private void onNodeRemoved(UPICNode node)
{
_colliderObjects.TryGetValue(node, out GameObject[] gos);
_colliderObjects.Remove(node);
if (gos != null)
{
for (int i = 0; i < 8; ++i)
{
if (gos[i] != null)
{
gos[i].SetActive(false);
gos[i].name = "";
_inactiveGOs.Enqueue(gos[i]);
gos[i].transform.SetParent(_inactives.transform);
}
}
}
}
private void onNodeUpdated(UPICNode node)
{
_colliderObjects.TryGetValue(node, out GameObject[] gos);
int mask = node.RenderMask;
if (gos != null)
{
for (int i = 0; i < 8; ++i)
{
if (gos[i] != null)
{
if ((mask & (1 << i)) > 0)
{
gos[i].SetActive(true);
}
else
{
gos[i].SetActive(false);
}
}
}
}
}
public override void OnNodeUpdate(UPICNode node)
{
_updated = true;
//Debug.LogFormat("{0} Updated", node.InternalNode.FullName);
}
public override void OnNodeRender(UPICNode node)
{
_activeNodes.Add(node);
_updated = true;
//Debug.LogFormat("{0} Rendered", node.InternalNode.FullName);
}
private void ransac(UPICNode node, PosColIntCls20[] points)
{
Vector3 p1, p2, p3, crossProd, v1, v2;
float deg;
GameObject go;
GameObject[] gos = new GameObject[8];
int mask = node.RenderMask;
for (int oi = 0; oi < 8; ++oi)
{
int partitionCount = node.PartitionPointCount(oi);
int partitionOffset = node.PartitionOffsets[oi];
if (partitionCount < 10)
{
continue;
}
_samples.Clear();
int nTrials = 500;
int nSuccess = 0;
Vector3 normal = Vector3.zero;
for (int i = 0; i < nTrials; ++i)
{
p1 = points[partitionOffset + _rand.Next() % partitionCount].Position - _shift;
p2 = points[partitionOffset + _rand.Next() % partitionCount].Position - _shift;
p3 = points[partitionOffset + _rand.Next() % partitionCount].Position - _shift;
v1 = p2 - p1;
v2 = p3 - p1;
crossProd = Vector3.Cross(v1, v2).normalized;
deg = Mathf.Acos(Vector3.Dot(crossProd, Vector3.up)) * 180 / Mathf.PI;
deg = (deg > 90) ? (180 - deg) : deg;
if (deg < 35)
{
normal += crossProd;
++nSuccess;
_samples.Add(p1);
_samples.Add(p2);
_samples.Add(p3);
}
}
normal = (normal / nSuccess).normalized;
deg = Mathf.Acos(Vector3.Dot(normal, Vector3.up)) * 180 / Mathf.PI;
deg = (deg > 90) ? (180 - deg) : deg;
if (nSuccess > .3f * nTrials && deg < 35)
{
++success;
_samples.Sort(delegate(Vector3 vec1, Vector3 vec2)
{
return(vec1.y.CompareTo(vec2.y));
});
Vector3 median = _samples[Mathf.FloorToInt(_samples.Count / 2)];
float xMin = float.MaxValue;
float xMax = float.MinValue;
float yMin = float.MaxValue;
float yMax = float.MinValue;
float zMin = float.MaxValue;
float zMax = float.MinValue;
float yExtent = 0;
for (int i = 0, c = _samples.Count; i < c; ++i)
{
//error += Mathf.Abs(_samples[i].y - median.y);
xMin = Mathf.Min(xMin, _samples[i].x);
yMin = Mathf.Min(yMin, _samples[i].y);
zMin = Mathf.Min(zMin, _samples[i].z);
xMax = Mathf.Max(xMax, _samples[i].x);
yMax = Mathf.Max(yMax, _samples[i].y);
zMax = Mathf.Max(zMax, _samples[i].z);
yExtent += Mathf.Abs(_samples[i].y - median.y);
}
yExtent /= _samples.Count;
//error /= _samples.Count;
//Debug.LogFormat("{0}/{1}: error - {2}", success, trials, error);
if (_inactiveGOs.Count > 0)
{
go = _inactiveGOs.Dequeue();
go.SetActive(true);
}
else
{
go = new GameObject();
}
if (_colliderObjects.ContainsKey(node))
{
throw new Exception();
}
BoxCollider collider = go.GetComponent <BoxCollider>();
if (collider == null)
{
collider = go.AddComponent <BoxCollider>();
}
go.transform.position = new Vector3((xMax + xMin) * 0.5f, median.y, (zMax + zMin) * 0.5f);
collider.size = new Vector3(xMax - xMin, yExtent * 2, zMax - zMin) * 1.2f;
go.SetActive(((mask & (1 << oi)) > 0));
go.name = node.InternalNode.FullName + '-' + oi;
go.transform.SetParent(_colliders.transform);
if (normal.y < 0)
{
normal *= -1;
}
go.transform.up = normal;
gos[oi] = go;
}
}
_colliderObjects[node] = gos;
}
private void onNodeRendered(UPICNode node)
{
ransac(node, node.Points);
}