public IEnumerator Touch(Vector3 touchPosition, Action <Vector3, Quaternion, int> action)
{
_findPlaneWaitingForDepth = true;
_tangoApplication.SetDepthCameraRate(TangoEnums.TangoDepthCameraRate.MAXIMUM);
while (_findPlaneWaitingForDepth)
{
// action (Vector3.zero, Quaternion.identity, false);
yield return(null);
}
_tangoApplication.SetDepthCameraRate(TangoEnums.TangoDepthCameraRate.DISABLED);
Vector3 planeCenter;
Plane plane;
if (_pointCloud.FindPlane(Camera.main, touchPosition, out planeCenter, out plane))
{
if (Vector3.Angle(plane.normal, Vector3.up) < 30.0f)
{
var forward = CameraForwardOnPlane(plane);
var lookToCamera = Quaternion.LookRotation(-forward, plane.normal);
action(planeCenter, lookToCamera, 1);
}
else
{
action(Vector3.zero, Quaternion.identity, 0);
}
}
else
{
action(Vector3.zero, Quaternion.identity, 2);
}
}
/// <summary>
/// Wait for the next depth update, then find the nearest edge in the point
/// cloud.
/// </summary>
/// <param name="touchPosition">Touch position on the screen.</param>
/// <returns>Coroutine IEnumerator.</returns>
private IEnumerator _WaitForDepth(Vector2 touchPosition)
{
m_waitingForDepth = true;
// Turn on the camera and wait for a single depth update
m_tangoApplication.SetDepthCameraRate(
TangoEnums.TangoDepthCameraRate.MAXIMUM);
while (m_waitingForDepth)
{
yield return(null);
}
m_tangoApplication.SetDepthCameraRate(
TangoEnums.TangoDepthCameraRate.DISABLED);
m_camera = Camera.main;
int pointIndex = m_pointCloud.FindClosestPoint(m_camera, touchPosition, 10);
if (pointIndex > -1)
{
m_currTouch = m_pointCloud.m_points[pointIndex];
//_RenderCustomize(m_currTouch, new Vector3(m_currTouch[0] + 0.005f, m_currTouch[1], m_currTouch[2]));
Debug.Log("<<<<<<<<<<<<<<<< mouse position: " + m_currTouch[0] + ", " + m_currTouch[1] + ", " + m_currTouch[2]);
}
TangoSupport.TangoSupportEdge[] edges;
int num_edges;
bool edgeResult = m_pointCloud.FindEdges(m_imagebuffer, m_camera, touchPosition,
out edges, out num_edges);
Debug.Log("<<<<<<<<<<< Edge result: " + edgeResult);
if (edgeResult == true)
{
m_edgeCount = num_edges;
m_startPoint = new Vector3[num_edges];
m_endPoint = new Vector3[num_edges];
m_nearestPoint = new Vector3[num_edges];
for (int i = 0; i < num_edges; i++)
{
Debug.Log("<<<<<<<<< starting point's x: " + edges[i].end_points_x1);
m_startPoint[i] = new Vector3(edges[i].end_points_x1,
edges[i].end_points_y1,
edges[i].end_points_z1);
Debug.Log("<<<<<<<<<< " + m_startPoint[i][0] + ", " + m_startPoint[i][1] + ", " + m_startPoint[i][2]);
m_endPoint[i] = new Vector3(edges[i].end_points_x2,
edges[i].end_points_y2,
edges[i].end_points_z2);
Debug.Log("<<<<<<<<<< " + m_endPoint[i][0] + ", " + m_endPoint[i][1] + ", " + m_endPoint[i][2]);
m_nearestPoint[i] = new Vector3(edges[i].closest_point_on_edge_x,
edges[i].closest_point_on_edge_y,
edges[i].closest_point_on_edge_z);
Debug.Log("<<<<<<<<<< " + m_nearestPoint[i][0] + ", " + m_nearestPoint[i][1] + ", " + m_nearestPoint[i][2]);
}
_RenderLine();
}
}
public void Update()
{
//update timer
_time += Time.deltaTime;
if (_time > RecordingSystem.FloorScanRate && _searchCompleted == true) //update and check for ongoing search
{
//reset timer
_time = 0;
//request new floor position from pointcloud
_searchCompleted = false;
floorFound = false;
_tangoApplication.SetDepthCameraRate(TangoEnums.TangoDepthCameraRate.MAXIMUM);
_pointCloud.FindFloor();
}
// If the point cloud has found the floor, adjust the position accordingly.
if (_pointCloud.m_floorFound)
{
_searchCompleted = true;
floorFound = true;
if (transform.position.y != _pointCloud.m_floorPlaneY)
transform.position = new Vector3(0.0f, _pointCloud.m_floorPlaneY, 0.0f);
}
}
/// <summary>
/// OnGUI is called for rendering and handling GUI events.
