// Update is called once per frame
void Update()
{
StopWatch.Reset();
StopWatch.Start();
// update sensor position
UpdateSensor(ref SensorField, ref SensorData);
// update visible mesh vertices
SubStopWatch.Reset();
SubStopWatch.Start();
List <bool> MeshGuide = MeshMan.UpdateVertices(SensorField);
MeshDensity = MeshMan.Density;
SubStopWatch.Stop();
MeshManSpeed = SubStopWatch.ElapsedTicks / (double)Stopwatch.Frequency;
// project to non-occluded vertices
SubStopWatch.Reset();
SubStopWatch.Start();
Oc = new Intersector.Occlusion(OcclusionObjSize, OcclusionObjDistance, SensorField.FOV);
List <Intersector.PointValue <byte> > Updates =
VertexInter.ProjectToVisible(SensorData, SensorField, Oc, Observer.ExtraData, MeshGuide);
SubStopWatch.Stop();
IntersectSpeed = SubStopWatch.ElapsedTicks / (double)Stopwatch.Frequency;
// update voxel grid
SubStopWatch.Reset();
SubStopWatch.Start();
VoxGridMan.Set(Updates, UpdateVoxStruct);
SubStopWatch.Stop();
VoxGridManSpeed = SubStopWatch.ElapsedTicks / (double)Stopwatch.Frequency;
// visualize data
SubStopWatch.Reset();
SubStopWatch.Start();
// render spheres
if (RenderVerts)
{
VertMarkers = Visualizer.CreateMarkers(Updates,
VertexMarkerSize, 0, 255, MinColor, MaxColor);
VertVis.Visualize(VertMarkers);
}
// color mesh
if (ColoredMesh)
{
Visualizer.ColorMesh(Observer.SurfaceObjects, Observer.ExtraData, MeshGuide,
VoxGridMan, MinColor, MaxColor, 0, 255);
}
SubStopWatch.Stop();
VertVisSpeed = SubStopWatch.ElapsedTicks / (double)Stopwatch.Frequency;
StopWatch.Stop();
DriverSpeed = StopWatch.ElapsedTicks / (double)Stopwatch.Frequency;
}
// Update is called once per frame
void Update()
{
StopWatch.Reset();
StopWatch.Start();
// update sensor position
UpdateSensor(ref SensorField, ref SensorData);
// update visible mesh vertices
SubStopWatch.Reset();
SubStopWatch.Start();
List <bool> MeshGuide = MeshMan.UpdateVertices(SensorField);
MeshDensity = MeshMan.Density;
SubStopWatch.Stop();
MeshManSpeed = SubStopWatch.ElapsedTicks / (double)Stopwatch.Frequency;
// project to non-occluded vertices
SubStopWatch.Reset();
SubStopWatch.Start();
Oc = new Intersector.Occlusion(OcclusionObjSize, OcclusionObjDistance, SensorField.FOV);
List <Intersector.PointValue <byte> > Updates =
VertexInter.ProjectToVisible(SensorData, SensorField, Oc, Observer.ExtraData, MeshGuide,
Closest, Furthest, SensorField.Transform.position);
SubStopWatch.Stop();
IntersectSpeed = SubStopWatch.ElapsedTicks / (double)Stopwatch.Frequency;
// update voxel grid
SubStopWatch.Reset();
SubStopWatch.Start();
// reset if filtered to live data only
if (VoxGridFilter == DataFilter.live)
{
VoxGridMan.Reset();
}
VoxGridMan.Set(Updates, UpdateVoxStruct);
SubStopWatch.Stop();
VoxGridManSpeed = SubStopWatch.ElapsedTicks / (double)Stopwatch.Frequency;
// visualize data
SubStopWatch.Reset();
SubStopWatch.Start();
content = new List <Visualizer.Content>();
// render spheres
if (RenderVerts)
{
if (VoxGridFilter == DataFilter.mesh || VoxGridFilter == DataFilter.live)
{
// render all non-occluded mesh vertices
content.AddRange(Visualizer.CreateMarkers(Updates,
VertexMarkerSize, MinColorVal, MaxColorVal, MinColor, MaxColor));
}
else
{
// render all visible voxel vertices
List <Voxel <byte> > curVoxels = VoxGridMan.Voxels();
for (int i = 0; i < curVoxels.Count; i++)
{
List <Intersector.PointValue <byte> > tmp = new List <Intersector.PointValue <byte> >();
tmp.Add(new Intersector.PointValue <byte>(curVoxels[i].point, curVoxels[i].value));
content.AddRange(Visualizer.CreateMarkers(tmp,
VertexMarkerSize, MinColorVal, MaxColorVal, MinColor, MaxColor));
