private List <PlacementQuery> CreateLocationQueriesForSolver(int desiredLocationCount, Vector3 boxFullDims, ObjectType objType)
{
List <PlacementQuery> placementQueries = new List <PlacementQuery>();
var halfBoxDims = boxFullDims * .5f;
var disctanceFromOtherObjects = halfBoxDims.x > halfBoxDims.z ? halfBoxDims.x * 3f : halfBoxDims.z * 3f;
for (int i = 0; i < desiredLocationCount; ++i)
{
var placementRules = new List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule>
{
SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule.Create_AwayFromOtherObjects(disctanceFromOtherObjects)
};
var placementConstraints = new List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementConstraint>();
SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition placementDefinition = SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition.Create_OnFloor(halfBoxDims);
placementQueries.Add(
new PlacementQuery(placementDefinition,
boxFullDims,
objType,
placementRules,
placementConstraints
));
}
return(placementQueries);
}
//返回存放放置定义，规则，限制的表
private List <PlacementQuery> CreateLocationQueriesForSolver(int desiredLocationCount, Vector3 boxFullDims, ObjectType objType)
{
List <PlacementQuery> placementQueries = new List <PlacementQuery>();
//Bounds的size是extent的2倍
var halfBoxDims = boxFullDims * .5f;
var distanceFromOtherObjects = halfBoxDims.x > halfBoxDims.z ? halfBoxDims.x * 3f : halfBoxDims.z * 3f;
for (int i = 0; i < desiredLocationCount; ++i)
{
var placementRules = new List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule>
{
//放置Rule：要远离其他物体一定距离
SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule.Create_AwayFromOtherObjects(distanceFromOtherObjects)
};
//放置Constraint,即每个形状组件之间的连接关系：无
var placementConstraints = new List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementConstraint>();
//放置定义：放置在地面上，即放在XZ面上
SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition placementDefinition = SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition.Create_OnFloor(halfBoxDims);
placementQueries.Add(
new PlacementQuery(placementDefinition,
boxFullDims,
objType,
placementRules,
placementConstraints
));
}
return(placementQueries);
}
private bool TryPlaceObject(
out SpatialUnderstandingDllObjectPlacement.ObjectPlacementResult placementResult,
string placementName,
SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition placementDefinition,
List <Rule> rules = null)
{
placementResult = null;
List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule> placementRules = new List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule>();
List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementConstraint> placementConstraints = new List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementConstraint>();
if (rules != null)
{
foreach (Rule rule in rules)
{
rule.AddTo(placementRules);
rule.AddTo(placementConstraints);
}
}
int result = SpatialUnderstandingDllObjectPlacement.Solver_PlaceObject(
placementName,
SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(placementDefinition),
placementRules.Count,
placementRules.Count > 0 ? SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(placementRules.ToArray()) : IntPtr.Zero,
placementConstraints.Count,
placementConstraints.Count > 0 ? SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(placementConstraints.ToArray()) : IntPtr.Zero,
SpatialUnderstanding.Instance.UnderstandingDLL.GetStaticObjectPlacementResultPtr());
if (result > 0)
{
placementResult = SpatialUnderstanding.Instance.UnderstandingDLL.GetStaticObjectPlacementResult();
return(true);
}
return(false);
}
private PlacementResult PlaceObject(string placementName,
SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition placementDefinition,
Vector3 boxFullDims,
ObjectType objType,
List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule> placementRules = null,
List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementConstraint> placementConstraints = null)
{
//Solver_PlaceObject()返回0代表失败，返回1代表成功
//故判断是否大于0，成功则获取放置结果
//PinObject直接返回指定的物体在内存中的位置
if (SpatialUnderstandingDllObjectPlacement.Solver_PlaceObject(
placementName,
SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(placementDefinition),
(placementRules != null) ? placementRules.Count : 0,
((placementRules != null) && (placementRules.Count > 0)) ? SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(placementRules.ToArray()) : IntPtr.Zero,
(placementConstraints != null) ? placementConstraints.Count : 0,