/// </summary>
public void OnGUI()
{
GUI.color = Color.white;
if (!m_findingFloor)
{
if (GUI.Button(new Rect(Screen.width - 220, 20, 200, 80), "<size=30>Find Floor</size>"))
{
if (m_pointCloud == null)
{
Debug.LogError("TangoPointCloud required to find floor.");
return;
}
m_findingFloor = true;
m_marker.SetActive(false);
m_tangoApplication.SetDepthCameraRate(TangoEnums.TangoDepthCameraRate.MAXIMUM);
m_pointCloud.FindFloor();
}
}
else
{
GUI.Label(new Rect(0, Screen.height - 50, Screen.width, 50), "<size=30>Searching for floor position. Make sure the floor is visible.</size>");
}
}
/// <summary>
/// Update is called once per frame.
/// </summary>
public void Update()
{
// If the point cloud has found the floor, adjust the position accordingly.
if (m_pointCloud.m_floorFound)
{
m_floorFound = true;
if (transform.position.y != m_pointCloud.m_floorPlaneY)
{
transform.position = new Vector3(0.0f, m_pointCloud.m_floorPlaneY, 0.0f);
foreach (Transform t in transform)
{
t.gameObject.SetActive(true);
}
}
// Disable depth camera if requested and not already done.
if (m_turnOffDepthCamera && !m_depthTriggered)
{
m_depthTriggered = true;
m_tangoApplication.SetDepthCameraRate(TangoEnums.TangoDepthCameraRate.DISABLED);
}
}
else
{
m_floorFound = false;
m_depthTriggered = false;
}
}
/// <summary>
/// This is called when successfully connected to the Tango service.
/// </summary>
public void OnTangoServiceConnected()
{
m_tangoApplication.SetDepthCameraRate(TangoEnums.TangoDepthCameraRate.DISABLED);
}
/// <summary>
/// Wait for the next depth update, then find the plane at the touch position.
/// </summary>
/// <returns>Coroutine IEnumerator.</returns>
/// <param name="touchPosition">Touch position to find a plane at.</param>
private IEnumerator _WaitForDepthAndFindPlane(Vector2 touchPosition)
{
m_findPlaneWaitingForDepth = true;
// Turn on the camera and wait for a single depth update.
m_tangoApplication.SetDepthCameraRate(TangoEnums.TangoDepthCameraRate.MAXIMUM);
while (m_findPlaneWaitingForDepth)
{
yield return(null);
}
m_tangoApplication.SetDepthCameraRate(TangoEnums.TangoDepthCameraRate.DISABLED);
// Find the plane.
Camera cam = Camera.main;
Vector3 planeCenter;
Plane plane;
if (!m_pointCloud.FindPlane(cam, touchPosition, out planeCenter, out plane))
{
yield break;
}
// Ensure the location is always facing the camera. This is like a LookRotation, but for the Y axis.
Vector3 up = plane.normal;
Vector3 forward;
if (Vector3.Angle(plane.normal, cam.transform.forward) < 175)
{
Vector3 right = Vector3.Cross(up, cam.transform.forward).normalized;
forward = Vector3.Cross(right, up).normalized;
}
else
{
// Normal is nearly parallel to camera look direction, the cross product would have too much
// floating point error in it.
forward = Vector3.Cross(up, cam.transform.right);
}
// Instantiate produce object.
newProduceObject = Instantiate(m_producePrefabs[m_currentProduceType],
planeCenter,
Quaternion.LookRotation(forward, up)) as GameObject;
ARProduce produceScript = newProduceObject.GetComponent <ARProduce>();
produceScript.m_type = m_currentProduceType;
produceScript.m_timestamp = (float)m_poseController.LastPoseTimestamp;
Matrix4x4 uwTDevice = Matrix4x4.TRS(m_poseController.transform.position,
m_poseController.transform.rotation,
Vector3.one);
Matrix4x4 uwTProduce = Matrix4x4.TRS(newProduceObject.transform.position,
newProduceObject.transform.rotation,
Vector3.one);
produceScript.m_deviceTProduce = Matrix4x4.Inverse(uwTDevice) * uwTProduce;
m_produceList.Add(newProduceObject);
m_selectedProduce = null;
}
private IEnumerator _AddBalloon(Vector2 touchPosition)
{
m_findPlaneWaitingForDepth = true;
// Turn on the camera and wait for a single depth update.
