/// <summary>
/// Gather trackable objects in the simulated environment and do any other initialization that depends on the environment
/// </summary>
protected virtual void SetupTrackingForEnvironment()
{
// Once the environment is set up we can gather its synthesized trackables. To simulate discovery of these
// trackables we can check how visible they are to the camera - this includes frustum checking, occlusion checking,
// and other heuristics.
m_EnvironmentScene = EditorOnlyDelegates.GetSimulatedEnvironmentScene();
if (!m_EnvironmentScene.IsValid())
{
return;
}
// Get the environment physics scene to check if trackable objects are occluded by other objects in the environment
m_EnvironmentPhysicsScene = m_EnvironmentScene.GetPhysicsScene();
m_SimulatedTrackableObjects.Clear();
k_SimulatedObjects.Clear();
GameObjectUtils.GetComponentsInScene(m_EnvironmentScene, k_SimulatedObjects);
foreach (var simulatedObject in k_SimulatedObjects)
{
var synthTrackable = simulatedObject.GetComponent <TSynthTrackable>();
if (synthTrackable == null)
{
continue;
}
synthTrackable.Initialize();
m_SimulatedTrackableObjects[synthTrackable] = simulatedObject;
this.InjectFunctionalitySingle(simulatedObject);
simulatedObject.StartRunInEditMode();
}
k_SimulatedObjects.Clear();
}
void SetupTrackingForEnvironment()
{
m_EnvironmentScene = EditorOnlyDelegates.GetSimulatedEnvironmentScene();
if (!m_EnvironmentScene.IsValid())
{
return;
}
m_EnvironmentPhysicsScene = m_EnvironmentScene.GetPhysicsScene();
m_SynthMarkers.Clear();
k_SimulatedObjects.Clear();
GameObjectUtils.GetComponentsInScene(m_EnvironmentScene, k_SimulatedObjects);
foreach (var simulatedObject in k_SimulatedObjects)
{
var synthesizedMarker = simulatedObject.GetComponent <SynthesizedMarker>();
if (synthesizedMarker == null || !synthesizedMarker.isActiveAndEnabled)
{
continue;
}
synthesizedMarker.Initialize();
m_SynthMarkers.Add(synthesizedMarker);
this.InjectFunctionalitySingle(simulatedObject);
simulatedObject.StartRunInEditMode();
}
k_SimulatedObjects.Clear();
}
// combine all marker tracking heuristics into one result
static SimulatedMarkerTrackingResult GetMarsCameraTrackingQuality(SynthesizedMarker marker, Camera cam)
{
var markerTrans = marker.transform;
var markerPos = markerTrans.position;
var markerUp = markerTrans.up;
// tolerance > 1 allows tracking loss to happen when most of the marker goes out, not just the center
const float relaxedTolerance = 1.1f;
// if the marker is outside the camera frustum, the device can't see/track it anymore
if (!SimulatedTrackingUtils.PointInFrustum(cam, markerPos, relaxedTolerance))
{
return(new SimulatedMarkerTrackingResult(0f, TrackingFailureCause.OutOfFrustum));
}
var camTrans = cam.transform;
var camPos = camTrans.position;
var camForward = camTrans.forward;
var distance = Vector3.Distance(camPos, markerPos);
var distanceQuality = GetDistanceQuality(marker.Extents, distance);
// markers that are too far away can't be tracked
if (distanceQuality <= 0f)
{
return(new SimulatedMarkerTrackingResult(0f, TrackingFailureCause.OutOfRange));
}
// assume marker isn't occluded by environment in the case where the physics scene is not available
var occluded = false;
var hitCount = 0;
#if UNITY_EDITOR
var simScene = EditorOnlyDelegates.GetSimulatedEnvironmentScene();
if (simScene.IsValid())
{
var physicScene = simScene.GetPhysicsScene();
if (physicScene.IsValid())
{
occluded = TestPointOcclusion(physicScene, camPos, markerPos, out hitCount);
}
}
#endif
if (occluded)
{
return(new SimulatedMarkerTrackingResult(0f, TrackingFailureCause.Occluded, k_RayHits[0].point, hitCount));
}
var alignmentQuality = GetImageAlignmentQuality(markerUp, camForward);
// this is important to consider in combination with the surface viewing angle test,
// because the camera's forward can be aligned with the marker's normal without actually looking at the marker
var lookDirQuality = GetLookDirectionQuality(markerPos, camPos, camForward);
return(new SimulatedMarkerTrackingResult(alignmentQuality * lookDirQuality * distanceQuality));
}
internal void SimulationRaycastHits()
{
var cameraTransform = m_Camera.transform;
var origin = cameraTransform.position;
var fov = m_Camera.fieldOfView * 0.5f;
var rotation = cameraTransform.rotation;
var mask = SimulationConstants.SimulatedEnvironmentLayerMask;
var horizontalFOV = m_Camera.GetHorizontalFOV();
var scaledMaxHitDistance = m_MaxHitDistance * m_DistanceScale;
if (m_RaycastHits.Length != m_RaysPerCast)
{
m_RaycastHits = new RaycastHit[m_RaysPerCast];
}
if (m_Raycasts.Length != m_RaysPerCast)
{
m_Raycasts = new Ray[m_RaysPerCast];
}
var simScene = EditorOnlyDelegates.GetSimulatedEnvironmentScene();
if (!simScene.IsValid())
{
return;
}
var physicScene = simScene.GetPhysicsScene();
if (!physicScene.IsValid())
{
return;
}
for (var i = 0; i < m_RaysPerCast; i++)
{
var direction = FrustumRay(fov, horizontalFOV, rotation);
RaycastHit hit;
m_Raycasts[i] = new Ray(origin, direction);
physicScene.Raycast(m_Raycasts[i].origin, m_Raycasts[i].direction, out hit, scaledMaxHitDistance, mask);
m_RaycastHits[i] = hit;
}
m_LastCastTime = MarsTime.Time;
}