(placementConstraints != null) && (placementConstraints.Count > 0)?SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(placementConstraints.ToArray()):IntPtr.Zero,
SpatialUnderstanding.Instance.UnderstandingDLL.GetStaticObjectPlacementResultPtr())
> 0)
{
SpatialUnderstandingDllObjectPlacement.ObjectPlacementResult placementResult = SpatialUnderstanding.Instance.UnderstandingDLL.GetStaticObjectPlacementResult();
return(new PlacementResult(placementResult.Clone() as SpatialUnderstandingDllObjectPlacement.ObjectPlacementResult, boxFullDims, objType));
}
return(null);
}
public PlacementQuery(SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition placementDefinition, Vector3 dimensions, ObjectType objType, List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule> placementRules = null, List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementConstraint> placementConstraints = null)
{
PlacementDefinition = placementDefinition;
PlacementRules = placementRules;
PlacementConstraints = placementConstraints;
Dimensions = dimensions;
ObjType = objType;
}
public PlacementQuery(
SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition placementDefinition,
List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule> placementRules = null,
List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementConstraint> placementConstraints = null)
{
PlacementDefinition = placementDefinition;
PlacementRules = placementRules;
PlacementConstraints = placementConstraints;
}
private bool PlaceObject(
string placementName,
GameObject input,
SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition placementDefinition,
List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule> placementRules = null,
List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementConstraint> placementConstraints = null,
bool clearObjectsFirst = true,
bool isASync = false)
{
isASync = false;
// Clear objects (if requested)
if (!isASync && clearObjectsFirst)
{
}
if (!SpatialUnderstanding.Instance.AllowSpatialUnderstanding)
{
return(false);
}
// New query
if (SpatialUnderstandingDllObjectPlacement.Solver_PlaceObject(
placementName,
SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(placementDefinition),
(placementRules != null) ? placementRules.Count : 0,
((placementRules != null) && (placementRules.Count > 0)) ? SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(placementRules.ToArray()) : IntPtr.Zero,
(placementConstraints != null) ? placementConstraints.Count : 0,
((placementConstraints != null) && (placementConstraints.Count > 0)) ? SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(placementConstraints.ToArray()) : IntPtr.Zero,
SpatialUnderstanding.Instance.UnderstandingDLL.GetStaticObjectPlacementResultPtr()) > 0)
{
SpatialUnderstandingDllObjectPlacement.ObjectPlacementResult placementResult = SpatialUnderstanding.Instance.UnderstandingDLL.GetStaticObjectPlacementResult();
if (!isASync)
{
// Add to instantiation list here
// If not running async, we can just add the results to the draw list right now
AppState.Instance.ObjectPlacementDescription = placementName + " (1)";
placementResults.Add(new PlacementResult(input, 1.0f, placementResult.Clone() as SpatialUnderstandingDllObjectPlacement.ObjectPlacementResult));
Quaternion thisRotation = Quaternion.LookRotation(placementResult.Forward, placementResult.Up);
//print("Space Found");
objectsToMake.Add(new ObjectToInstantiate(input, placementResult.Position, thisRotation));
//print(objectsToMake.Count);
}
else
{
queryStatus.QueryResult.Add(placementResult.Clone() as SpatialUnderstandingDllObjectPlacement.ObjectPlacementResult);
}
return(true);
}
if (!isASync)
{
print("No Spaces Found!");
AppState.Instance.ObjectPlacementDescription = "Placement Failed";
}
return(false);
}
public bool TryPlaceOnFloor(out Vector3 position, Vector3 size, List <Rule> rules = null)
{
position = Vector3.zero;
string token = "Floor-" + m_uniquePlacementID++;
SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition placementDefinition = SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition.Create_OnFloor(0.5f * size);
SpatialUnderstandingDllObjectPlacement.ObjectPlacementResult placementResult;
if (TryPlaceObject(out placementResult, token, placementDefinition, rules))
{
position = placementResult.Position;
return(true);
}
return(false);
}
public bool TryPlaceOnPlatformEdge(out Vector3 position, Vector3 size, List <Rule> rules = null)
{
position = Vector3.zero;
string token = "Edge-" + m_uniquePlacementID++;
