/// <summary>
/// Issue a request to the Surface Observer to begin baking the mesh.
/// </summary>
/// <param name="meshId">ID of the mesh to bake.</param>
private void RequestMesh(MeshId meshId)
{
using (RequestMeshPerfMarker.Auto())
{
string meshName = ("SpatialMesh - " + meshId);
SpatialAwarenessMeshObject newMesh;
if (spareMeshObject == null)
{
newMesh = SpatialAwarenessMeshObject.Create(
null,
MeshPhysicsLayer,
meshName,
meshId.GetHashCode());
}
else
{
newMesh = spareMeshObject;
spareMeshObject = null;
newMesh.GameObject.name = meshName;
newMesh.Id = meshId.GetHashCode();
newMesh.GameObject.SetActive(true);
}
XRSubsystemHelpers.MeshSubsystem.GenerateMeshAsync(meshId, newMesh.Filter.mesh, newMesh.Collider, MeshVertexAttributes.Normals, (MeshGenerationResult meshGenerationResult) => MeshGenerationAction(meshGenerationResult));
outstandingMeshObject = newMesh;
}
}
/// <inheritdoc/>
public override void Suspend()
{
#if UNITY_WSA
if (!IsRunning)
{
Debug.LogWarning("The Windows Mixed Reality spatial observer is currently stopped.");
return;
}
using (SuspendPerfMarker.Auto())
{
// UpdateObserver keys off of this value to stop observing.
IsRunning = false;
// Halt any outstanding work.
if (outstandingMeshObject != null)
{
ReclaimMeshObject(outstandingMeshObject);
outstandingMeshObject = null;
}
// Clear any pending work.
meshWorkQueue.Clear();
}
#endif // UNITY_WSA
}
/// <summary>
/// Reclaims the <see cref="SpatialAwarenessMeshObject"/> to allow for later reuse.
/// </summary>
protected void ReclaimMeshObject(SpatialAwarenessMeshObject availableMeshObject)
{
using (ReclaimMeshObjectPerfMarker.Auto())
{
if (spareMeshObject == null)
{
// Cleanup the mesh object.
// Do not destroy the game object, destroy the meshes.
SpatialAwarenessMeshObject.Cleanup(availableMeshObject, false);
if (availableMeshObject.GameObject != null)
{
availableMeshObject.GameObject.name = "Unused Spatial Mesh";
availableMeshObject.GameObject.SetActive(false);
}
spareMeshObject = availableMeshObject;
}
else
{
// Cleanup the mesh object.
// Destroy the game object, destroy the meshes.
SpatialAwarenessMeshObject.Cleanup(availableMeshObject);
}
}
}
/// <summary>
/// Sends the observations using the mesh data contained within the configured 3D model.
/// </summary>
private void SendMeshObjects()
{
if (!sendObservations)
{
return;
}
if (spatialMeshObject != null)
{
MeshFilter[] meshFilters = spatialMeshObject.GetComponentsInChildren <MeshFilter>();
for (int i = 0; i < meshFilters.Length; i++)
{
SpatialAwarenessMeshObject meshObject = SpatialAwarenessMeshObject.Create(
meshFilters[i].sharedMesh,
MeshPhysicsLayer,
$"Spatial Object Mesh {currentMeshId}",
currentMeshId,
ObservedObjectParent);
meshObject.GameObject.transform.localPosition = meshFilters[i].transform.position;
meshObject.GameObject.transform.localRotation = meshFilters[i].transform.rotation;
ApplyMeshMaterial(meshObject);
meshes.Add(currentMeshId, meshObject);
meshEventData.Initialize(this, currentMeshId, meshObject);
SpatialAwarenessSystem?.HandleEvent(meshEventData, OnMeshAdded);
currentMeshId++;
}
}
sendObservations = false;
}
/// <summary>
/// Issue a request to the Surface Observer to begin baking the mesh.
