/// <summary>
/// Orients the root game object, such that the Scene Understanding floor lies on the Unity world's X-Z plane.
/// </summary>
/// <param name="sceneRoot">Root game object.</param>
/// <param name="scene">Scene Understanding scene.</param>
public void OrientSceneRootForPC(GameObject sceneRoot, SceneUnderstanding.Scene scene)
{
if (scene == null)
{
Logger.LogWarning("SceneUnderstandingUtils.OrientSceneRootForPC: Scene is null.");
return;
}
IEnumerable <SceneUnderstanding.SceneObject> sceneObjects = scene.SceneObjects;
float areaForlargestFloorSoFar = 0;
SceneUnderstanding.SceneObject floorSceneObject = null;
SceneUnderstanding.SceneQuad floorQuad = null;
// Find the largest floor quad.
foreach (SceneUnderstanding.SceneObject so in sceneObjects)
{
if (so.Kind == SceneUnderstanding.SceneObjectKind.Floor)
{
IEnumerable <SceneUnderstanding.SceneQuad> quads = so.Quads;
if (quads != null)
{
foreach (SceneUnderstanding.SceneQuad quad in quads)
{
float quadArea = quad.Extents.X * quad.Extents.Y;
if (quadArea > areaForlargestFloorSoFar)
{
areaForlargestFloorSoFar = quadArea;
floorSceneObject = so;
floorQuad = quad;
}
}
}
}
}
if (floorQuad != null)
{
// Compute the floor quad's normal.
float widthInMeters = floorQuad.Extents.X;
float heightInMeters = floorQuad.Extents.Y;
System.Numerics.Vector3 point1 = new System.Numerics.Vector3(-widthInMeters / 2, -heightInMeters / 2, 0);
System.Numerics.Vector3 point2 = new System.Numerics.Vector3(widthInMeters / 2, -heightInMeters / 2, 0);
System.Numerics.Vector3 point3 = new System.Numerics.Vector3(-widthInMeters / 2, heightInMeters / 2, 0);
System.Numerics.Matrix4x4 floorTransform = floorSceneObject.GetLocationAsMatrix();
floorTransform = TransformUtils.ConvertRightHandedMatrix4x4ToLeftHanded(floorTransform);
System.Numerics.Vector3 tPoint1 = System.Numerics.Vector3.Transform(point1, floorTransform);
System.Numerics.Vector3 tPoint2 = System.Numerics.Vector3.Transform(point2, floorTransform);
System.Numerics.Vector3 tPoint3 = System.Numerics.Vector3.Transform(point3, floorTransform);
System.Numerics.Vector3 p21 = tPoint2 - tPoint1;
System.Numerics.Vector3 p31 = tPoint3 - tPoint1;
System.Numerics.Vector3 floorNormal = System.Numerics.Vector3.Cross(p31, p21);
// Numerics to Unity conversion.
Vector3 floorNormalUnity = new Vector3(floorNormal.X, floorNormal.Y, floorNormal.Z);
// Get the rotation between the floor normal and Unity world's up vector.
Quaternion rotation = Quaternion.FromToRotation(floorNormalUnity, Vector3.up);
// Apply the rotation to the root, so that the floor is on the Camera's x-z plane.
sceneRoot.transform.rotation = rotation;
}
}
/// <summary>
/// Displays one individual scene object.
/// </summary>
/// <param name="sceneObject">Scene Object to display.</param>
private bool DisplaySceneObject(SceneUnderstanding.SceneObject sceneObject)
{
try
{
if (sceneObject == null)
{
Logger.LogWarning("SceneUnderstandingDisplayManager.DisplaySceneObject: Scene Object is null.");
return(false);
}
// Skip the object, if the setting to display that object is set to false.
if ((RenderSceneObjects == false && sceneObject.Kind != SceneUnderstanding.SceneObjectKind.World) ||
(RenderWorldMesh == false && sceneObject.Kind == SceneUnderstanding.SceneObjectKind.World) ||
(RenderPlatformSceneObjects == false && sceneObject.Kind == SceneUnderstanding.SceneObjectKind.Platform) ||
(RenderBackgroundSceneObjects == false && sceneObject.Kind == SceneUnderstanding.SceneObjectKind.Background) ||
(RenderUnknownSceneObjects == false && sceneObject.Kind == SceneUnderstanding.SceneObjectKind.Unknown) ||
(RenderCompletelyInferredSceneObjects == false && sceneObject.Kind == SceneUnderstanding.SceneObjectKind.CompletelyInferred))
{
return(false);
}
// Create a game object for the scene object, parent it to the root and set it's transform.
