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// Copyright (c) Microsoft Corporation. All rights reserved.
// Licensed under the MIT License. See LICENSE in the project root for license information.
using UnityEngine;
using System.Collections;
using HoloToolkit.Unity;
using System.Collections.Generic;
using System.Runtime.InteropServices;
using System;
namespace HoloToolkit.Examples.SpatialUnderstandingFeatureOverview
{
public class LevelSolver : LineDrawer
{
// Singleton
public static LevelSolver Instance;
// Enums
public enum QueryStates
{
None,
Processing,
Finished
}
// Structs
private struct QueryStatus
{
public void Reset()
{
State = QueryStates.None;
Name = "";
CountFail = 0;
CountSuccess = 0;
QueryResult = new List<SpatialUnderstandingDllObjectPlacement.ObjectPlacementResult>();
}
public QueryStates State;
public string Name;
public int CountFail;
public int CountSuccess;
public List<SpatialUnderstandingDllObjectPlacement.ObjectPlacementResult> QueryResult;
}
private struct PlacementQuery
{
public PlacementQuery(
SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition placementDefinition,
List<SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule> placementRules = null,
List<SpatialUnderstandingDllObjectPlacement.ObjectPlacementConstraint> placementConstraints = null)
{
PlacementDefinition = placementDefinition;
PlacementRules = placementRules;
PlacementConstraints = placementConstraints;
}
public SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition PlacementDefinition;
public List<SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule> PlacementRules;
public List<SpatialUnderstandingDllObjectPlacement.ObjectPlacementConstraint> PlacementConstraints;
}
private class PlacementResult
{
public PlacementResult(float timeDelay, SpatialUnderstandingDllObjectPlacement.ObjectPlacementResult result)
{
Box = new AnimatedBox(timeDelay, result.Position, Quaternion.LookRotation(result.Forward, result.Up), Color.blue, result.HalfDims);
Result = result;
}
public LineDrawer.AnimatedBox Box;
public SpatialUnderstandingDllObjectPlacement.ObjectPlacementResult Result;
}
// Properties
public bool IsSolverInitialized { get; private set; }
// Privates
private List<PlacementResult> placementResults = new List<PlacementResult>();
private QueryStatus queryStatus = new QueryStatus();
// Functions
private void Awake()
{
Instance = this;
}
public void ClearGeometry(bool clearAll = true)
{
placementResults.Clear();
if (SpatialUnderstanding.Instance.AllowSpatialUnderstanding)
{
SpatialUnderstandingDllObjectPlacement.Solver_RemoveAllObjects();
}
AppState.Instance.ObjectPlacementDescription = "";
if (clearAll && (SpaceVisualizer.Instance != null))
{
SpaceVisualizer.Instance.ClearGeometry(false);
}
}
private bool Draw_PlacementResults()
{
bool needsUpdate = false;
for (int i = 0; i < placementResults.Count; ++i)
{
needsUpdate |= Draw_AnimatedBox(placementResults[i].Box);
}
return needsUpdate;
}
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 PlaceObjectAsync(
string placementName,
List<PlacementQuery> placementList,
bool clearObjectsFirst = true)
{
// If we already mid-query, reject the request
if (queryStatus.State != QueryStates.None)
{
return false;
}
// Clear geo
if (clearObjectsFirst)
{
ClearGeometry();
}
// Mark it
queryStatus.Reset();
queryStatus.State = QueryStates.Processing;
queryStatus.Name = placementName;
// Tell user we are processing
AppState.Instance.ObjectPlacementDescription = placementName + " (processing)";
// Kick off a thread to do process the queries
#if UNITY_EDITOR || !UNITY_WSA
new System.Threading.Thread
#else
System.Threading.Tasks.Task.Run
#endif
(() =>
{
// Go through the queries in the list
for (int i = 0; i < placementList.Count; ++i)
{
// Do the query
bool success = PlaceObject(
placementName,
placementList[i].PlacementDefinition,
placementList[i].PlacementRules,
placementList[i].PlacementConstraints,
clearObjectsFirst,
true);
// Mark the result
queryStatus.CountSuccess = success ? (queryStatus.CountSuccess + 1) : queryStatus.CountSuccess;
queryStatus.CountFail = !success ? (queryStatus.CountFail + 1) : queryStatus.CountFail;
}
// Done
queryStatus.State = QueryStates.Finished;
}
)
#if UNITY_EDITOR || !UNITY_WSA
.Start()
#endif
;
return true;
}
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 void ProcessPlacementResults()
{
// Check it
if (queryStatus.State != QueryStates.Finished)
{
return;
}
if (!SpatialUnderstanding.Instance.AllowSpatialUnderstanding)
{
return;
}
// Clear results
ClearGeometry();
