/// <summary>
/// Create missing spongy anchors/edges and feed plugin with up-to-date input
/// </summary>
/// <returns>Boolean: Has the plugin received input to provide an adjustment?</returns>
public virtual bool Update()
{
ErrorStatus = "";
if (!IsTracking())
{
return(LostTrackingCleanup("Lost Tracking"));
}
// To communicate spongyHead and spongyAnchor poses to the FrozenWorld engine, they must all be expressed
// in the same coordinate system. Here, we do not care where this coordinate
// system is defined and how it fluctuates over time, as long as it can be used to express the
// relative poses of all the spongy objects within each time step.
//
Pose spongyHead = headTracker.GetHeadPose();
// place new anchors 1m below head
Pose newSpongyAnchorPose = spongyHead;
newSpongyAnchorPose.position.y -= 1;
newSpongyAnchorPose.rotation = Quaternion.identity;
var activeAnchors = new List <AnchorPose>();
var innerSphereAnchorIds = new List <AnchorId>();
var outerSphereAnchorIds = new List <AnchorId>();
float minDistSqr = float.PositiveInfinity;
AnchorId minDistAnchorId = 0;
float maxDistSq = 0;
AnchorId maxDistAnchorId = AnchorId.Invalid;
SpongyAnchor maxDistSpongyAnchor = null;
List <AnchorEdge> newEdges;
AnchorId newId = FinalizeNewAnchor(out newEdges);
float innerSphereRadSqr = MinNewAnchorDistance * MinNewAnchorDistance;
float outerSphereRadSqr = MaxAnchorEdgeLength * MaxAnchorEdgeLength;
foreach (var keyval in spongyAnchors)
{
var id = keyval.anchorId;
var a = keyval.spongyAnchor;
if (a.IsLocated)
{
Pose aSpongyPose = a.SpongyPose;
float distSqr = (aSpongyPose.position - newSpongyAnchorPose.position).sqrMagnitude;
var anchorPose = new AnchorPose()
{
anchorId = id, pose = aSpongyPose
};
activeAnchors.Add(anchorPose);
if (distSqr < minDistSqr)
{
minDistSqr = distSqr;
minDistAnchorId = id;
}
if (distSqr <= outerSphereRadSqr && id != newId)
{
outerSphereAnchorIds.Add(id);
if (distSqr <= innerSphereRadSqr)
{
innerSphereAnchorIds.Add(id);
}
}
if (distSqr > maxDistSq)
{
maxDistSq = distSqr;
maxDistAnchorId = id;
maxDistSpongyAnchor = a;
}
}
}
if (newId == 0 && innerSphereAnchorIds.Count == 0)
{
if (Time.unscaledTime <= lastTrackingInactiveTime + TrackingStartDelayTime)
{
#if WLT_EXTRA_LOGGING
// Tracking has become active only recently. We suppress creation of new anchors while
// new anchors may still be in transition due to SpatialAnchor easing.