/// </summary>
/// <param name="meshId">ID of the mesh to bake.</param>
private void RequestMesh(MeshId meshId)
{
using (RequestMeshPerfMarker.Auto())
{
string meshName = ("SpatialMesh - " + meshId);
SpatialAwarenessMeshObject newMesh;
if (spareMeshObject == null)
{
newMesh = SpatialAwarenessMeshObject.Create(
null,
MeshPhysicsLayer,
meshName,
meshId.GetHashCode());
GameObject anchorHolder = new GameObject(meshName + "_anchor");
anchorHolder.AddComponent <PlayspaceAdapter>();
// Right now, we don't add an anchor to the mesh. This may be resolved with the AnchorSubsystem.
anchorHolder.transform.SetParent(newMesh.GameObject.transform, false);
}
else
{
newMesh = spareMeshObject;
spareMeshObject = null;
newMesh.GameObject.name = meshName;
newMesh.Id = meshId.GetHashCode();
newMesh.GameObject.SetActive(true);
}
XRSubsystemHelpers.MeshSubsystem.GenerateMeshAsync(meshId, newMesh.Filter.mesh, newMesh.Collider, MeshVertexAttributes.Normals, (MeshGenerationResult meshGenerationResult) => MeshGenerationAction(meshGenerationResult));
outstandingMeshObject = newMesh;
}
}
/// <summary>
/// Issue a request to the Surface Observer to begin baking the mesh.
/// </summary>
/// <param name="surfaceId">ID of the mesh to bake.</param>
private void RequestMesh(SurfaceId surfaceId)
{
string meshName = ("SpatialMesh - " + surfaceId.handle);
SpatialAwarenessMeshObject newMesh;
WorldAnchor worldAnchor;
if (spareMeshObject == null)
{
newMesh = SpatialAwarenessMeshObject.Create(null, MeshPhysicsLayer, meshName, surfaceId.handle);
// The WorldAnchor component places its object where the anchor is in the same space as the camera.
// But since the camera is repositioned by the MixedRealityPlayspace's transform, the meshes' transforms
// should also the WorldAnchor position repositioned by the MixedRealityPlayspace's transform.
// So rather than put the WorldAnchor on the mesh's GameObject, the WorldAnchor is placed out of the way in the scene,
// and its transform is concatenated with the Playspace transform to compute the transform on the mesh's object.
// That adapting the WorldAnchor's transform into playspace is done by the internal PlayspaceAdapter component.
// The GameObject the WorldAnchor is placed on is unimportant, but it is convenient for cleanup to make it a child
// of the GameObject whose transform will track it.
GameObject anchorHolder = new GameObject(meshName + "_anchor");
anchorHolder.AddComponent <PlayspaceAdapter>(); // replace with required component?
worldAnchor = anchorHolder.AddComponent <WorldAnchor>(); // replace with required component and GetComponent()?
anchorHolder.transform.SetParent(newMesh.GameObject.transform, false);
}
else
{
newMesh = spareMeshObject;
spareMeshObject = null;
newMesh.GameObject.name = meshName;
newMesh.Id = surfaceId.handle;
newMesh.GameObject.SetActive(true);
// There should be exactly one child on the newMesh.GameObject, and that is the GameObject added above
// to hold the WorldAnchor component and adapter.
Debug.Assert(newMesh.GameObject.transform.childCount == 1, "Expecting a single child holding the WorldAnchor");
worldAnchor = newMesh.GameObject.transform.GetChild(0).gameObject.GetComponent <WorldAnchor>();
}
Debug.Assert(worldAnchor != null);
SurfaceData surfaceData = new SurfaceData(
surfaceId,
newMesh.Filter,
worldAnchor,
newMesh.Collider,
TrianglesPerCubicMeter,
true);
if (observer.RequestMeshAsync(surfaceData, SurfaceObserver_OnDataReady))
{
outstandingMeshObject = newMesh;
}
else
{
Debug.LogError($"Mesh request failed for Id == surfaceId.handle");
outstandingMeshObject = null;
ReclaimMeshObject(newMesh);
}
}
public MeshData(SpatialAwarenessMeshObject aMesh)
{
if (aMesh != null)
{
data = MeshSerializer.SerializeMesh(aMesh.Filter.sharedMesh);
transform = new TransformS(aMesh.Renderer.transform);
}
else
{
data = new byte[0];
transform = new TransformS(null);
}
}
/// <summary>
/// Removes an observation.
