/// <summary> /// Query distance between boundary and point /// </summary> /// <param name="point">point</param> /// <returns> /// Distance > 0.0, Inside the Boundary /// Distance = 0.0, On the Boundary /// Distance < 0.0, Outside the Boundary /// -1 : Error /// </returns> public double QueryDistanceOfPoint(Vector3 point, bool isPlayArea, ref Vector3 closestPoint, ref Vector3 normalDir) { //point.Set(point.x * 1000, point.y * 1000, point.z * 1000); // m -> mm //IntPtr pointPtr = Pvr_BoundaryAPI.StructToIntPtr<Vector3>(point); //double distance = Pvr_SafeAreaAlgoAPI.Pvr_GSABoundaryDetector(pointPtr); //Marshal.FreeHGlobal(pointPtr); Pvr_SafeAreaAlgoAPI.GSAPoint3i point3i = new Pvr_SafeAreaAlgoAPI.GSAPoint3i(); point3i.x = (int)(point.x * 1000); point3i.y = (int)(point.y * 1000); point3i.z = (int)(point.z * 1000); Pvr_SafeAreaAlgoAPI.GSAPoint3i closestPoint3i = new Pvr_SafeAreaAlgoAPI.GSAPoint3i(); Pvr_SafeAreaAlgoAPI.GSAPoint3i normalDir3i = new Pvr_SafeAreaAlgoAPI.GSAPoint3i(); double distance = Pvr_SafeAreaAlgoAPI.Pvr_GSABoundaryDetector2(ref point3i, isPlayArea, ref closestPoint3i, ref normalDir3i); closestPoint.x = closestPoint3i.x / 1000.0f; closestPoint.y = closestPoint3i.y / 1000.0f; closestPoint.z = closestPoint3i.z / 1000.0f; normalDir.x = normalDir3i.x / 1000.0f; normalDir.y = normalDir3i.y / 1000.0f; normalDir.z = normalDir3i.z / 1000.0f; return(distance / 1000.0f); // mm -> m }
/// <summary> /// Commit new line /// </summary> /// <param name="isFistLine">init or reset</param> /// <param name="points">point set</param> /// <returns></returns> public bool CommitNewLineData(bool isFistLine, Vector3[] points) { Pvr_SafeAreaAlgoAPI.GSALineCollection lineCollection = new Pvr_SafeAreaAlgoAPI.GSALineCollection(); lineCollection.lineCount = 2; Pvr_SafeAreaAlgoAPI.GSALine[] lineArray = new Pvr_SafeAreaAlgoAPI.GSALine[2]; if (isFistLine) { lineArray[0].pointArray = IntPtr.Zero; lineArray[0].pointCount = 0; } else { Pvr_SafeAreaAlgoAPI.GSAPoint3i[] tPoint = new Pvr_SafeAreaAlgoAPI.GSAPoint3i[1]; tPoint[0] = new Pvr_SafeAreaAlgoAPI.GSAPoint3i() { x = 0, y = 0, z = 0 }; lineArray[0].pointArray = Marshal.UnsafeAddrOfPinnedArrayElement(tPoint, 0); // unsafe lineArray[0].pointCount = 1; } Pvr_SafeAreaAlgoAPI.GSAPoint3i[] pointArray = new Pvr_SafeAreaAlgoAPI.GSAPoint3i[points.Length]; for (int i = 0; i < points.Length; i++) { Pvr_SafeAreaAlgoAPI.GSAPoint3i newPoint = new Pvr_SafeAreaAlgoAPI.GSAPoint3i(); newPoint.x = (int)(points[i].x * 1000); newPoint.y = (int)(points[i].y * 1000); newPoint.z = (int)(points[i].z * 1000); pointArray[i] = newPoint; } lineArray[1].pointArray = Marshal.UnsafeAddrOfPinnedArrayElement(pointArray, 0); // unsafe lineArray[1].pointCount = pointArray.Length; lineCollection.lineArray = Marshal.UnsafeAddrOfPinnedArrayElement(lineArray, 0); IntPtr collectionPtr = Pvr_BoundaryAPI.StructToIntPtr <Pvr_SafeAreaAlgoAPI.GSALineCollection>(lineCollection); int ret = Pvr_SafeAreaAlgoAPI.Pvr_GSAUpDateData(collectionPtr); Marshal.FreeHGlobal(collectionPtr); if (ret != 0) { Debug.LogError("BoundarySystem commit new line data failed!"); return(false); } return(true); }