//TODO: unsure of what halfDimsBottom really means
SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition placementDefinition = SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition.Create_OnEdge(0.5f * size, 0.5f * new Vector3(size.x, size.y, size.z));
SpatialUnderstandingDllObjectPlacement.ObjectPlacementResult placementResult;
if (TryPlaceObject(out placementResult, token, placementDefinition, rules))
{
position = placementResult.Position;
return(true);
}
return(false);
}
private bool PlaceObjectAsync(
string placementName,
SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition placementDefinition,
List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule> placementRules = null,
List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementConstraint> placementConstraints = null,
bool clearObjectsFirst = true)
{
return(PlaceObjectAsync(
placementName,
new List <PlacementQuery>()
{
new PlacementQuery(placementDefinition, placementRules, placementConstraints)
},
clearObjectsFirst));
}
private bool PlaceObject(
string placementName,
SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition placementDefinition,
List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule> placementRules = null,
List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementConstraint> placementConstraints = null,
bool clearObjectsFirst = true,
bool isASync = false)
{
// Clear objects (if requested)
if (!isASync && clearObjectsFirst)
{
ClearGeometry();
}
if (!SpatialUnderstanding.Instance.AllowSpatialUnderstanding)
{
return(false);
}
// New query
if (SpatialUnderstandingDllObjectPlacement.Solver_PlaceObject(
placementName,
SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(placementDefinition),
(placementRules != null) ? placementRules.Count : 0,
((placementRules != null) && (placementRules.Count > 0)) ? SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(placementRules.ToArray()) : IntPtr.Zero,
(placementConstraints != null) ? placementConstraints.Count : 0,
((placementConstraints != null) && (placementConstraints.Count > 0)) ? SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(placementConstraints.ToArray()) : IntPtr.Zero,
SpatialUnderstanding.Instance.UnderstandingDLL.GetStaticObjectPlacementResultPtr()) > 0)
{
SpatialUnderstandingDllObjectPlacement.ObjectPlacementResult placementResult = SpatialUnderstanding.Instance.UnderstandingDLL.GetStaticObjectPlacementResult();
if (!isASync)
{
// If not running async, we can just add the results to the draw list right now
AppState.Instance.ObjectPlacementDescription = placementName + " (1)";
float timeDelay = (float)placementResults.Count * AnimatedBox.DelayPerItem;
placementResults.Add(new PlacementResult(timeDelay, placementResult.Clone() as SpatialUnderstandingDllObjectPlacement.ObjectPlacementResult));
}
else
{
queryStatus.QueryResult.Add(placementResult.Clone() as SpatialUnderstandingDllObjectPlacement.ObjectPlacementResult);
}
return(true);
}
if (!isASync)
{
AppState.Instance.ObjectPlacementDescription = placementName + " (0)";
}
return(false);
}
private bool _PlaceGameObject(string name, SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition placementDefinition, List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule> placementRules = null, List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementConstraint> placementConstraints = null)
{
return
(
SpatialUnderstandingDllObjectPlacement.Solver_PlaceObject
(
name,
SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(placementDefinition),
(placementRules != null) ? placementRules.Count : 0,
((placementRules != null) && (placementRules.Count > 0)) ? SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(placementRules.ToArray()) : System.IntPtr.Zero,
(placementConstraints != null) ? placementConstraints.Count : 0,
((placementConstraints != null) && (placementConstraints.Count > 0)) ? SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(placementConstraints.ToArray()) : System.IntPtr.Zero,
SpatialUnderstanding.Instance.UnderstandingDLL.GetStaticObjectPlacementResultPtr()
) > 0
);
}
public bool TryPlaceInAir(out Vector3 position, out Quaternion rotation, Vector3 size, List <Rule> rules = null)
{
size = ClampToMinSize(size);
position = Vector3.zero;
rotation = Quaternion.identity;
string token = "InAir-" + m_uniquePlacementID++;
SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition placementDefinition = SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition.Create_InMidAir(0.5f * size);
