protected override void Awake()
{
base.Awake();
ObserverState = ObserverStates.Stopped;
if (Test)
{
// create dummy SurfaceObject
List <Vector3> testVerts = new List <Vector3>();
testVerts.Add(new Vector3(-0.5f, -0.5f, -0.5f));
testVerts.Add(new Vector3(0, 0, 0));
testVerts.Add(new Vector3(0.5f, 0.5f, 0.5f));
Mesh testMesh = new Mesh();
testMesh.SetVertices(testVerts);
SurfaceObject testSO = CreateSurfaceObject(testMesh, "test", gameObject.transform);
testSO.Renderer.transform.position = new Vector3(1, 1, 1);
// create matching dummy SurfacePoints
Transform tmpTransform = testSO.Renderer.transform;
List <Vector3> tmpWvertices = testSO.Filter.sharedMesh.vertices.ToList();
int tmpTriCount = testSO.Filter.sharedMesh.triangles.ToList().Count;
for (int i = 0; i < tmpWvertices.Count; i++)
{
tmpWvertices[i] = tmpTransform.TransformPoint(tmpWvertices[i]);
}
SurfacePoints extras = new SurfacePoints(
MeshManager.IntersectionPoints(testSO.Renderer.bounds), tmpWvertices,
tmpTriCount, testSO.Renderer.bounds);
// Log
UpdateOrAddSurfaceObject(testSO, extras);
}
}
/// <summary>
/// ID's all of SpatialMappingObserver's store meshes as visible or not, updates class metadata.
/// Renders mesh bounds if VisualizeBounds.
/// </summary>
public List <bool> UpdateVertices(Intersector.Frustum SensorView)
{
Density = observer.Density;
// Adjust Sensor.FOV by specified factor...
FOV = new Intersector.ViewVector(FOVFactor * SensorView.FOV.Phi, FOVFactor * SensorView.FOV.Phi);
SensorView.FOV = FOV;
// create fresh lists, metadata
List <bool> visiblilty = new List <bool>();
List <Visualizer.Content> toRender = new List <Visualizer.Content>();
TotalMeshCount = 0;
TotalTriangleCount = 0;
TotalVertexCount = 0;
MeshesInView = 0;
TrianglesInView = 0;
VerticesInView = 0;
// add colors if necessary
while (VB && BoundColors.Count < observer.SurfaceObjects.Count)
{
BoundColors.Add(Visualizer.RandomColor(BoundsColor1, BoundsColor2));
}
// check meshes for visiblity
for (int i = 0; i < observer.ExtraData.Count; i++)
{
SurfacePoints extras = observer.ExtraData[i];
bool isVisible = MeshInter.AnyInView(extras.IntersectPts, SensorView);
visiblilty.Add(isVisible);
if (isVisible)
{
// update metadata
MeshesInView++;
TrianglesInView += extras.TriangleCount;
VerticesInView += extras.Wvertices.Count;
// setup bounding box visualization
if (VB)
{
toRender.AddRange(Visualizer.CreateMarkers(extras.IntersectPts, MarkerSize, BoundColors[i]));
toRender.AddRange(Visualizer.CreateBoundingLines(extras.BoundsBox, LineSize, BoundColors[i]));
}
}
// update metadata totals
TotalMeshCount++;
TotalTriangleCount += extras.TriangleCount;
TotalVertexCount += extras.Wvertices.Count;
}
if (VB)
{
BoundsVis.Visualize(toRender);
}
return(visiblilty);
}
/// <summary>
/// Update the first surface with a matching ID if one exists in <see cref="SurfaceObjects"/>, otherwise add the surface as new.