// We will reject any above or below the ceiling/floor
SpatialUnderstandingDll.Imports.QueryPlayspaceAlignment(SpatialUnderstanding.Instance.UnderstandingDLL.GetStaticPlayspaceAlignmentPtr());
SpatialUnderstandingDll.Imports.PlayspaceAlignment alignment = SpatialUnderstanding.Instance.UnderstandingDLL.GetStaticPlayspaceAlignment();
// Copy over the results
for (int i = 0; i < queryStatus.QueryResult.Count; ++i)
{
if ((queryStatus.QueryResult[i].Position.y < alignment.CeilingYValue) &&
(queryStatus.QueryResult[i].Position.y > alignment.FloorYValue))
{
float timeDelay = (float)placementResults.Count * AnimatedBox.DelayPerItem;
placementResults.Add(new PlacementResult(timeDelay, queryStatus.QueryResult[i].Clone() as SpatialUnderstandingDllObjectPlacement.ObjectPlacementResult));
}
}
// Text
AppState.Instance.ObjectPlacementDescription = queryStatus.Name + " (" + placementResults.Count + "/" + (queryStatus.CountSuccess + queryStatus.CountFail) + ")";
// Mark done
queryStatus.Reset();
}
public void Query_OnFloor()
{
List<PlacementQuery> placementQuery = new List<PlacementQuery>();
for (int i = 0; i < 4; ++i)
{
float halfDimSize = UnityEngine.Random.Range(0.15f, 0.35f);
placementQuery.Add(
new PlacementQuery(SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition.Create_OnFloor(new Vector3(halfDimSize, halfDimSize, halfDimSize * 2.0f)),
new List<SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule>() {
SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule.Create_AwayFromOtherObjects(halfDimSize * 3.0f),
}));
}
PlaceObjectAsync("OnFloor", placementQuery);
}
public void Query_OnWall()
{
List<PlacementQuery> placementQuery = new List<PlacementQuery>();
for (int i = 0; i < 6; ++i)
{
float halfDimSize = UnityEngine.Random.Range(0.3f, 0.6f);
placementQuery.Add(
new PlacementQuery(SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition.Create_OnWall(new Vector3(halfDimSize, halfDimSize * 0.5f, 0.05f), 0.5f, 3.0f),
new List<SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule>() {
SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule.Create_AwayFromOtherObjects(halfDimSize * 4.0f),
}));
}
PlaceObjectAsync("OnWall", placementQuery);
}
public void Query_OnCeiling()
{
List<PlacementQuery> placementQuery = new List<PlacementQuery>();
for (int i = 0; i < 2; ++i)
{
float halfDimSize = UnityEngine.Random.Range(0.3f, 0.4f);
placementQuery.Add(
new PlacementQuery(SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition.Create_OnCeiling(new Vector3(halfDimSize, halfDimSize, halfDimSize)),
new List<SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule>() {
SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule.Create_AwayFromOtherObjects(halfDimSize * 3.0f),
}));
}
PlaceObjectAsync("OnCeiling", placementQuery);
}
public void Query_OnEdge()
{
List<PlacementQuery> placementQuery = new List<PlacementQuery>();
for (int i = 0; i < 8; ++i)
{
float halfDimSize = UnityEngine.Random.Range(0.05f, 0.1f);
placementQuery.Add(
new PlacementQuery(SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition.Create_OnEdge(new Vector3(halfDimSize, halfDimSize, halfDimSize),
new Vector3(halfDimSize, halfDimSize, halfDimSize)),
new List<SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule>() {
SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule.Create_AwayFromOtherObjects(halfDimSize * 3.0f),
}));
}
PlaceObjectAsync("OnEdge", placementQuery);
}
public void Query_OnFloorAndCeiling()
{
SpatialUnderstandingDll.Imports.QueryPlayspaceAlignment(SpatialUnderstanding.Instance.UnderstandingDLL.GetStaticPlayspaceAlignmentPtr());
SpatialUnderstandingDll.Imports.PlayspaceAlignment alignment = SpatialUnderstanding.Instance.UnderstandingDLL.GetStaticPlayspaceAlignment();
List<PlacementQuery> placementQuery = new List<PlacementQuery>();
for (int i = 0; i < 4; ++i)
{
float halfDimSize = UnityEngine.Random.Range(0.1f, 0.2f);
placementQuery.Add(
new PlacementQuery(SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition.Create_OnFloorAndCeiling(new Vector3(halfDimSize, (alignment.CeilingYValue - alignment.FloorYValue) * 0.5f, halfDimSize),
new Vector3(halfDimSize, (alignment.CeilingYValue - alignment.FloorYValue) * 0.5f, halfDimSize)),
new List<SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule>() {
SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule.Create_AwayFromOtherObjects(halfDimSize * 3.0f),
}));
}
PlaceObjectAsync("OnFloorAndCeiling", placementQuery);
}
public void Query_RandomInAir_AwayFromMe()
{
List<PlacementQuery> placementQuery = new List<PlacementQuery>();
for (int i = 0; i < 8; ++i)
