/// <summary>
/// Insert a point into the meshing volumes.
/// </summary>
/// <param name="p">The 3D point to be inserted.</param>
/// <param name="obs">The direction of the observation vector from the camera toward the point.</param>
/// <param name="weight">Weight of the observation.</param>
public void InsertPoint(Vector3 p, Vector3 obs, float weight)
{
if (m_isClearing)
{
return;
}
m_meshStorage.InsertPoint(p, obs, weight, m_meshingCubePrefab, transform, m_voxelResolution);
m_insertCount++;
}
/// <summary>
/// Insert 3D point into the hash storage. Creates a new meshing cube at the location if needed.
/// </summary>
/// <returns>The value of the voxel that received the insertion.</returns>
/// <param name="hashkey">Hashkey index of the target node.</param>
/// <param name="p">The 3D point.</param>
/// <param name="obs">Observation vector from the camera to the point.</param>
/// <param name="weight">Weight of the observation.</param>
/// <param name="prefab">Unity Prefab to be instantiated at this node location if needed.</param>
/// <param name="parent">Unity transform of the parent object for the prefab created at this node location.</param>
/// <param name="voxelResolution">Resolution of the voxels for this meshing cube.</param>
private float InsertPoint(int hashkey, Vector3 p, Vector3 obs, float weight, GameObject prefab, Transform parent, int voxelResolution)
{
if (m_hashKey == hashkey)
{
if (m_meshPrefab == null)
{
InstantiatePrefab(hashkey, prefab, parent, voxelResolution);
}
if (m_meshPrefab == null)
{
m_dynamicMeshCube = m_meshPrefab.GetComponent <DynamicMeshCube>();
}
if (m_meshPrefab == null)
{
Debug.Log("Error: cannot find DynamicMeshVolume");
return(0);
}
if (m_dynamicMeshCube.IsRegenerating)
{
return(0);
}
// adjust weight of mutiple voxels along observation ray
float result = m_dynamicMeshCube.InsertPoint(p, obs, weight, ref m_volumeIndex);
Vector3 closerPoint = p - (obs * m_dynamicMeshCube.VoxelSize);
Vector3 furtherPoint = p + (obs * m_dynamicMeshCube.VoxelSize);
// voxel was inside the surface, back out one, and insert in the next closest voxel
if (result > 0)
{
m_dynamicMeshCube.InsertPoint(closerPoint, p, obs, weight);
}
else
{
m_dynamicMeshCube.InsertPoint(furtherPoint, p, obs, weight);
}
if (m_volumeIndex[0] == 0)
{
int neighborHashKey = hashkey - 1;
result = m_rootHashTree.InsertPoint(neighborHashKey, p, obs, weight, prefab, parent, voxelResolution);
}
if (m_volumeIndex[1] == 0)
{
int neighborHashKey = hashkey - m_maximumVolumeIndexDimension;
result = m_rootHashTree.InsertPoint(neighborHashKey, p, obs, weight, prefab, parent, voxelResolution);
}
if (m_volumeIndex[2] == 0)
{
int neighborHashKey = hashkey - (m_maximumVolumeIndexDimension * m_maximumVolumeIndexDimension);
result = m_rootHashTree.InsertPoint(neighborHashKey, p, obs, weight, prefab, parent, voxelResolution);
}
return(result);
}
if (hashkey < m_hashKey)
{
if (m_leftHashTree == null)
{
m_leftHashTree = new VolumetricHashTree(m_rootHashTree, hashkey);
}
return(m_leftHashTree.InsertPoint(hashkey, p, obs, weight, prefab, parent, voxelResolution));
}
else
{
if (m_rightHashTree == null)
{
m_rightHashTree = new VolumetricHashTree(m_rootHashTree, hashkey);
}
return(m_rightHashTree.InsertPoint(hashkey, p, obs, weight, prefab, parent, voxelResolution));
}
}