/**
* #Companion: Clean up unnecessary meshes and components.
*/
public void Cleanup()
{
// Clear ShapeDetection
if (CompanionMR.ShapeDetection.Instance != null)
{
CompanionMR.ShapeDetection.Instance.ClearGeometry();
}
if (CompanionMR.ShapeDefinition.IsInitialized)
{
CompanionMR.ShapeDefinition.Instance.Clear();
}
// Clear PlacementSolver
SpatialUnderstandingDllObjectPlacement.Solver_RemoveAllObjects();
if (CompanionMR.PlacementSolver.Instance != null)
{
CompanionMR.PlacementSolver.Instance.Clear();
}
// Clear Meshes
if (SpatialMappingManager.IsInitialized)
{
SpatialMappingManager.Instance.CleanupObserver();
}
this.UnderstandingSourceMesh.Cleanup(); // cleanup mapping mesh copies
this.UnderstandingDLL.UnpinAllObjects(); // cleanup intern meshes
this.UnderstandingCustomMesh.Cleanup(); // cleanup understanding meshes
// Clear DLL
SpatialUnderstandingDll.Imports.SpatialUnderstanding_Term();
SpatialUnderstandingDll.Imports.SpatialUnderstanding_Init();
// Reset SpatialUnderstanding
this.ScanState = ScanStates.None;
}
/**
* Remove all placement results.
*
* @param removeAllObjects indicates whether all instantiated placement results should also be removed
*/
public void ClearGeometry(bool removeAllObjects = false)
{
this.placementResults.Clear();
if (removeAllObjects && SpatialUnderstanding.IsInitialized && SpatialUnderstanding.Instance.AllowSpatialUnderstanding)
{
SUDLLOP.Solver_RemoveAllObjects();
}
}