SpatialUnderstandingDllObjectPlacement.ObjectPlacementResult placementResult;
if (TryPlaceObject(out placementResult, token, placementDefinition, rules))
{
position = placementResult.Position;
return(true);
}
return(false);
}
public bool TryPlaceOnFloor(out string placementName, out Vector3 position, out Quaternion rotation, Vector3 size, List <Rule> rules = null)
{
size = ClampToMinSize(size);
position = Vector3.zero;
rotation = Quaternion.identity;
placementName = "Floor-" + m_uniquePlacementID++;
SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition placementDefinition = SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition.Create_OnFloor(0.5f * size);
SpatialUnderstandingDllObjectPlacement.ObjectPlacementResult placementResult;
if (TryPlaceObject(out placementResult, placementName, placementDefinition, rules))
{
position = placementResult.Position;
rotation = Quaternion.LookRotation(placementResult.Forward, placementResult.Up);
return(true);
}
return(false);
}
bool AsyncRunQuery(SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition placementDefinition,
List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule> placementRules = null,
List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementConstraint> placementConstraints = null)
{
#if UNITY_WSA && !UNITY_EDITOR
System.Threading.Tasks.Task.Run(() =>
{
RunQuery(placementDefinition, placementRules, placementConstraints);
}
);
return(true);
#else
return(RunQuery(placementDefinition, placementRules, placementConstraints));
#endif
}
void CreateScene()
{
// DLLの初期化
SpatialUnderstandingDllObjectPlacement.Solver_Init();
var halfBoxDims = boxFullDims * .5f;
// 他のオブジェクトから離す距離
var disctanceFromOtherObjects = halfBoxDims.x > halfBoxDims.z ? halfBoxDims.x * 3f : halfBoxDims.z * 3f;
// 作成したいオブジェクトの数
var desiredLocationCount = 3;
for (int i = 0; i < desiredLocationCount; ++i)
{
// ルールの作成（複数追加可能）
var placementRules = new List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule>();
placementRules.Add(SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule.Create_AwayFromOtherObjects(disctanceFromOtherObjects));
// 制約の作成（複数追加可能）
var placementConstraints = new List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementConstraint>();
placementConstraints.Add(SpatialUnderstandingDllObjectPlacement.ObjectPlacementConstraint.Create_AwayFromOtherObjects());
// 定義の作成（１つだけ）
SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition placementDefinition = SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition.Create_OnFloor(halfBoxDims);
int ret = SpatialUnderstandingDllObjectPlacement.Solver_PlaceObject(
"my placement",
SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(placementDefinition),
placementRules.Count,
SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(placementRules.ToArray()),
placementConstraints.Count,
SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(placementConstraints.ToArray()),
SpatialUnderstanding.Instance.UnderstandingDLL.GetStaticObjectPlacementResultPtr()
);
if (ret > 0)
{
SpatialUnderstandingDllObjectPlacement.ObjectPlacementResult placementResult = SpatialUnderstanding.Instance.UnderstandingDLL.GetStaticObjectPlacementResult();
var rotation = Quaternion.LookRotation(placementResult.Forward, Vector3.up);
var obj = Instantiate(toPlaceObj, placementResult.Position, rotation);
print("Placed:" + obj.transform.position);
}
}
}
IEnumerator PlaceGameObjectCoro(GameObject g, SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition placementDefinition, List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule> placementRules = null, List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementConstraint> placementConstraints = null)
{
string name = g.name;
bool hasResults = false;
var thread =
#if UNITY_EDITOR || !UNITY_WSA
new System.Threading.Thread
#else
System.Threading.Tasks.Task.Run
#endif
(() =>
{
hasResults = _PlaceGameObject(name, placementDefinition, placementRules, placementConstraints);
});
#if UNITY_EDITOR || !UNITY_WSA
thread.Start()
#endif
;
while
(
#if UNITY_EDITOR || !UNITY_WSA
!thread.Join(System.TimeSpan.Zero)
#else
!thread.IsCompleted
#endif
)
{
yield return(null);
}
if (hasResults)
{
SpatialUnderstandingDllObjectPlacement.ObjectPlacementResult placementResult = SpatialUnderstanding.Instance.UnderstandingDLL.GetStaticObjectPlacementResult();
g.transform.position = placementResult.Position;
}
else
{
Debug.Log("No placements found");
}
}
public void FindPlaces()
{
if (!InitializeSolver())