m_tangoApplication.SetDepthCameraRate(TangoEnums.TangoDepthCameraRate.MAXIMUM);
while (m_findPlaneWaitingForDepth)
{
yield return(null);
}
m_tangoApplication.SetDepthCameraRate(TangoEnums.TangoDepthCameraRate.DISABLED);
// Find the plane.
Camera cam = Camera.main;
// Ensure the location is always facing the camera. This is like a LookRotation, but for the Y axis.
Vector3 up = Vector3.up; // plane.normal;
Vector3 forward;
if (Vector3.Angle(Vector3.up, cam.transform.forward) < 175)
{
Vector3 right = Vector3.Cross(up, cam.transform.forward).normalized;
forward = Vector3.Cross(right, up).normalized;
}
else
{
// Normal is nearly parallel to camera look direction, the cross product would have too much
// floating point error in it.
forward = Vector3.Cross(up, cam.transform.right);
}
Vector3 inFront = cam.ViewportToWorldPoint(new Vector3(0.5f, 0.5f, 0.5f));
// Instantiate marker object.
GameObject newMarkObject = Instantiate(m_marker,
inFront,
Quaternion.LookRotation(forward, Vector3.up)
) as GameObject;
BloonMarker markerScript = newMarkObject.GetComponent <BloonMarker>();
// markerScript.m_type = m_currentMarkType;
// markerScript.m_timestamp = (float)m_poseController.m_poseTimestamp;
// Matrix4x4 uwTDevice = Matrix4x4.TRS(m_poseController.m_tangoPosition,
// m_poseController.m_tangoRotation,
// Vector3.one);
// Matrix4x4 uwTMarker = Matrix4x4.TRS(newMarkObject.transform.position,
// newMarkObject.transform.rotation,
// Vector3.one);
// markerScript.m_deviceTMarker = Matrix4x4.Inverse(uwTDevice) * uwTMarker;
// m_markerList.Add(newMarkObject);
m_balloonAddedListener(newMarkObject);
m_currentMarker = markerScript;
Debug.LogFormat("Balloon successfully Created: {0}", m_currentMarker);
m_micHelper.StartRecording(m_currentMarker);
}
/// <summary>
/// OnGUI is called for rendering and handling GUI events.
/// </summary>
public void OnGUI()
{
GUI.skin = mySkin;
if (!m_findingFloor && !showMarkerMenu)
{
if (GUI.Button(new Rect(Screen.width - 220, 20, 200, 80), "<size=30>Find Floor</size>"))
{
if (m_pointCloud == null)
{
Debug.LogError("TangoPointCloud required to find floor.");
return;
}
m_findingFloor = true;
m_tangoApplication.SetDepthCameraRate(TangoEnums.TangoDepthCameraRate.MAXIMUM);
m_pointCloud.FindFloor();
}
}
else if (showMarkerMenu)
{
if (GUI.Button(new Rect(Screen.width - buttonWidth * 6, 20, buttonWidth, 80), "<size=30>Marker 1</size>"))
{
PlaceMarker(0);
}
if (GUI.Button(new Rect(Screen.width - buttonWidth * 5, 20, buttonWidth, 80), "<size=30>Marker 2</size>"))
{
PlaceMarker(1);
}
if (GUI.Button(new Rect(Screen.width - buttonWidth * 4, 20, buttonWidth, 80), "<size=30>Marker 3</size>"))
{
PlaceMarker(2);
}
if (GUI.Button(new Rect(Screen.width - buttonWidth * 3, 20, buttonWidth, 80), "<size=30>Marker 4</size>"))
{
PlaceMarker(3);
}
if (GUI.Button(new Rect(Screen.width - buttonWidth * 2, 20, buttonWidth, 80), "<size=30>Marker 5</size>"))
{
PlaceMarker(4);
}
if (GUI.Button(new Rect(Screen.width - buttonWidth, 20, buttonWidth, 80), "<size=30>Marker 6</size>"))
{
PlaceMarker(5);
copyPosition.UpdateTargetTransform(5, 0);
PlaceMarker(6);
copyPosition.UpdateTargetTransform(6, 0);
PlaceMarker(5);
}
if (markerCount > 0)
{
if (theLatestButton != 2 && theLatestButton != 5 && theLatestButton != 6)
{
