void Update()
{
GetPose(out pos, out rot, FrameOffset);
TransformValidation.ValidatePose(ref pos, ref rot);
// Update local transform with pose data from the network.
// Use local transform, so we can child this gameobject to the scene anchor.
try
{
if (gameObject.transform.parent != null &&
gameObject.transform.parent.lossyScale != Vector3.one)
{
// If the object we are anchored to has a non-identity scale,
// the anchor we get from the pose provider will be off by the scale factor.
Vector3 scale = gameObject.transform.parent.lossyScale;
gameObject.transform.localPosition = new Vector3(
UpdateSVTransformFromParentScale(pos.x, scale.x),
UpdateSVTransformFromParentScale(pos.y, scale.y),
UpdateSVTransformFromParentScale(pos.z, scale.z)
);
}
else
{
// Otherwise, our scale is one and we can set the position as we got it.
gameObject.transform.localPosition = pos;
}
gameObject.transform.localRotation = rot;
}
catch (Exception ex)
{
Debug.LogWarning("Error getting position and rotation from SV: " + ex.Message);
}
if (!frameProviderInitialized)
{
frameProviderInitialized = InitializeFrameProvider();
}
UpdateCompositor();
if (spatialMapping == null)
{
spatialMapping = new SpatialMapping();
}
spatialMapping.UpdateSpatialMapping(transform.parent, SpatialMappingMaterial);
}
public void UpdateSpatialMapping(Transform parent, Material SpatialMappingMaterial)
{
int numSpatialMappingMeshes = 0;
if (IsSpatialMappingDataReady(out numSpatialMappingMeshes))
{
// Set parent transform and remove previous meshes.
spatialMappingParent.transform.SetParent(parent);
spatialMappingParent.transform.localPosition = Vector3.zero;
spatialMappingParent.transform.localRotation = Quaternion.identity;
foreach (GameObject go in spatialMappingMeshes)
{
GameObject.DestroyImmediate(go);
}
spatialMappingMeshes.Clear();
// Find largest sizes for index and vertex buffers.
int largestNumVertices = int.MinValue;
int largestNumIndices = int.MinValue;
int numVertices;
int numIndices;
for (int i = 0; i < numSpatialMappingMeshes; i++)
{
if (GetSpatialMappingDataBufferLengths(i, out numVertices, out numIndices))
{
if (numVertices > largestNumVertices)
{
largestNumVertices = numVertices;
}
if (numIndices > largestNumIndices)
{
largestNumIndices = numIndices;
}
}
}
IntPtr nativeVertices = Marshal.AllocHGlobal(largestNumVertices * 3 * sizeof(float));
IntPtr nativeIndices = Marshal.AllocHGlobal(largestNumIndices * sizeof(short));
for (int i = 0; i < numSpatialMappingMeshes; i++)
{
if (GetSpatialMappingDataBufferLengths(i, out numVertices, out numIndices))
{
float[] vertexElements = new float[numVertices * 3];
short[] indices = new short[numIndices];
if (numVertices <= 0 || numIndices <= 0)
{
return;
}
Vector3 meshTrans;
Quaternion meshRot;
Vector3 meshScale;
if (GetSpatialMappingData(i, out meshTrans, out meshRot, out meshScale, out nativeVertices, out nativeIndices))
{
TransformValidation.ValidateVector(ref meshTrans);
TransformValidation.ValidateVector(ref meshScale);
meshRot = TransformValidation.GetNormalizedQuaternion(meshRot);
Marshal.Copy(nativeVertices, vertexElements, 0, numVertices * 3);
Marshal.Copy(nativeIndices, indices, 0, numIndices);
List <Vector3> vertices = new List <Vector3>();
for (int v = 0; v < vertexElements.Length; v += 3)
{
Vector3 vertex = new Vector3(
vertexElements[v],
vertexElements[v + 1],
vertexElements[v + 2]
);
vertices.Add(vertex);
}
int[] int_indices = new int[numIndices];
for (int idx = 0; idx < numIndices; idx++)
{
int_indices[idx] = (int)indices[idx];
}
// Create spatial mapping meshes.
GameObject go = GameObject.CreatePrimitive(PrimitiveType.Cube);
go.name = "SpatialMapping_" + i.ToString();
go.transform.SetParent(spatialMappingParent.transform);
go.transform.localPosition = meshTrans;
go.transform.localRotation = meshRot;
// Scale coming from device is larger by a factor of 5.
go.transform.localScale = meshScale / 5.0f;
if (SpatialMappingMaterial != null)
{
go.GetComponent <Renderer>().material = SpatialMappingMaterial;
}
spatialMappingMeshes.Add(go);
GameObject.DestroyImmediate(go.GetComponent <Collider>());
MeshFilter filter = go.GetComponent <MeshFilter>();
filter.mesh = new Mesh();
filter.sharedMesh = filter.mesh;
Mesh mesh = filter.sharedMesh;
mesh.Clear();
mesh.SetVertices(vertices);
mesh.SetIndices(int_indices, MeshTopology.Triangles, 0);
mesh.RecalculateNormals();
mesh.RecalculateBounds();
Debug.Log(String.Format("Received spatial mapping mesh {0} with {1} vertices and {2} indices", i, numVertices, numIndices));
}
}
}
//TODO: We should be freeing the memory we allocated for the index and vertex buffers, but this was deadlocking.
//Marshal.FreeHGlobal(nativeVertices);
//Marshal.FreeHGlobal(nativeIndices);
// When receiving spatial mapping data, some amount of time will pass without receiving any pose data.
// To ensure our poses remain synced, force a reset of our pose cache.
ResetPoseCache();
}
}