{
return;
}
Reset();
Bounds bounds = GetBoundsForObject(prefab);
Vector3 halfDims = new Vector3(bounds.size.x * 0.5f, bounds.size.y * 0.5f, bounds.size.z * 0.5f);
SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition placementDefinition = SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition.Create_OnFloor(halfDims);
List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule> placementRules = new List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule>()
{
SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule.Create_AwayFromPosition(Camera.main.transform.position, distanceFromUser),
};
AsyncRunQuery(placementDefinition, placementRules);
}
private PlacementResult PlaceObject(string placementName,
SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition placementDefinition,
Vector3 boxFullDims,
ObjectType objType,
List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule> placementRules = null,
List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementConstraint> placementConstraints = null)
{
// New query
if (SpatialUnderstandingDllObjectPlacement.Solver_PlaceObject(
placementName,
SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(placementDefinition),
(placementRules != null) ? placementRules.Count : 0,
((placementRules != null) && (placementRules.Count > 0)) ? SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(placementRules.ToArray()) : IntPtr.Zero,
(placementConstraints != null) ? placementConstraints.Count : 0,
((placementConstraints != null) && (placementConstraints.Count > 0)) ? SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(placementConstraints.ToArray()) : IntPtr.Zero,
SpatialUnderstanding.Instance.UnderstandingDLL.GetStaticObjectPlacementResultPtr()) > 0)
{
SpatialUnderstandingDllObjectPlacement.ObjectPlacementResult placementResult = SpatialUnderstanding.Instance.UnderstandingDLL.GetStaticObjectPlacementResult();
Debug.Log("TO BE Placed:---------" + (objType == ObjectType.Menu ? "turtorial":"object"));
return(new PlacementResult(placementResult.Clone() as SpatialUnderstandingDllObjectPlacement.ObjectPlacementResult, boxFullDims, objType));
}
Debug.Log("Not Placed:-----------" + (objType == ObjectType.Menu ? "turtorial":"object"));
return(null);
}
bool RunQuery(SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition placementDefinition,
List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule> placementRules = null,
List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementConstraint> placementConstraints = null)
{
if (SpatialUnderstandingDllObjectPlacement.Solver_PlaceObject(
this.name,
SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(placementDefinition),
(placementRules != null) ? placementRules.Count : 0,
((placementRules != null) && (placementRules.Count > 0)) ? SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(placementRules.ToArray()) : IntPtr.Zero,
(placementConstraints != null) ? placementConstraints.Count : 0,
((placementConstraints != null) && (placementConstraints.Count > 0)) ? SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(placementConstraints.ToArray()) : IntPtr.Zero,
SpatialUnderstanding.Instance.UnderstandingDLL.GetStaticObjectPlacementResultPtr()) > 0)
{
SpatialUnderstandingDllObjectPlacement.ObjectPlacementResult placementResult = SpatialUnderstanding.Instance.UnderstandingDLL.GetStaticObjectPlacementResult();
queryPlacementResults.Add(placementResult.Clone() as SpatialUnderstandingDllObjectPlacement.ObjectPlacementResult);
return(true);
}
State = States.Finished;
return(true);
}
private List <PlacementQuery> CreateLocationQueriesForSolver(int desiredLocationCount, Vector3 boxFullDims, ObjectType objType)
{
List <PlacementQuery> placementQueries = new List <PlacementQuery>();
var halfBoxDims = boxFullDims * 0.5f;
var disctanceFromOtherObjects = halfBoxDims.x > halfBoxDims.z ? halfBoxDims.x * 2.2f : halfBoxDims.z * 2.2f;
for (int i = 0; i < desiredLocationCount; ++i)
{
var placementRules = new List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule> {
SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule.Create_AwayFromOtherObjects(disctanceFromOtherObjects)
};
var placementConstraints = new List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementConstraint>();
if (objType == ObjectType.Bottle)
{
int randomPlace = UnityEngine.Random.Range(1, 3);
if (randomPlace == 1)
{
SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition placementDefinition = SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition.Create_OnFloor(halfBoxDims);