}
}
}
// visualize voxels
if (VoxVis)
{
for (int i = 0; i < Voxels.Count; i++)
{
if (BoundsRandNums[i] <= ShowFrac)
{
Bounds voxBound = new Bounds();
voxBound.min = Voxels[i].min;
voxBound.max = Voxels[i].max;
if (VertexInter.AnyInView(MeshManager.IntersectionPoints(voxBound), SensorField))
{
content.AddRange(Visualizer.CreateBoundingLines(voxBound, BoundsLineWidth, BoundColors[i]));
}
}
}
}
// visualize mesh bounds
if (MeshBoundsVis)
{
for (int i = 0; i < MeshBounds.Count; i++)
{
if (BoundsRandNums[i] <= ShowFrac &&
VertexInter.AnyInView(MeshManager.IntersectionPoints(MeshBounds[i]), SensorField))
{
content.AddRange(Visualizer.CreateBoundingLines(MeshBounds[i], BoundsLineWidth, BoundColors[i]));
}
}
}
VertVis.Visualize(content);
// color mesh
if (ColoredMesh)
{
// color mesh by voxel grid value if Data Filter is not .all. If so, colored all 'no data'
if (VoxGridFilter != DataFilter.all)
{
Visualizer.ColorMesh(Observer.SurfaceObjects, Observer.ExtraData, MeshGuide,
VoxGridMan, MinColor, MaxColor, NoDataColor, MinColorVal, MaxColorVal);
}
else
{
Visualizer.ColorMesh(Observer.SurfaceObjects, Observer.ExtraData, MeshGuide,
VoxGridMan, NoDataColor, NoDataColor, NoDataColor, MinColorVal, MaxColorVal);
}
}
SubStopWatch.Stop();
VertVisSpeed = SubStopWatch.ElapsedTicks / (double)Stopwatch.Frequency;
StopWatch.Stop();
DriverSpeed = StopWatch.ElapsedTicks / (double)Stopwatch.Frequency;
}
// handles all script's visulation for better organization
private void HandleVis(List <Intersector.PointValue <byte> > Updates, List <bool> MeshGuide)
{
content = new List <Visualizer.Content>();
// color mesh
if (ColoredMesh)
{
// color mesh by voxel grid value if Data Filter is not .all. If so, colored all 'no data'
if (VoxGridFilter != DataFilter.all)
{
Visualizer.ColorMesh(Observer.SurfaceObjects, Observer.ExtraData, MeshGuide,
VoxGridMan, MinColor, MaxColor, NoDataColor, MinColorVal, MaxColorVal, MeshAlpha);
}
else
{
Visualizer.ColorMesh(Observer.SurfaceObjects, Observer.ExtraData, MeshGuide,
VoxGridMan, NoDataColor, NoDataColor, NoDataColor, MinColorVal, MaxColorVal, MeshAlpha);
}
}
// render spheres
if (RenderVerts)
{
if (VoxGridFilter == DataFilter.mesh || VoxGridFilter == DataFilter.live)
{
// render all non-occluded mesh vertices
content.AddRange(Visualizer.CreateMarkers(Updates,
VertexMarkerSize, MinColorVal, MaxColorVal, MinColor, MaxColor));
}
else
{
// render all visible voxel vertices
List <Voxel <byte> > curVoxels = VoxGridMan.Voxels();
for (int i = 0; i < curVoxels.Count; i++)
{
List <Intersector.PointValue <byte> > tmp = new List <Intersector.PointValue <byte> >();
tmp.Add(new Intersector.PointValue <byte>(curVoxels[i].point, curVoxels[i].value));
content.AddRange(Visualizer.CreateMarkers(tmp,
VertexMarkerSize, MinColorVal, MaxColorVal, MinColor, MaxColor));
}
}
}
// visualize voxels
if (VoxVis)
{
for (int i = 0; i < Voxels.Count; i++)
{
if (BoundsRandNums[i] <= ShowFrac)
{
Bounds voxBound = new Bounds();
voxBound.min = Voxels[i].min;
voxBound.max = Voxels[i].max;
if (VertexInter.AnyInView(MeshManager.IntersectionPoints(voxBound), SensorField))
{
content.AddRange(Visualizer.CreateBoundingLines(voxBound, BoundsLineWidth, BoundColors[i]));
}
}
}
}
// visualize mesh bounds
if (MeshBoundsVis)
{
for (int i = 0; i < MeshBounds.Count; i++)
{
if (BoundsRandNums[i] <= ShowFrac &&
VertexInter.AnyInView(MeshManager.IntersectionPoints(MeshBounds[i]), SensorField))
{
content.AddRange(Visualizer.CreateBoundingLines(MeshBounds[i], BoundsLineWidth, BoundColors[i]));
}
}
}
VertVis.Visualize(content);
}