/// </summary>
private void RemoveMeshObject(int meshId)
{
if (meshes.TryGetValue(meshId, out SpatialAwarenessMeshObject meshObject))
{
// Remove the mesh object from the collection.
meshes.Remove(meshId);
if (meshObject != null)
{
SpatialAwarenessMeshObject.Cleanup(meshObject);
}
// Send the mesh removed event
meshEventData.Initialize(this, meshId, null);
SpatialAwarenessSystem?.HandleEvent(meshEventData, OnMeshRemoved);
}
}
/// <summary>
/// Issue a request to the Surface Observer to begin baking the mesh.
/// </summary>
/// <param name="surfaceId">ID of the mesh to bake.</param>
private void RequestMesh(SurfaceId surfaceId)
{
string meshName = ("SpatialMesh - " + surfaceId.handle);
SpatialAwarenessMeshObject newMesh;
WorldAnchor worldAnchor;
if (spareMeshObject == null)
{
newMesh = SpatialAwarenessMeshObject.Create(null, MeshPhysicsLayer, meshName, surfaceId.handle);
worldAnchor = newMesh.GameObject.AddComponent <WorldAnchor>();
}
else
{
newMesh = spareMeshObject;
spareMeshObject = null;
newMesh.GameObject.name = meshName;
newMesh.Id = surfaceId.handle;
newMesh.GameObject.SetActive(true);
worldAnchor = newMesh.GameObject.GetComponent <WorldAnchor>();
}
Debug.Assert(worldAnchor != null);
SurfaceData surfaceData = new SurfaceData(
surfaceId,
newMesh.Filter,
worldAnchor,
newMesh.Collider,
TrianglesPerCubicMeter,
true);
if (observer.RequestMeshAsync(surfaceData, SurfaceObserver_OnDataReady))
{
outstandingMeshObject = newMesh;
}
else
{
Debug.LogError($"Mesh request failed for Id == surfaceId.handle");
outstandingMeshObject = null;
ReclaimMeshObject(newMesh);
}
}
/// <summary>
/// Applies the appropriate material, based on the current of the <see cref="SpatialAwarenessMeshDisplayOptions"/> property.
/// </summary>
/// <param name="meshObject">The <see cref="SpatialAwarenessMeshObject"/> for which the material is to be applied.</param>
private void ApplyMeshMaterial(SpatialAwarenessMeshObject meshObject)
{
if (meshObject?.Renderer == null) { return; }
bool enable = (DisplayOption != SpatialAwarenessMeshDisplayOptions.None);
if (enable)
{
meshObject.Renderer.sharedMaterial = (DisplayOption == SpatialAwarenessMeshDisplayOptions.Visible) ?
VisibleMaterial :
OcclusionMaterial;
meshObject.Collider.material = PhysicsMaterial;
}
meshObject.Renderer.enabled = enable;
}
/// <inheritdoc />
public override void ClearObservations()
{
using (ClearObservationsPerfMarker.Auto())
{
bool wasRunning = false;
if (IsRunning)
{
wasRunning = true;
Debug.Log("Cannot clear observations while the observer is running. Suspending this observer.");
Suspend();
}
IReadOnlyList <int> observations = new List <int>(Meshes.Keys);
foreach (int meshId in observations)
{
RemoveMeshObject(meshId);
}
// Cleanup the outstanding mesh object.
if (outstandingMeshObject != null)
{
// Destroy the game object, destroy the meshes.
SpatialAwarenessMeshObject.Cleanup(outstandingMeshObject);
outstandingMeshObject = null;
}
// Cleanup the spare mesh object
if (spareMeshObject != null)
{
// Destroy the game object, destroy the meshes.