/// <summary> /// Query distance between boundary and point /// </summary> /// <param name="point">point</param> /// <returns> /// Distance > 0.0, Inside the Boundary /// Distance = 0.0, On the Boundary /// Distance < 0.0, Outside the Boundary /// -1 : Error /// </returns> public double QueryDistanceOfPoint(Vector3 point) { //point.Set(point.x * 1000, point.y * 1000, point.z * 1000); // m -> mm //IntPtr pointPtr = Pvr_BoundaryAPI.StructToIntPtr<Vector3>(point); //double distance = Pvr_SafeAreaAlgoAPI.Pvr_GSABoundaryDetector(pointPtr); //Marshal.FreeHGlobal(pointPtr); Pvr_SafeAreaAlgoAPI.GSAPoint3i point3i = new Pvr_SafeAreaAlgoAPI.GSAPoint3i(); point3i.x = (int)(point.x * 1000); point3i.y = (int)(point.y * 1000); point3i.z = (int)(point.z * 1000); double distance = Pvr_SafeAreaAlgoAPI.Pvr_GSABoundaryDetector(ref point3i); return(distance / 1000.0f); // mm -> m }
private static void _SafeAreaCallbackShrink(IntPtr lineCollectionPtr, IntPtr safeAreaDetailRectPtr) { if (lineCollectionPtr == IntPtr.Zero || safeAreaDetailRectPtr == IntPtr.Zero) { Debug.LogError("BoundarySystem callback is inValid!"); return; } if (instance.boundarySystemCallbackShrink != null) { List <Vector3> boundaryPoints = new List <Vector3>(); List <List <Vector3> > unusedLines = new List <List <Vector3> >(); int byteNum = Marshal.SizeOf(typeof(Pvr_SafeAreaAlgoAPI.GSALine)); int byteNum2 = Marshal.SizeOf(typeof(Pvr_SafeAreaAlgoAPI.GSAPoint3i)); // boundary Pvr_SafeAreaAlgoAPI.GSALineCollection collection = Pvr_BoundaryAPI.IntPtrToStruct <Pvr_SafeAreaAlgoAPI.GSALineCollection>(lineCollectionPtr); IntPtr ptr; for (int i = 0; i < collection.lineCount; i++) { ptr = new IntPtr(collection.lineArray.ToInt64() + (byteNum * i)); Pvr_SafeAreaAlgoAPI.GSALine line = (Pvr_SafeAreaAlgoAPI.GSALine)Marshal.PtrToStructure(ptr, typeof(Pvr_SafeAreaAlgoAPI.GSALine)); List <Vector3> newLine = new List <Vector3>(); for (int j = 0; j < line.pointCount; j++) { IntPtr tptr = new IntPtr(line.pointArray.ToInt64() + (byteNum2 * j)); Pvr_SafeAreaAlgoAPI.GSAPoint3i point = (Pvr_SafeAreaAlgoAPI.GSAPoint3i)Marshal.PtrToStructure(tptr, typeof(Pvr_SafeAreaAlgoAPI.GSAPoint3i)); newLine.Add(new Vector3(point.x / 1000f, point.y / 1000f, point.z / 1000f)); } if (i == 0) // first line for colsed boundary { boundaryPoints = newLine; } else { unusedLines.Add(newLine); } } // Rect Detail Points List <Vector3> rectPoints = new List <Vector3>(); Pvr_SafeAreaAlgoAPI.GSALineCollection safeAreaRectLineCollection = Pvr_BoundaryAPI.IntPtrToStruct <Pvr_SafeAreaAlgoAPI.GSALineCollection>(safeAreaDetailRectPtr); IntPtr safeAreaRectLinePtr; for (int i = 0; i < safeAreaRectLineCollection.lineCount; i++) { safeAreaRectLinePtr = new IntPtr(safeAreaRectLineCollection.lineArray.ToInt64() + (byteNum * i)); Pvr_SafeAreaAlgoAPI.GSALine line = (Pvr_SafeAreaAlgoAPI.GSALine)Marshal.PtrToStructure(safeAreaRectLinePtr, typeof(Pvr_SafeAreaAlgoAPI.GSALine)); for (int j = 0; j < line.pointCount; j++) { IntPtr tptr = new IntPtr(line.pointArray.ToInt64() + (byteNum2 * j)); Pvr_SafeAreaAlgoAPI.GSAPoint3i point = (Pvr_SafeAreaAlgoAPI.GSAPoint3i)Marshal.PtrToStructure(tptr, typeof(Pvr_SafeAreaAlgoAPI.GSAPoint3i)); rectPoints.Add(new Vector3(point.x / 1000f, point.y / 1000f, point.z / 1000f)); } } instance.boundarySystemCallbackShrink(rectPoints, boundaryPoints, unusedLines); } }