/// </summary>
/// <param name="toUpdateOrAdd">The surface to be updated or added.</param>
/// <param name="destroyGameObjectIfReplaced">If a surface is updated, and a game object is being replaced, pass true to destroy the outgoing game object or false otherwise.</param>
/// <param name="destroyMeshesIfReplaced">If a surface is updated, and new meshes are replacing old meshes, pass true to destroy the outgoing meshes or false otherwise.</param>
/// <returns>The surface object that was updated or null if one was not found meaning a new surface was added.</returns>
protected SurfaceObject?UpdateOrAddSurfaceObject(SurfaceObject toUpdateOrAdd, SurfacePoints extras,
bool destroyGameObjectIfReplaced = true, bool destroyMeshesIfReplaced = true)
{
/*
* // debug
* Debug.Log(string.Format("Attempting to Add/Update surface to SMS. Wvertices Length: {0}, TriCount: {1}. " +
* "Currently, SurfaceObject Count: {2}, ExtraData Count: {3}",
* extras.Wvertices.Count, extras.TriangleCount, SurfaceObjects.Count, ExtraData.Count));
*/
SurfaceObject?replaced = null;
// verify correct material
toUpdateOrAdd.Renderer.sharedMaterial = RenderMaterial;
for (int iSurface = 0; iSurface < surfaceObjectsWriteable.Count; iSurface++)
{
SurfaceObject existing = surfaceObjectsWriteable[iSurface];
if (existing.ID == toUpdateOrAdd.ID)
{
surfaceObjectsWriteable[iSurface] = toUpdateOrAdd;
ExtraData[iSurface] = extras;
var handlers = SurfaceUpdated;
if (handlers != null)
{
handlers(this, DataEventArgs.Create(new SurfaceUpdate {
Old = existing, New = toUpdateOrAdd
}));
}
CleanUpSurface(
existing,
destroyGameObjectIfReplaced,
destroyMeshesIfReplaced,
objectToPreserve: toUpdateOrAdd.Object,
meshToPreserveA: toUpdateOrAdd.Filter.sharedMesh,
meshToPreserveB: toUpdateOrAdd.Collider.sharedMesh
);
replaced = existing;
break;
}
}
if (replaced == null)
{
AddSurfaceObject(toUpdateOrAdd, extras);
}
return(replaced);
}
/// <summary>
/// Add the surface to <see cref="SurfaceObjects"/>.
/// </summary>
/// <param name="toAdd">The surface to add.</param>
protected void AddSurfaceObject(SurfaceObject toAdd, SurfacePoints extras)
{
surfaceObjectsWriteable.Add(toAdd);
ExtraData.Add(extras);
var handlers = SurfaceAdded;
if (handlers != null)
{
handlers(this, DataEventArgs.Create(toAdd));
}
}
protected override void Awake()
{
base.Awake();
ObserverState = ObserverStates.Stopped;
density = DefaultTrianglesPerCubicMeter;
// debug
StartObserving();
if (Test)
{
// create dummy SurfaceObject
List <Vector3> testVerts = new List <Vector3>();
testVerts.Add(new Vector3(-0.5f, -0.5f, -0.5f));
testVerts.Add(new Vector3(0, 0, 0));
testVerts.Add(new Vector3(0.5f, 0.5f, 0.5f));
Mesh testMesh = new Mesh();
testMesh.SetVertices(testVerts);
SurfaceObject testSO1 = CreateSurfaceObject(testMesh, "test", gameObject.transform, 0);
testSO1.Renderer.transform.position = new Vector3(1, 1, 1);
SurfaceObject testSO2 = CreateSurfaceObject(testMesh, "test", gameObject.transform, 1);
testSO2.Renderer.transform.position = new Vector3(-1, -1, -1);
// create matching dummy SurfacePoints: 1
Transform tmpTransform1 = testSO1.Renderer.transform;
List <Vector3> tmpWvertices1 = testSO1.Filter.sharedMesh.vertices.ToList();
int tmpTriCount1 = testSO1.Filter.sharedMesh.triangles.ToList().Count;
for (int i = 0; i < tmpWvertices1.Count; i++)
{
tmpWvertices1[i] = tmpTransform1.TransformPoint(tmpWvertices1[i]);
}
SurfacePoints extras1 = new SurfacePoints(
MeshManager.IntersectionPoints(testSO1.Renderer.bounds), tmpWvertices1,
tmpTriCount1, testSO1.Renderer.bounds, Density);
// create matching dummy SurfacePoints: 2
Transform tmpTransform2 = testSO2.Renderer.transform;
List <Vector3> tmpWvertices2 = testSO2.Filter.sharedMesh.vertices.ToList();
int tmpTriCount2 = testSO2.Filter.sharedMesh.triangles.ToList().Count;
for (int i = 0; i < tmpWvertices2.Count; i++)
{
tmpWvertices2[i] = tmpTransform2.TransformPoint(tmpWvertices2[i]);
}
SurfacePoints extras2 = new SurfacePoints(
MeshManager.IntersectionPoints(testSO2.Renderer.bounds), tmpWvertices2,
tmpTriCount1, testSO2.Renderer.bounds, Density);
// Log
UpdateOrAddSurfaceObject(testSO1, extras1);
UpdateOrAddSurfaceObject(testSO2, extras2);
}
}
/// <summary>
/// ID's all of SpatialMappingObserver's store meshes as visible or not, updates class metadata.