SpatialAwarenessMeshObject.Cleanup(spareMeshObject);
spareMeshObject = null;
}
if (wasRunning)
{
Resume();
}
}
}
/// <summary>
/// Cleans up the objects created during observation.
/// </summary>
private void CleanupObservedObjects()
{
if (Application.isPlaying)
{
// Cleanup the scene objects are managing
if (observedObjectParent != null)
{
observedObjectParent.transform.DetachChildren();
}
foreach (SpatialAwarenessMeshObject meshObject in meshes.Values)
{
if (meshObject != null)
{
// Destroy the game object, destroy the meshes.
SpatialAwarenessMeshObject.Cleanup(meshObject);
}
}
meshes.Clear();
// Cleanup the outstanding mesh object.
if (outstandingMeshObject != null)
{
// Destroy the game object, destroy the meshes.
SpatialAwarenessMeshObject.Cleanup(outstandingMeshObject);
outstandingMeshObject = null;
}
// Cleanup the spare mesh object
if (spareMeshObject != null)
{
// Destroy the game object, destroy the meshes.
SpatialAwarenessMeshObject.Cleanup(spareMeshObject);
spareMeshObject = null;
}
}
}
private void MeshGenerationAction(MeshGenerationResult meshGenerationResult)
{
if (!IsRunning)
{
return;
}
using (MeshGenerationActionPerfMarker.Auto())
{
if (outstandingMeshObject == null)
{
Debug.LogWarning($"MeshGenerationAction called for mesh id {meshGenerationResult.MeshId} while no request was outstanding.");
return;
}
switch (meshGenerationResult.Status)
{
case MeshGenerationStatus.InvalidMeshId:
case MeshGenerationStatus.Canceled:
case MeshGenerationStatus.UnknownError:
outstandingMeshObject = null;
break;
case MeshGenerationStatus.Success:
// Since there is only one outstanding mesh object, update the id to match
// the one received after baking.
SpatialAwarenessMeshObject meshObject = outstandingMeshObject;
meshObject.Id = meshGenerationResult.MeshId.GetHashCode();
outstandingMeshObject = null;
// Apply the appropriate material to the mesh.
SpatialAwarenessMeshDisplayOptions displayOption = DisplayOption;
if (displayOption != SpatialAwarenessMeshDisplayOptions.None)
{
meshObject.Renderer.enabled = true;
meshObject.Renderer.sharedMaterial = (displayOption == SpatialAwarenessMeshDisplayOptions.Visible) ?
VisibleMaterial :
OcclusionMaterial;
meshObject.Collider.material = PhysicsMaterial;
}
else
{
meshObject.Renderer.enabled = false;
}
// Recalculate the mesh normals if requested.
if (RecalculateNormals)
{
meshObject.Filter.sharedMesh.RecalculateNormals();
}
// Add / update the mesh to our collection
bool sendUpdatedEvent = false;
if (meshes.ContainsKey(meshObject.Id))
{
// Reclaim the old mesh object for future use.
ReclaimMeshObject(meshes[meshObject.Id]);
meshes.Remove(meshObject.Id);
sendUpdatedEvent = true;
}
meshes.Add(meshObject.Id, meshObject);
meshObject.GameObject.transform.parent = (ObservedObjectParent.transform != null) ? ObservedObjectParent.transform : null;
meshEventData.Initialize(this, meshObject.Id, meshObject);
if (sendUpdatedEvent)
{
SpatialAwarenessSystem?.HandleEvent(meshEventData, OnMeshUpdated);
}
else
{
SpatialAwarenessSystem?.HandleEvent(meshEventData, OnMeshAdded);
}
break;
}
}
}
/// <summary>
/// Handles the SurfaceObserver's OnDataReady event.