placementQueries.Add(
new PlacementQuery(placementDefinition,
boxFullDims,
objType,
placementRules,
placementConstraints
));
}
else if (randomPlace == 2)
{
SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition placementDefinition = SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition.Create_OnShape(halfBoxDims, "Couch", 1);
placementQueries.Add(
new PlacementQuery(placementDefinition,
boxFullDims,
objType,
placementRules,
placementConstraints
));
}
else
{
SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition placementDefinition = SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition.Create_OnShape(halfBoxDims, "All Surfaces", 1);
placementQueries.Add(
new PlacementQuery(placementDefinition,
boxFullDims,
objType,
placementRules,
placementConstraints
));
}
}
else if (objType == ObjectType.Table)
{
SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition placementDefinition = SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition.Create_OnFloor(halfBoxDims);
placementQueries.Add(
new PlacementQuery(placementDefinition,
boxFullDims,
objType,
placementRules,
placementConstraints
));
}
else if (objType == ObjectType.House)
{
// SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule.Create_AwayFromWalls(0.1f, 2.0f);
SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition placementDefinition = SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition.Create_OnWall(halfBoxDims, -0.2f, 1.5f);
placementQueries.Add(
new PlacementQuery(placementDefinition,
boxFullDims,
objType,
placementRules,
placementConstraints
));
}
else if (objType == ObjectType.Shield)
{
SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition placementDefinition = SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition.Create_OnWall(halfBoxDims, 1.7f, 2.0f);
placementQueries.Add(
new PlacementQuery(placementDefinition,
boxFullDims,
objType,
placementRules,
placementConstraints
));
}
}
return(placementQueries);
}
/*
* création des contraintes pour les objets
*/
private List <PlacementQuery> CreateLocationQueriesForSolver(int desiredLocationCount, Vector3 boxFullDims, ObjectType objType)
{
List <PlacementQuery> placementQueries = new List <PlacementQuery>();
var halfBoxDims = boxFullDims * .5f;
for (int i = 0; i < desiredLocationCount; ++i)
{
var placementConstraints = new List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementConstraint>();
SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition placementDefinition = SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition.Create_OnWall(halfBoxDims, Camera.main.transform.position.y - 2 * halfBoxDims.y, Camera.main.transform.position.y + 2 * halfBoxDims.y);//Create_OnFloor(halfBoxDims);
/**
* Les regles de placement d'objet. La regle definit que l'objet doit être éloigné d'un autre objet ou point ou autre...
* Variable à exploiter.
**/
var placementRules = new List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule>
{
SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule.Create_AwayFromOtherObjects(distanceFromOtherObject),
SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule.Create_AwayFromPosition(Camera.main.transform.position, distanceFromOtherObject)
};
switch (objType)
{
case ObjectType.FloorObject:
/**
* Les contraintes de placement des objets. On peut placer un objet près d'un centre ou près d'un point à particulier.
* Cette variable est aussi à exploiter par rapport ce qu'on veux voir
**/
// var placementConstraints = new List<SpatialUnderstandingDllObjectPlacement.ObjectPlacementConstraint>(); //->par défaut
placementConstraints = new List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementConstraint> {
SpatialUnderstandingDllObjectPlacement.ObjectPlacementConstraint.Create_NearPoint(Camera.main.transform.position - 2 * Camera.main.transform.forward),
//SpatialUnderstandingDllObjectPlacement.ObjectPlacementConstraint.Create_AwayFromPoint(2*Camera.main.transform.position)
};
/**
* Ici nous définissons où veut on placer les objets.
* Nous utilisons pour le moment que deux création d'objet : Create_OnFloor et Create_OnWall.
* On peut exploirer plus cette variable pour mieux définir la position des objets.
**/
placementDefinition = SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition.Create_OnFloor(halfBoxDims);
break;
case ObjectType.WallObject:
/**
* Les contraintes de placement des objets. On peut placer un objet près d'un centre ou près d'un point à particulier.
