public SlamObservation(SlamObservation src)
{
Point = src.Point;
Orientation = src.Orientation;
Statistics = src.Statistics;
CovisibleInfos = src.CovisibleInfos;
}
public static void ParseActions(byte[] actions, int id, out SlamObservation observation)
{
int offset = 0;
var covisible = new List <SlamObservation.CovisibleInfo>();
observation = new SlamObservation(covisible)
{
Orientation = Quaternion.identity,
};
SlamPoint obsPoint = observation;
obsPoint.id = id;
obsPoint.color = Color.gray;
while (offset != actions.Length)
{
Debug.Assert(offset <= actions.Length, $"[SlamObservationPackageObject.ParseActions] offset ({offset}) out of range");
ActionType type = (ActionType)actions[offset++];
if (type == ActionType.Create)
{
obsPoint.isNew = true;
}
if (type == ActionType.Create || type == ActionType.Move)
{
obsPoint.position = BitConverterEx.ToVector3(actions, offset, ref offset);
observation.Orientation = BitConverterEx.ToQuaternion(actions, offset, ref offset);
}
if (type == ActionType.Tint)
{
obsPoint.color = BitConverterEx.ToRGBColor32(actions, offset, ref offset);
}
if (type == ActionType.Remove)
{
obsPoint.color = Color.red;
obsPoint.isRemoved = true;
}
if (type == ActionType.Connect)
{
covisible.Add(
new SlamObservation.CovisibleInfo()
{
id = BitConverterEx.ToInt32(actions, offset, ref offset),
sharedPointsCount = BitConverterEx.ToInt32(actions, offset, ref offset)
});
}
if (type == ActionType.Message)
{
int countOfMsgBytes = BitConverterEx.ToInt32(actions, offset, ref offset);
if (countOfMsgBytes >= MAX_MESSAGE_LENGTH_IN_BYTES)
{
throw new Exception();
}
obsPoint.message = countOfMsgBytes > 0 ? Encoding.ASCII.GetString(actions, offset, countOfMsgBytes) : "";
offset += sizeof(byte) * MAX_MESSAGE_LENGTH_IN_BYTES;
}
}
observation.Point = obsPoint;
}