/// </summary>
/// <param name="cookedData">Struct containing output data.</param>
/// <param name="outputWritten">Set to true if output has been written.</param>
/// <param name="elapsedCookTimeSeconds">Seconds between mesh cook request and propagation of this event.</param>
private void SurfaceObserver_OnDataReady(SurfaceData cookedData, bool outputWritten, float elapsedCookTimeSeconds)
{
if (!IsRunning)
{
return;
}
using (OnDataReadyPerfMarker.Auto())
{
if (outstandingMeshObject == null)
{
return;
}
if (!outputWritten)
{
ReclaimMeshObject(outstandingMeshObject);
outstandingMeshObject = null;
return;
}
// Since there is only one outstanding mesh object, update the id to match
// the one received after baking.
SpatialAwarenessMeshObject meshObject = outstandingMeshObject;
meshObject.Id = cookedData.id.handle;
outstandingMeshObject = null;
// Check to see if this is a new or updated mesh.
bool isMeshUpdate = meshes.ContainsKey(meshObject.Id);
// We presume that if the display option is not occlusion, that we should
// default to the visible material.
// Note: We check explicitly for a display option of none later in this method.
Material material = (DisplayOption == SpatialAwarenessMeshDisplayOptions.Occlusion) ?
OcclusionMaterial : VisibleMaterial;
// If this is a mesh update, we want to preserve the mesh's previous material.
material = isMeshUpdate ? meshes[meshObject.Id].Renderer.sharedMaterial : material;
// Apply the appropriate material.
meshObject.Renderer.sharedMaterial = material;
// Recalculate the mesh normals if requested.
if (RecalculateNormals)
{
meshObject.Filter.sharedMesh.RecalculateNormals();
}
// Check to see if the display option is set to none. If so, we disable
// the renderer.
meshObject.Renderer.enabled = (DisplayOption != SpatialAwarenessMeshDisplayOptions.None);
// Set the physics material
if (meshObject.Renderer.enabled)
{
meshObject.Collider.material = PhysicsMaterial;
}
// Add / update the mesh to our collection
if (isMeshUpdate)
{
// Reclaim the old mesh object for future use.
ReclaimMeshObject(meshes[meshObject.Id]);
meshes.Remove(meshObject.Id);
}
meshes.Add(meshObject.Id, meshObject);
// Preserve local transform relative to parent.
meshObject.GameObject.transform.SetParent(ObservedObjectParent != null ?
ObservedObjectParent.transform: null, false);
meshEventData.Initialize(this, meshObject.Id, meshObject);
if (isMeshUpdate)
{
SpatialAwarenessSystem?.HandleEvent(meshEventData, OnMeshUpdated);
}
else
{
SpatialAwarenessSystem?.HandleEvent(meshEventData, OnMeshAdded);
}
}
}
/// <summary>
/// Handles the SurfaceObserver's OnDataReady event.
/// </summary>
/// <param name="cookedData">Struct containing output data.</param>
/// <param name="outputWritten">Set to true if output has been written.</param>
/// <param name="elapsedCookTimeSeconds">Seconds between mesh cook request and propagation of this event.</param>
private void SurfaceObserver_OnDataReady(SurfaceData cookedData, bool outputWritten, float elapsedCookTimeSeconds)
{
if (!IsRunning)
{
return;
}
if (outstandingMeshObject == null)
{
return;
}
if (!outputWritten)
{
ReclaimMeshObject(outstandingMeshObject);
outstandingMeshObject = null;
return;
}
// Since there is only one outstanding mesh object, update the id to match
// the one received after baking.
SpatialAwarenessMeshObject meshObject = outstandingMeshObject;
meshObject.Id = cookedData.id.handle;
outstandingMeshObject = null;
// Apply the appropriate material to the mesh.
SpatialAwarenessMeshDisplayOptions displayOption = DisplayOption;
if (displayOption != SpatialAwarenessMeshDisplayOptions.None)
{
meshObject.Renderer.enabled = true;
meshObject.Renderer.sharedMaterial = (displayOption == SpatialAwarenessMeshDisplayOptions.Visible) ?
