <Int64[], MeshArray> generated_mesh_dict = new Dictionary <long[], MeshArray>(new LongArrayEqualityComparer());
/// The length of one block. Also the scaling factor of the coordinates.
float scale_factor = meshMsg.GetBlockEdgeLength();
/// List of all the mesh blocks.
MeshBlockMsg[] mesh_blocks = meshMsg.GetMeshBlocks();
/// Iterate through each mesh block generating and updating meshes for each.
for (int i = 0; i < mesh_blocks.Length; i++)
{
/// index of the mesh block.
Int64[] index = mesh_blocks[i].GetIndex();
ushort[] x = mesh_blocks[i].GetX();
ushort[] y = mesh_blocks[i].GetY();
ushort[] z = mesh_blocks[i].GetZ();
// Create a list of vertices and their corresponding colors.
List <Vector3> newVertices = new List <Vector3>();
List <Color> newColors = new List <Color>();
// update indicies, converting from block index to global position transforms.
for (int j = 0; j < x.Length; j++)
{
float zv = ((float)z[j] / 32768.0f + index[2]) * scale_factor;
float xv = ((float)x[j] / 32768.0f + index[0]) * scale_factor;
float yv = ((float)y[j] / 32768.0f + index[1]) * scale_factor;
if (flipYZ)
{
newVertices.Add(new Vector3(xv, zv, yv));
}
else
{
newVertices.Add(new Vector3(xv, yv, zv));
}
}
// update colors
byte[] r = mesh_blocks[i].GetR();
byte[] g = mesh_blocks[i].GetG();
byte[] b = mesh_blocks[i].GetB();
for (int j = 0; j < r.Length; j++)
{
newColors.Add(new Color32(r[j], g[j], b[j], alpha));
}
// Vertices come in triples each corresponding to one face.
int[] newTriangles = new int[newVertices.Count / 3 * 3];
for (int j = 0; j < newTriangles.Length; j++)
{
newTriangles[j] = j;
}
// correct for inverted mesh. By reversing the lists, the normal vectors point the right direction.
newVertices.Reverse();
newColors.Reverse();
generated_mesh_dict[index] = new MeshArray(newVertices.ToArray(), newTriangles, newColors.ToArray());
}
return(generated_mesh_dict);
}