{
float halfDimSize = UnityEngine.Random.Range(0.1f, 0.2f);
placementQuery.Add(
new PlacementQuery(SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition.Create_RandomInAir(new Vector3(halfDimSize, halfDimSize, halfDimSize)),
new List<SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule>() {
SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule.Create_AwayFromOtherObjects(halfDimSize * 3.0f),
SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule.Create_AwayFromPosition(CameraCache.Main.transform.position, 2.5f),
}));
}
PlaceObjectAsync("RandomInAir - AwayFromMe", placementQuery);
}
public void Query_OnEdge_NearCenter()
{
List<PlacementQuery> placementQuery = new List<PlacementQuery>();
for (int i = 0; i < 4; ++i)
{
float halfDimSize = UnityEngine.Random.Range(0.05f, 0.1f);
placementQuery.Add(
new PlacementQuery(SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition.Create_OnEdge(new Vector3(halfDimSize, halfDimSize, halfDimSize), new Vector3(halfDimSize, halfDimSize, halfDimSize)),
new List<SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule>() {
SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule.Create_AwayFromOtherObjects(halfDimSize * 2.0f),
},
new List<SpatialUnderstandingDllObjectPlacement.ObjectPlacementConstraint>() {
SpatialUnderstandingDllObjectPlacement.ObjectPlacementConstraint.Create_NearCenter(),
}));
}
PlaceObjectAsync("OnEdge - NearCenter", placementQuery);
}
public void Query_OnFloor_AwayFromMe()
{
List<PlacementQuery> placementQuery = new List<PlacementQuery>();
for (int i = 0; i < 4; ++i)
{
float halfDimSize = UnityEngine.Random.Range(0.05f, 0.15f);
placementQuery.Add(
new PlacementQuery(SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition.Create_OnFloor(new Vector3(halfDimSize, halfDimSize, halfDimSize)),
new List<SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule>() {
SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule.Create_AwayFromPosition(CameraCache.Main.transform.position, 2.0f),
SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule.Create_AwayFromOtherObjects(halfDimSize * 3.0f),
}));
}
PlaceObjectAsync("OnFloor - AwayFromMe", placementQuery);
}
public void Query_OnFloor_NearMe()
{
List<PlacementQuery> placementQuery = new List<PlacementQuery>();
for (int i = 0; i < 4; ++i)
{
float halfDimSize = UnityEngine.Random.Range(0.05f, 0.2f);
placementQuery.Add(
new PlacementQuery(SpatialUnderstandingDllObjectPlacement.ObjectPlacementDefinition.Create_OnFloor(new Vector3(halfDimSize, halfDimSize, halfDimSize)),
new List<SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule>() {
SpatialUnderstandingDllObjectPlacement.ObjectPlacementRule.Create_AwayFromOtherObjects(halfDimSize * 3.0f),
},
new List<SpatialUnderstandingDllObjectPlacement.ObjectPlacementConstraint>() {
SpatialUnderstandingDllObjectPlacement.ObjectPlacementConstraint.Create_NearPoint(CameraCache.Main.transform.position, 0.5f, 2.0f)
}));
}
PlaceObjectAsync("OnFloor - NearMe", placementQuery);
}
private void Update_Queries()
{
if (Input.GetKeyDown(KeyCode.R))
{
Query_OnFloor();
}
if (Input.GetKeyDown(KeyCode.T))
{
Query_OnWall();
}
if (Input.GetKeyDown(KeyCode.Y))
{
Query_OnCeiling();
}
if (Input.GetKeyDown(KeyCode.U))
{
Query_OnEdge();
}
if (Input.GetKeyDown(KeyCode.I))
{
Query_OnFloorAndCeiling();
}
if (Input.GetKeyDown(KeyCode.O))
{
Query_RandomInAir_AwayFromMe();
}
if (Input.GetKeyDown(KeyCode.P))
{
Query_OnEdge_NearCenter();
}
if (Input.GetKeyDown(KeyCode.LeftBracket))
{
Query_OnFloor_AwayFromMe();
}
if (Input.GetKeyDown(KeyCode.RightBracket))
{
Query_OnFloor_NearMe();
}
}
public bool InitializeSolver()
{
if (IsSolverInitialized ||
!SpatialUnderstanding.Instance.AllowSpatialUnderstanding)
{
return IsSolverInitialized;
}
if (SpatialUnderstandingDllObjectPlacement.Solver_Init() == 1)
{
IsSolverInitialized = true;
}
return IsSolverInitialized;
}
private void Update()
{
// Can't do any of this till we're done with the scanning phase
if (SpatialUnderstanding.Instance.ScanState != SpatialUnderstanding.ScanStates.Done)
{
return;
}
// Make sure the solver has been initialized
if (!IsSolverInitialized &&
SpatialUnderstanding.Instance.AllowSpatialUnderstanding)
{
InitializeSolver();
}
// Constraint queries
if (SpatialUnderstanding.Instance.ScanState == SpatialUnderstanding.ScanStates.Done)
{
Update_Queries();
}
// Handle async query results
ProcessPlacementResults();
// Lines: Begin
LineDraw_Begin();
// Drawers
bool needsUpdate = false;
needsUpdate |= Draw_PlacementResults();
// Lines: Finish up
LineDraw_End(needsUpdate);
}
}
}