VisibleMaterial :
OcclusionMaterial;
}
else
{
meshObject.Renderer.enabled = false;
}
// Recalculate the mesh normals if requested.
if (RecalculateNormals)
{
meshObject.Filter.sharedMesh.RecalculateNormals();
}
// Add / update the mesh to our collection
bool sendUpdatedEvent = false;
if (meshes.ContainsKey(cookedData.id.handle))
{
// Reclaim the old mesh object for future use.
ReclaimMeshObject(meshes[cookedData.id.handle]);
meshes.Remove(cookedData.id.handle);
sendUpdatedEvent = true;
}
meshes.Add(cookedData.id.handle, meshObject);
meshObject.GameObject.transform.parent = (ObservedObjectParent.transform != null) ? ObservedObjectParent.transform : null;
meshEventData.Initialize(this, cookedData.id.handle, meshObject);
if (sendUpdatedEvent)
{
SpatialAwarenessSystem?.HandleEvent(meshEventData, OnMeshUpdated);
}
else
{
SpatialAwarenessSystem?.HandleEvent(meshEventData, OnMeshAdded);
}
}
private void MeshGenerationAction(MeshGenerationResult meshGenerationResult)
{
if (!IsRunning)
{
return;
}
using (MeshGenerationActionPerfMarker.Auto())
{
if (outstandingMeshObject == null)
{
Debug.LogWarning($"MeshGenerationAction called for mesh id {meshGenerationResult.MeshId} while no request was outstanding.");
return;
}
switch (meshGenerationResult.Status)
{
case MeshGenerationStatus.InvalidMeshId:
case MeshGenerationStatus.Canceled:
case MeshGenerationStatus.UnknownError:
outstandingMeshObject = null;
break;
case MeshGenerationStatus.Success:
// Since there is only one outstanding mesh object, update the id to match
// the one received after baking.
SpatialAwarenessMeshObject meshObject = outstandingMeshObject;
meshObject.Id = meshGenerationResult.MeshId.GetHashCode();
outstandingMeshObject = null;
// Check to see if this is a new or updated mesh.
bool isMeshUpdate = meshes.ContainsKey(meshObject.Id);
// We presume that if the display option is not occlusion, that we should
// default to the visible material.
// Note: We check explicitly for a display option of none later in this method.
Material material = (DisplayOption == SpatialAwarenessMeshDisplayOptions.Occlusion) ?
OcclusionMaterial : VisibleMaterial;
// If this is a mesh update, we want to preserve the mesh's previous material.
material = isMeshUpdate ? meshes[meshObject.Id].Renderer.sharedMaterial : material;
// Apply the appropriate material.
meshObject.Renderer.sharedMaterial = material;
// Recalculate the mesh normals if requested.
if (RecalculateNormals)
{
meshObject.Filter.sharedMesh.RecalculateNormals();
}
// Check to see if the display option is set to none. If so, we disable
// the renderer.
meshObject.Renderer.enabled = (DisplayOption != SpatialAwarenessMeshDisplayOptions.None);
// Set the physics material
if (meshObject.Renderer.enabled)
{
meshObject.Collider.material = PhysicsMaterial;
}
// Add / update the mesh to our collection
if (isMeshUpdate)
{
// Reclaim the old mesh object for future use.
ReclaimMeshObject(meshes[meshObject.Id]);
meshes.Remove(meshObject.Id);
}
meshes.Add(meshObject.Id, meshObject);
meshObject.GameObject.transform.parent = (ObservedObjectParent.transform != null) ?
ObservedObjectParent.transform : null;
meshEventData.Initialize(this, meshObject.Id, meshObject);
if (isMeshUpdate)
{
SpatialAwarenessSystem?.HandleEvent(meshEventData, OnMeshUpdated);
}
else
{
SpatialAwarenessSystem?.HandleEvent(meshEventData, OnMeshAdded);
}
break;
}
}
}
/// <inheritdoc />
public void RaiseMeshUpdated(IMixedRealitySpatialAwarenessObserver observer, int meshId, SpatialAwarenessMeshObject meshObject)
{
meshEventData.Initialize(observer, meshId, meshObject);
HandleEvent(meshEventData, OnMeshUpdated);
}