GameObject soGO = SUUtils.CreateGameObject(sceneObject.Kind.ToString(), SceneRoot.transform);
TransformUtils.SetUnityTransformFromMatrix4x4(TransformUtils.ConvertRightHandedMatrix4x4ToLeftHanded(sceneObject.GetLocationAsMatrix()), soGO.transform, true);
// This is the new child game object that will contain the meshes, quads, etc.
GameObject soChildGO = null;
// Render the world mesh.
if (sceneObject.Kind == SceneUnderstanding.SceneObjectKind.World)
{
// Get the meshes from the SU API.
IEnumerable <SceneUnderstanding.SceneMesh> meshes = sceneObject.Meshes;
// Combine all the world meshes into one unity mesh.
Mesh unityMesh = SUUtils.GenerateUnityMeshForSceneObjectMeshes(meshes);
// Create a game object with the above unity mesh.
soChildGO = SUUtils.CreateGameObjectWithMeshComponents(sceneObject.Kind.ToString(), soGO.transform, unityMesh, WorldMeshMaterial, null);
}
// Render all other scene objects.
else
{
Color?color = SceneUnderstandingUtils.GetColorForLabel(sceneObject.Kind);
switch (SceneObjectVisualizationMode)
{
case VisualizationMode.Quad:
case VisualizationMode.QuadWithMask:
{
// Get the quads from the SU API.
IEnumerable <SceneUnderstanding.SceneQuad> quads = sceneObject.Quads;
// For each quad, generate the unity mesh, create the game object and apply the invalidation mask, if applicable.
foreach (SceneUnderstanding.SceneQuad quad in quads)
{
// Generate the unity mesh for the quad.
Mesh unityMesh = SUUtils.GenerateUnityMeshForSceneObjectQuad(quad);
// Create a game object with the above unity mesh.
soChildGO = SUUtils.CreateGameObjectWithMeshComponents(
sceneObject.Kind.ToString(),
soGO.transform,
unityMesh,
SceneObjectVisualizationMode == VisualizationMode.QuadWithMask ? SceneObjectQuadMaterial : SceneObjectMeshMaterial,
color);
// Apply the invalidation mask.
if (SceneObjectVisualizationMode == VisualizationMode.QuadWithMask)
{
SUUtils.ApplyQuadRegionMask(quad, soChildGO, color);
}
}
}
break;
case VisualizationMode.Mesh:
case VisualizationMode.Wireframe:
{
// Get the meshes from the SU API.
IEnumerable <SceneUnderstanding.SceneMesh> meshes = sceneObject.Meshes;
foreach (SceneUnderstanding.SceneMesh mesh in meshes)
{
// Generate the unity mesh for the Scene Understanding mesh.
Mesh unityMesh = SUUtils.GenerateUnityMeshForSceneObjectMesh(mesh);
// Create a game object with the above unity mesh.
soChildGO = SUUtils.CreateGameObjectWithMeshComponents(
sceneObject.Kind.ToString(),
soGO.transform,
unityMesh,
SceneObjectVisualizationMode == VisualizationMode.Mesh ? SceneObjectMeshMaterial : SceneObjectWireframeMaterial,
SceneObjectVisualizationMode == VisualizationMode.Mesh ? color : null);
}
}
break;
default:
break;
}
}
if (DisplayTextLabels)
{
// Only add text for the labels below.
if (sceneObject.Kind == SceneUnderstanding.SceneObjectKind.Ceiling ||
sceneObject.Kind == SceneUnderstanding.SceneObjectKind.Floor ||
sceneObject.Kind == SceneUnderstanding.SceneObjectKind.Platform ||
sceneObject.Kind == SceneUnderstanding.SceneObjectKind.Wall)
{
SUUtils.AddTextLabel(soChildGO, sceneObject.Kind.ToString(), LabelFont);
}
}
// When running on device, add a worldanchor component to keep the scene object aligned to the real world.
// When running on PC, add a boxcollider component, that is used for the 'Focus' functionality (in CameraMovement.cs).
if (SUDataProvider.RunOnDevice)
{
soGO.AddComponent <UnityEngine.XR.WSA.WorldAnchor>();
}
else
{
soGO.AddComponent <BoxCollider>();
}
}
catch (Exception e)
{
Logger.LogException(e);
}
return(true);
}