/// <summary>
/// Returns a Subscription handler which stores the received mesh
/// </summary>
/// <returns></returns>
internal SubscriptionHandler <TriangleMeshStamped> GetSubscriptionHandler()
{
SubscriptionHandler <TriangleMeshStamped> subscriptionHandler = new SubscriptionHandler <TriangleMeshStamped>((o) => {
Mesh = o;
MeshReceived = true;
MeshReceivedEvent?.Invoke(this, EventArgs.Empty);
});
return(subscriptionHandler);
}
public void ReportNewMesh(TriangleMeshStamped _mesh)
{
Debug.Log("Received a new mesh to generate!");
vertices = new UnityEngine.Vector3[_mesh.mesh.vertices.Length];
for (int i = 0; i < _mesh.mesh.vertices.Length; i++)
{
vertices[i] = _mesh.mesh.vertices[i].ToUnity();
}
// Unity takes the triangle indices as one array. Unravel it.
triangles = new int[_mesh.mesh.triangles.Length * 3];
for (int i = 0; i < _mesh.mesh.triangles.Length; i++)
{
triangles[3 * i + 0] = (int)_mesh.mesh.triangles[i].vertex_indices[2];
triangles[3 * i + 1] = (int)_mesh.mesh.triangles[i].vertex_indices[1];
triangles[3 * i + 2] = (int)_mesh.mesh.triangles[i].vertex_indices[0];
}
ui_thread.ExecuteOnMainThread(UpdateMesh);
}
private void UpdateMesh(TriangleMeshStamped o)
{
MeshGenerator.ReportNewMesh(o);
}