* Cette variable est aussi à exploiter par rapport ce qu'on veux voir
**/
// var placementConstraints = new List<SpatialUnderstandingDllObjectPlacement.ObjectPlacementConstraint>(); //->par défaut
placementConstraints = new List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementConstraint> {
SpatialUnderstandingDllObjectPlacement.ObjectPlacementConstraint.Create_NearCenter(),
SpatialUnderstandingDllObjectPlacement.ObjectPlacementConstraint.Create_AwayFromPoint(Camera.main.transform.position)
};
/**
* Ici nous définissons où veut on placer les objets.
* Nous utilisons pour le moment que deux création d'objet : Create_OnFloor et Create_OnWall.
* On peut exploirer plus cette variable pour mieux définir la position des objets.
**/
placementDefinition = SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition.Create_OnWall(halfBoxDims, 1.6f, 1.8f); //Create_OnFloor(halfBoxDims);
break;
}
placementQueries.Add(
new PlacementQuery(placementDefinition,
boxFullDims,
objType,
placementRules,
placementConstraints
));
}
return(placementQueries);
}
/// <summary>
/// Attempts to place an object given the parameters.
/// Returns false if object could not be placed, or spatial mapping could not be initialized.
/// </summary>
/// <param name="target"></param>
/// <param name="position"></param>
/// <param name="customHalfDims"></param>
/// <param name="minDistFromOthers"></param>
/// <param name="minDistFromPlayer"></param>
/// <param name="maxDistFromPlayer"></param>
/// <returns></returns>
public static bool PlaceObject(GameObject target, WrappedPlacement position, Vector3?customHalfDims = null, float minDistFromOthers = 3f, float minDistFromPlayer = .25f, float maxDistFromPlayer = 4.0f)
{
if (!Init())
{
return(false);
}
Vector3 halfDims = Vector3.one * .5f;
Renderer r = target.GetComponentInChildren <Renderer>();
if (r != null)
{
halfDims = (r.bounds.size * .5f);
WorldErrors.Print("halfDims: " + (r.bounds.size * .5f).ToString());
}
if (customHalfDims != null)
{
halfDims = customHalfDims.Value;
}
List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule> placementRules = new List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule>()
{
SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule.Create_AwayFromOtherObjects(halfDims.magnitude * minDistFromOthers)
};
List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementConstraint> placementConstraints = new List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementConstraint>()
{
SpatialUnderstandingDllObjectPlacement.ObjectPlacementConstraint.Create_NearPoint(Camera.main.transform.position, minDistFromPlayer, maxDistFromPlayer)
};
SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition def = new SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition();
switch (position)
{
case WrappedPlacement.Place_InMidAir:
def = SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition.Create_InMidAir(halfDims);
break;
case WrappedPlacement.Place_OnCeiling:
def = SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition.Create_OnCeiling(halfDims);
break;
case WrappedPlacement.Place_OnEdge: {
Vector3 halfDimsBot = halfDims;
halfDimsBot.y *= .5f;
def = SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition.Create_OnEdge(halfDims, halfDimsBot);
}
break;
case WrappedPlacement.Place_OnFloor:
def = SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition.Create_OnFloor(halfDims);
break;
case WrappedPlacement.Place_OnFloorAndCeiling: {
Vector3 halfDimsBot = halfDims;
halfDimsBot.y *= .5f;
def = SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition.Create_OnFloorAndCeiling(halfDims, halfDimsBot);
}
break;
case WrappedPlacement.Place_OnShape:
Debug.LogWarning("Not supported");
def = SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition.Create_OnShape(halfDims, "DefaultShape", 0);
break;
case WrappedPlacement.Place_OnWall:
def = SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition.Create_OnWall(halfDims, halfDims.y, 2.4f);
break;
case WrappedPlacement.Place_RandomInAir:
def = SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition.Create_RandomInAir(halfDims);