hSliderValue = GUI.HorizontalSlider(new Rect(25, 150, Screen.width / 2, Screen.height / 6), hSliderValue, 0.0F, 360.0F);
scaleSliderValue = GUI.HorizontalSlider(new Rect(25, 350, Screen.width / 2, Screen.height / 6), scaleSliderValue, 0F, latestScaleValue * 2f);
}
Vector3 newAngle = new Vector3(0, hSliderValue, 0);
markerDictionary[theLatestButton].transform.eulerAngles = newAngle;
Vector3 newScale = new Vector3(scaleSliderValue, scaleSliderValue, scaleSliderValue);
sceneDictionary[theLatestButton].transform.localScale = newScale;
copyPosition.UpdateTargetTransform(theLatestButton, 2);
}
// Confirm Button
if (showConfirm)
{
if (GUI.Button(new Rect(Screen.width - buttonWidth, 100, buttonWidth, 80), "<size=30>OK!</size>"))
{
this.gameObject.SetActive(false);
showMarkerMenu = false;
ShowOnFinish();
}
}
}
else
{
GUI.Label(new Rect(0, Screen.height - 50, Screen.width, 50), "<size=30>Searching for floor position. Make sure the floor is visible.</size>");
}
}
/// <summary>
/// Update is called once per frame.
/// </summary>
public void Update()
{
if (Input.GetKey(KeyCode.Escape))
{
// This is a fix for a lifecycle issue where calling
// Application.Quit() here, and restarting the application
// immediately results in a deadlocked app.
AndroidHelper.AndroidQuit();
}
if (isEnabled)
{
pollTimer += Time.deltaTime;
//poll floor every 2 seconds
if (pollTimer > 2)
{
pollTimer = 0;
if (m_pointCloud == null)
{
Debug.LogError("TangoPointCloud required to find floor.");
return;
}
m_findingFloor = true;
//m_marker.SetActive(false);
m_tangoApplication.SetDepthCameraRate(TangoEnums.TangoDepthCameraRate.MAXIMUM);
m_pointCloud.FindFloor();
}
//check if already found
if (!m_findingFloor)
{
return;
}
// If the point cloud floor has found a new floor, place the marker at the found y position.
if (m_pointCloudFloor.m_floorFound && m_pointCloud.m_floorFound)
{
m_findingFloor = false;
// Place the marker at the center of the screen at the found floor height.
Vector3 target;
RaycastHit hitInfo;
if (Physics.Raycast(Camera.main.ScreenPointToRay(new Vector3(Screen.width / 2.0f, Screen.height / 2.0f)), out hitInfo))
{
//create marker
var marker = GameObject.Instantiate(m_marker);
marker.transform.parent = gameObject.transform;
// Limit distance of the marker position from the camera to the camera's far clip plane. This makes sure that the marker
// is visible on screen when the floor is found.
Vector3 cameraBase = new Vector3(Camera.main.transform.position.x, hitInfo.point.y, Camera.main.transform.position.z);
//target = cameraBase + Vector3.ClampMagnitude(hitInfo.point - cameraBase, Camera.main.farClipPlane * 0.9f);
marker.transform.position = cameraBase;
}
//else
//{
// If no raycast hit, place marker in the camera's forward direction.
//Vector3 dir = new Vector3(Camera.main.transform.forward.x, 0.0f, Camera.main.transform.forward.z);
//target = dir.normalized * (Camera.main.farClipPlane * 0.9f);
//target.y = m_pointCloudFloor.transform.position.y;
//}
//marker.transform.position = target;
//AndroidHelper.ShowAndroidToastMessage(string.Format("Floor found. Unity world height = {0}", m_pointCloudFloor.transform.position.y.ToString()));
}
}
}
/// <summary>
/// Wait for the next depth update, then find the plane at the touch position.