private static void _SafeAreaCallback(IntPtr lineCollectionPtr, IntPtr safeAreaRectPtr) { if (lineCollectionPtr == IntPtr.Zero || safeAreaRectPtr == IntPtr.Zero) { Debug.LogError("BoundarySystem callback is inValid!"); return; } if (instance.boundarySystemCallback != null) { List <Vector3> boundaryPoints = new List <Vector3>(); List <List <Vector3> > unusedLines = new List <List <Vector3> >(); int byteNum = Marshal.SizeOf(typeof(Pvr_SafeAreaAlgoAPI.GSALine)); int byteNum2 = Marshal.SizeOf(typeof(Pvr_SafeAreaAlgoAPI.GSAPoint3i)); // boundary Pvr_SafeAreaAlgoAPI.GSALineCollection collection = Pvr_BoundaryAPI.IntPtrToStruct <Pvr_SafeAreaAlgoAPI.GSALineCollection>(lineCollectionPtr); IntPtr ptr; for (int i = 0; i < collection.lineCount; i++) { ptr = new IntPtr(collection.lineArray.ToInt64() + (byteNum * i)); Pvr_SafeAreaAlgoAPI.GSALine line = (Pvr_SafeAreaAlgoAPI.GSALine)Marshal.PtrToStructure(ptr, typeof(Pvr_SafeAreaAlgoAPI.GSALine)); List <Vector3> newLine = new List <Vector3>(); for (int j = 0; j < line.pointCount; j++) { IntPtr tptr = new IntPtr(line.pointArray.ToInt64() + (byteNum2 * j)); Pvr_SafeAreaAlgoAPI.GSAPoint3i point = (Pvr_SafeAreaAlgoAPI.GSAPoint3i)Marshal.PtrToStructure(tptr, typeof(Pvr_SafeAreaAlgoAPI.GSAPoint3i)); newLine.Add(new Vector3(point.x / 1000f, point.y / 1000f, point.z / 1000f)); } if (i == 0) // first line for colsed boundary { boundaryPoints = newLine; } else { unusedLines.Add(newLine); } } // rect Pvr_SafeAreaAlgoAPI.GSARect algoResult = Pvr_BoundaryAPI.IntPtrToStruct <Pvr_SafeAreaAlgoAPI.GSARect>(safeAreaRectPtr); BoundaryPlayerArea playAreaInfo = new BoundaryPlayerArea(); playAreaInfo.lowerleft = new Vector3(algoResult.leftup.x / 1000f, algoResult.leftup.y / 1000f, algoResult.leftup.z / 1000f); playAreaInfo.upperleft = new Vector3(algoResult.leftdown.x / 1000f, algoResult.leftdown.y / 1000f, algoResult.leftdown.z / 1000f); playAreaInfo.upperRight = new Vector3(algoResult.rightdown.x / 1000f, algoResult.rightdown.y / 1000f, algoResult.rightdown.z / 1000f); playAreaInfo.lowerRight = new Vector3(algoResult.rightup.x / 1000f, algoResult.rightup.y / 1000f, algoResult.rightup.z / 1000f); playAreaInfo.center = new Vector3(algoResult.center.x / 1000f, algoResult.center.y / 1000f, algoResult.center.z / 1000f); playAreaInfo.width = algoResult.width; playAreaInfo.height = algoResult.height; playAreaInfo.isLegal = algoResult.isLegal == 0 ? false : true; // extra info playAreaInfo.extraInfo.overMaxRange = algoResult.legalData.overMaxRange == 0 ? false : true; playAreaInfo.extraInfo.includeBigGap = algoResult.legalData.includeBigGrap == 0 ? false : true; playAreaInfo.extraInfo.bigGapNum = algoResult.legalData.bigGapNum; playAreaInfo.extraInfo.centerOut = algoResult.legalData.centerOut == 0 ? false : true; playAreaInfo.extraInfo.removeNarrow = algoResult.legalData.removeNarrow == 0 ? false : true; playAreaInfo.extraInfo.overMaxRange_more = algoResult.legalData.overMaxRange_more == 0 ? false : true; playAreaInfo.extraInfo.validShrinkArea = algoResult.legalData.validShrinkArea; instance.boundarySystemCallback(playAreaInfo, boundaryPoints, unusedLines); } }