break;
case WrappedPlacement.Place_UnderPlatformEdge:
def = SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition.Create_UnderPlatformEdge(halfDims);
break;
}
//SpatialUnderstandingDllObjectPlacement.ObjectPlacementResult result = new SpatialUnderstandingDllObjectPlacement.ObjectPlacementResult();
if (SpatialUnderstandingDllObjectPlacement.Solver_PlaceObject(target.name,
SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(def),
placementRules.Count, SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(placementRules.ToArray()), //rules
placementConstraints.Count, SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(placementConstraints.ToArray()), //constraints
SpatialUnderstanding.Instance.UnderstandingDLL.GetStaticObjectPlacementResultPtr()
) > 0)
{
target.transform.position = SpatialUnderstanding.Instance.UnderstandingDLL.GetStaticObjectPlacementResult().Position;
return(true);
}
return(false);
}
private IEnumerator SetupMenu()
{
// Setup for queries
SpatialUnderstandingDllTopology.TopologyResult[] resultsTopology = new SpatialUnderstandingDllTopology.TopologyResult[1];
IntPtr resultsTopologyPtr = SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(resultsTopology);
#if UNITY_WSA && !UNITY_EDITOR
// Place on a wall (do it in a thread, as it can take a little while)
SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition placeOnWallDef =
SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition.Create_OnWall(new Vector3(MenuWidth * 0.5f, MenuHeight * 0.5f, MenuMinDepth * 0.5f), 0.5f, 3.0f);
SpatialUnderstandingDllObjectPlacement.ObjectPlacementResult placementResult = SpatialUnderstanding.Instance.UnderstandingDLL.GetStaticObjectPlacementResult();
System.Threading.Tasks.Task thread = System.Threading.Tasks.Task.Run(() =>
{
if (SpatialUnderstandingDllObjectPlacement.Solver_PlaceObject(
"UIPlacement",
SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(placeOnWallDef),
0,
IntPtr.Zero,
0,
IntPtr.Zero,
SpatialUnderstanding.Instance.UnderstandingDLL.GetStaticObjectPlacementResultPtr()) == 0)
{
placementResult = null;
}
});
while (!thread.IsCompleted)
{
yield return(null);
}
if (placementResult != null)
{
Debug.Log("PlaceMenu - ObjectSolver-OnWall");
Vector3 posOnWall = placementResult.Position - placementResult.Forward * MenuMinDepth * 0.5f;
PlaceMenu(posOnWall, -placementResult.Forward);
yield break;
}
#endif
// Wait a frame
yield return(null);
// Fallback, place floor (add a facing, if so)
int locationCount = SpatialUnderstandingDllTopology.QueryTopology_FindLargestPositionsOnFloor(
resultsTopology.Length, resultsTopologyPtr);
if (locationCount > 0)
{
Debug.Log("PlaceMenu - LargestPositionsOnFloor");
SpatialUnderstandingDllTopology.TopologyResult menuLocation = resultsTopology[0];
Vector3 menuPosition = menuLocation.position + Vector3.up * MenuHeight;
Vector3 menuLookVector = Camera.main.transform.position - menuPosition;
PlaceMenu(menuPosition, (new Vector3(menuLookVector.x, 0.0f, menuLookVector.z)).normalized, true);
yield break;
}
// Final fallback just in front of the user
SpatialUnderstandingDll.Imports.QueryPlayspaceAlignment(SpatialUnderstanding.Instance.UnderstandingDLL.GetStaticPlayspaceAlignmentPtr());
SpatialUnderstandingDll.Imports.PlayspaceAlignment alignment = SpatialUnderstanding.Instance.UnderstandingDLL.GetStaticPlayspaceAlignment();
Vector3 defaultPosition = Camera.main.transform.position + Camera.main.transform.forward * 2.0f;
PlaceMenu(new Vector3(defaultPosition.x, Math.Max(defaultPosition.y, alignment.FloorYValue + 1.5f), defaultPosition.z), (new Vector3(Camera.main.transform.forward.x, 0.0f, Camera.main.transform.forward.z)).normalized, true);
Debug.Log("PlaceMenu - InFrontOfUser");
}
public void PlaceGameObject(GameObject g, SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition placementDefinition, List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule> placementRules = null, List <SpatialUnderstandingDllObjectPlacement.ObjectPlacementConstraint> placementConstraints = null)
{
StartCoroutine(PlaceGameObjectCoro(g, placementDefinition, placementRules, placementConstraints));
}