Debug.Log($"Skip new anchor creation because only recently gained tracking {Time.unscaledTime - lastTrackingInactiveTime}");
#endif // WLT_EXTRA_LOGGING
}
else if (Time.unscaledTime < lastAnchorAddTime + AnchorAddOutTime)
{
#if WLT_EXTRA_LOGGING
// short timeout after creating one anchor to prevent bursts of new, unlocatable anchors
// in case of problems in the anchor generation
Debug.Log($"Skip new anchor creation because waiting on recently made anchor "
+ $"{Time.unscaledTime - lastAnchorAddTime} "
+ $"- {(newSpongyAnchor != null ? newSpongyAnchor.name : "null")}");
#endif // WLT_EXTRA_LOGGING
}
else
{
PrepareNewAnchor(newSpongyAnchorPose, outerSphereAnchorIds);
lastAnchorAddTime = Time.unscaledTime;
}
}
if (activeAnchors.Count == 0)
{
ErrorStatus = "No active anchors";
return(false);
}
// create edges between nearby existing anchors
if (innerSphereAnchorIds.Count >= 2)
{
foreach (var i in innerSphereAnchorIds)
{
if (i != minDistAnchorId)
{
newEdges.Add(new AnchorEdge()
{
anchorId1 = i, anchorId2 = minDistAnchorId
});
}
}
}
CheckForCull(maxDistAnchorId, maxDistSpongyAnchor);
plugin.ClearSpongyAnchors();
plugin.Step_Init(spongyHead);
plugin.AddSpongyAnchors(activeAnchors);
plugin.SetMostSignificantSpongyAnchorId(minDistAnchorId);
plugin.AddSpongyEdges(newEdges);
plugin.Step_Finish();
return(true);
}
/// <summary> /// Platform dependent disposal of local anchors. /// </summary> /// <param name="id">The id of the anchor to destroy.</param> /// <param name="spongyAnchor">Reference to the anchor to destroy.</param> /// <returns>Null</returns> /// <remarks> /// The id is used to delete from any stored lists. If the SpongyAnchor hasn't been /// added to any lists (is still initializing), id can be AnchorId.Invalid. /// </remarks> protected abstract SpongyAnchor DestroyAnchor(AnchorId id, SpongyAnchor spongyAnchor);
protected virtual async Task LoadAnchors(IPlugin plugin, AnchorId firstId, Transform parent, List <SpongyAnchorWithId> spongyAnchors)
{
await Task.CompletedTask;
}
/// <summary>
/// Search input list for reference pose with given id.
/// </summary>
/// <param name="poseList">The list to search.</param>
/// <param name="id">The id to search for.</param>
/// <returns>The index in the list if found, else -1.</returns>
private static int FindReferencePoseById(List <ReferencePose> poseList, AnchorId id)
{
return(poseList.FindIndex(x => x.anchorId == id));
}
/// <summary> /// Platform dependent instantiation of a local anchor at given position. /// </summary> /// <param name="id">Anchor id to give new anchor.</param> /// <param name="parent">Object to hang anchor off of.</param> /// <param name="initialPose">Pose for the anchor.</param> /// <returns>The new anchor</returns> protected abstract SpongyAnchor CreateAnchor(AnchorId id, Transform parent, Pose initialPose);
public void SetMostSignificantSpongyAnchorId(AnchorId anchorId)
{
mostSignificantAnchorId = anchorId;
checkError();
}
/// <summary>
///
/// </summary>
/// <param name="contextAnchorId"></param>
/// <param name="contextLocationFromAnchor"></param>
/// <param name="frozenPosition"></param>
/// <param name="anchorId"></param>
/// <param name="locationFromAnchor"></param>
/// <remarks>
/// This noop version ignores the context/spawner hint.
/// </remarks>
unsafe public void CreateAttachmentPointFromSpawner(AnchorId contextAnchorId, Vector3 contextLocationFromAnchor, Vector3 frozenPosition,
out AnchorId anchorId, out Vector3 locationFromAnchor)
{
CreateAttachmentPointFromHead(frozenPosition, out anchorId, out locationFromAnchor);
}
unsafe public void MoveFrozenAnchor(AnchorId id, Pose frozenPose)
{
SetFrozenAnchorTransform(id, frozenPose);
checkError();
}
public void SetMostSignificantSpongyAnchorId(AnchorId anchorId)
{
FrozenWorld_SetMostSignificantAnchorId(FrozenWorld_Snapshot.SPONGY, (FrozenWorld_AnchorId)anchorId);
checkError();
}
public void RemoveFrozenEdge(AnchorId anchorId1, AnchorId anchorId2)
{
FrozenWorld_RemoveEdge(FrozenWorld_Snapshot.FROZEN, (FrozenWorld_AnchorId)anchorId1, (FrozenWorld_AnchorId)anchorId2);
checkError();
}
public void RemoveFrozenAnchor(AnchorId anchorId)
{
FrozenWorld_RemoveAnchor(FrozenWorld_Snapshot.FROZEN, (FrozenWorld_AnchorId)anchorId);
checkError();
}
/// <summary>
/// Check that an id is valid and refers to a known anchor.
/// </summary>
/// <param name="id"></param>
/// <returns></returns>
public static bool IsKnown(this AnchorId id)
{
return(id != AnchorId.Invalid && id != AnchorId.Unknown);
}