/// </summary>
/// <returns>Coroutine IEnumerator.</returns>
/// <param name="touchPosition">Touch position to find a plane at.</param>
/// <param name="doorCorridorPosition">Door position where to put the door marker.</param>
/// <param name="wall">Touch position to find a plane at.</param>
/// <param name="doorCorridorBool">True if we are putting a door marker.</param>
private IEnumerator _WaitForDepthAndFindPlane(Vector2 touchPosition, Vector3 doorCorridorPosition = new Vector3(), Wall wall = null,
bool doorCorridorBool = false)
{
if (!doorCorridorBool)
{
if (m_currentMarkType == 1 || m_currentMarkType == 2)
{
AndroidHelper.ShowAndroidToastMessage("Door or corridors must be on walls");
yield break;
}
}
m_findPlaneWaitingForDepth = true;
// Turn on the camera and wait for a single depth update.
m_tangoApplication.SetDepthCameraRate(TangoEnums.TangoDepthCameraRate.MAXIMUM);
while (m_findPlaneWaitingForDepth)
{
yield return(null);
}
m_tangoApplication.SetDepthCameraRate(TangoEnums.TangoDepthCameraRate.DISABLED);
// Find the plane.
Camera cam = Camera.main;
Vector3 planeCenter;
Plane plane;
// If I'm selecting the floor, set the floor plane
if (m_currentMarkType == 3)
{
if (!m_pointCloud.FindPlane(cam, touchPosition, out planeCenter, out plane))
{
yield break;
}
m_pointCloud.FindFloor();
floor = new Floor(plane, planeCenter);
Debug.Log("Height of the floor " + planeCenter.y);
AndroidHelper.ShowAndroidToastMessage("Floor found!");
yield break;
}
else if (!m_pointCloud.m_floorFound)
{
AndroidHelper.ShowAndroidToastMessage("Please, select first the floor");
yield break;
}
// Find me the point I touched on screen on world coordinates if I'm not putting a door...
if (!doorCorridorBool)
{
int i = m_pointCloud.FindClosestPoint(cam, touchPosition, 10);
if (i < 0)
{
yield break;
}
planeCenter = m_pointCloud.m_points [i];
// Put the marker on the floor height
planeCenter.y = floor.floorCenter.y;
} //... else my door position is already set as parameter.
else
{
planeCenter = doorCorridorPosition;
}
// Ensure the location is always facing the camera. This is like a LookRotation, but for the Y axis.
Vector3 up = floor.floorPlane.normal;
Vector3 forward;
if (Vector3.Angle(floor.floorPlane.normal, cam.transform.forward) < 175)
{
Vector3 right = Vector3.Cross(up, cam.transform.forward).normalized;
forward = Vector3.Cross(right, up).normalized;
}
else
{
// Normal is nearly parallel to camera look direction, the cross product would have too much
// floating point error in it.
forward = Vector3.Cross(up, cam.transform.right);
}
// Instantiate marker object.
newMarkObject = Instantiate(m_markPrefabs [m_currentMarkType],
planeCenter,
Quaternion.LookRotation(forward, up)) as GameObject;
newMarkObject.tag = "CornersAndWalls";
ARMarker markerScript = newMarkObject.GetComponent <ARMarker> ();
markerScript.m_type = m_currentMarkType;
markerScript.m_timestamp = (float)m_poseController.LastPoseTimestamp;
Matrix4x4 uwTDevice = Matrix4x4.TRS(m_poseController.transform.position,
m_poseController.transform.rotation,
Vector3.one);
Matrix4x4 uwTMarker = Matrix4x4.TRS(newMarkObject.transform.position,
newMarkObject.transform.rotation,
Vector3.one);
markerScript.m_deviceTMarker = Matrix4x4.Inverse(uwTDevice) * uwTMarker;
m_markerList.Add(newMarkObject);
prevTouchPos = null;
selectedLine = null;
m_selectedMarker = null;
switch (m_currentMarkType)
{
// Corner case.
case 0:
corners.Add(new Corner(newMarkObject));
break;
// Door case.
case 1:
TouchScreenKeyboard kb = TouchScreenKeyboard.Open("", TouchScreenKeyboardType.Default, false, false, false, false,
"Write the name for this destination marker");
while (!kb.done && !kb.wasCanceled)
{
yield return(null);
}
newMarkObject.name = kb.text;
doors.Add(new Corner(newMarkObject, wall));
break;
default:
Debug.Log("No valid point inserted.");
break;
}
}