/// Renders mesh bounds if VisualizeBounds.
/// </summary>
public List <bool> UpdateVertices(Intersector.Frustum SensorView)
{
Density = observer.Density;
// Adjust Sensor.FOV by specified factor...
FOV = new Intersector.ViewVector(FOVFactor * SensorView.FOV.Phi, FOVFactor * SensorView.FOV.Phi);
SensorView.FOV = FOV;
// create fresh lists, metadata
List <bool> visiblilty = new List <bool>();
TotalMeshCount = 0;
TotalTriangleCount = 0;
TotalVertexCount = 0;
MeshesInView = 0;
TrianglesInView = 0;
VerticesInView = 0;
// check meshes for visiblity
for (int i = 0; i < observer.ExtraData.Count; i++)
{
SurfacePoints extras = observer.ExtraData[i];
bool isVisible = MeshInter.AnyInView(extras.IntersectPts, SensorView);
visiblilty.Add(isVisible);
if (isVisible)
{
// update metadata
MeshesInView++;
TrianglesInView += extras.TriangleCount;
VerticesInView += extras.Wvertices.Count;
}
// update metadata totals
TotalMeshCount++;
TotalTriangleCount += extras.TriangleCount;
TotalVertexCount += extras.Wvertices.Count;
}
return(visiblilty);
}
/// <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 (outstandingMeshRequest == null)
{
Debug.LogErrorFormat("Got OnDataReady for surface {0} while no request was outstanding.",
cookedData.id.handle
);
return;
}
if (!IsMatchingSurface(outstandingMeshRequest.Value, cookedData))
{
Debug.LogErrorFormat("Got mismatched OnDataReady for surface {0} while request for surface {1} was outstanding.",
cookedData.id.handle,
outstandingMeshRequest.Value.ID
);
ReclaimSurface(outstandingMeshRequest.Value);
outstandingMeshRequest = null;
return;
}
if (ObserverState != ObserverStates.Running)
{
Debug.LogFormat("Got OnDataReady for surface {0}, but observer was no longer running.",
cookedData.id.handle
);
ReclaimSurface(outstandingMeshRequest.Value);
outstandingMeshRequest = null;
return;
}
if (!outputWritten)
{
ReclaimSurface(outstandingMeshRequest.Value);
outstandingMeshRequest = null;
return;
}
Debug.Assert(outstandingMeshRequest.Value.Object.activeSelf);
// alters properites of mesh as desired: first sets renderer enabled field
outstandingMeshRequest.Value.Renderer.enabled = SpatialMappingManager.Instance.DrawVisualMeshes;
// create extra data
SurfaceObject tmpSO = outstandingMeshRequest.Value;
Transform tmpTransform = tmpSO.Renderer.transform;
// Wvertices
List <Vector3> tmpWvertices = tmpSO.Filter.sharedMesh.vertices.ToList();
for (int i = 0; i < tmpWvertices.Count; i++)
{
tmpWvertices[i] = tmpTransform.TransformPoint(tmpWvertices[i]);
}
// TriCount
int tmpTriCount = tmpSO.Filter.sharedMesh.triangles.ToList().Count;
// SurfacePoints obj
SurfacePoints extras = new SurfacePoints(
MeshManager.IntersectionPoints(outstandingMeshRequest.Value.Renderer.bounds), tmpWvertices,
tmpTriCount, tmpSO.Renderer.bounds, cookedData.trianglesPerCubicMeter);
// updates/adds mesh in source stored list of SurfaceObjects.
SurfaceObject?replacedSurface = UpdateOrAddSurfaceObject(outstandingMeshRequest.Value, extras, destroyGameObjectIfReplaced: false);
outstandingMeshRequest = null;
if (replacedSurface != null)
{
ReclaimSurface(replacedSurface.Value);
}
}
