From eb179e9264f6677f106d7fc31f62aa2bb98e2cd8 Mon Sep 17 00:00:00 2001 From: Jason Guo Date: Fri, 19 Jun 2015 11:37:59 -0700 Subject: [PATCH 1/2] release-quine --- AreaLearningUnity/Assets/Editor.meta | 2 +- .../Assets/Editor/TangoInspector.cs | 3 + AreaLearningUnity/Assets/Google-Unity.meta | 2 +- .../Assets/Google-Unity/Sample.meta | 2 +- .../Assets/Google-Unity/Scripts.meta | 2 +- AreaLearningUnity/Assets/Plugins.meta | 2 +- AreaLearningUnity/Assets/Plugins/Android.meta | 2 +- .../Plugins/Android/AndroidManifest.xml.meta | 2 +- .../Plugins/Android/google-unity-wrapper.meta | 2 +- .../AndroidManifest.xml.meta | 2 +- .../Android/google-unity-wrapper/bin.meta | 2 +- .../bin/AndroidManifest.xml.meta | 2 +- .../google-unity-wrapper/bin/classes.meta | 2 +- .../google-unity-wrapper/bin/classes/com.meta | 2 +- .../bin/classes/com/google.meta | 2 +- .../bin/classes/com/google/unity.meta | 2 +- .../com/google/unity/BuildConfig.class.meta | 2 +- .../unity/GoogleUnityActivity$1.class.meta | 2 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PointCloudUnity/Assets/TangoSDK/Core.meta | 4 +- .../Assets/TangoSDK/Core/Prefabs.meta | 4 +- .../Assets/TangoSDK/Core/Scripts.meta | 4 +- .../Assets/TangoSDK/Core/Scripts/Common.meta | 4 +- .../TangoSDK/Core/Scripts/Interfaces.meta | 4 +- .../TangoSDK/Core/Scripts/Listeners.meta | 4 +- .../TangoSDK/Core/Scripts/TangoWrappers.meta | 4 +- .../Scripts/TangoWrappers/TangoApplication.cs | 4 +- .../Core/Scripts/TangoWrappers/TangoConfig.cs | 1 + .../Assets/TangoSDK/Core/Tango.dat | 2 +- .../Assets/TangoSDK/Core/Tango.dat.meta | 2 +- .../ProjectSettings/ProjectSettings.asset | Bin 34636 -> 34636 bytes 2145 files changed, 15015 insertions(+), 4888 deletions(-) delete mode 100644 ExperimentalProjects/AugmentedRealityUnity/Assets/Scripts/PoseController.cs create mode 100644 ExperimentalProjects/MeshBuilder/Assets/Materials/GridCross.mat create mode 100644 ExperimentalProjects/MeshBuilder/Assets/Materials/GridCross.mat.meta create mode 100644 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ExperimentalProjects/VirtualReality/Assets/Scenes/TangoVR.unity create mode 100644 ExperimentalProjects/VirtualReality/Assets/Scenes/TangoVR.unity.meta create mode 100644 ExperimentalProjects/VirtualReality/Assets/Scripts.meta create mode 100644 ExperimentalProjects/VirtualReality/Assets/Scripts/CreateHeadsetGeometery.cs create mode 100644 ExperimentalProjects/VirtualReality/Assets/Scripts/CreateHeadsetGeometery.cs.meta create mode 100644 ExperimentalProjects/VirtualReality/Assets/Scripts/CubeGenerator.cs create mode 100644 ExperimentalProjects/VirtualReality/Assets/Scripts/CubeGenerator.cs.meta create mode 100644 ExperimentalProjects/VirtualReality/Assets/Scripts/CustomTangoController.cs create mode 100644 ExperimentalProjects/VirtualReality/Assets/Scripts/CustomTangoController.cs.meta create mode 100644 ExperimentalProjects/VirtualReality/Assets/Scripts/LineChart.cs create mode 100644 ExperimentalProjects/VirtualReality/Assets/Scripts/LineChart.cs.meta create mode 100644 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create mode 100755 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/Common.cs create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/Common.cs.meta create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/EventController.cs create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/EventController.cs.meta create mode 100755 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/OrientationManager.cs create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/OrientationManager.cs.meta create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/TangoAndroidHelper.cs create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/TangoAndroidHelper.cs.meta create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/TangoEnums.cs create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/TangoEnums.cs.meta create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/TangoTypes.cs create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/TangoTypes.cs.meta create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Interfaces.meta create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Interfaces/IExperimentalTangoVideoOverlay.cs create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Interfaces/IExperimentalTangoVideoOverlay.cs.meta create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoDepth.cs create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoDepth.cs.meta create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoPose.cs create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoPose.cs.meta create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoUX.cs create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoUX.cs.meta create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoVideoOverlay.cs create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoVideoOverlay.cs.meta create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Listeners.meta create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Listeners/DepthListener.cs create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Listeners/DepthListener.cs.meta create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Listeners/PoseListener.cs create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Listeners/PoseListener.cs.meta create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Listeners/TangoEventListener.cs create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Listeners/TangoEventListener.cs.meta create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Listeners/UxExceptionListener.cs create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Listeners/UxExceptionListener.cs.meta create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Listeners/VideoOverlayListener.cs create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Listeners/VideoOverlayListener.cs.meta create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers.meta create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/DepthProvider.cs create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/DepthProvider.cs.meta create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/PoseProvider.cs create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/PoseProvider.cs.meta create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoApplication.cs create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoApplication.cs.meta create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoConfig.cs create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoConfig.cs.meta create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoEvents.cs create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoEvents.cs.meta create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/VideoOverlayProvider.cs create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/VideoOverlayProvider.cs.meta create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Tango.dat create mode 100644 ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Tango.dat.meta create mode 100644 ExperimentalProjects/VirtualReality/Assets/Textures.meta create mode 100644 ExperimentalProjects/VirtualReality/Assets/Textures/grid.png create mode 100644 ExperimentalProjects/VirtualReality/Assets/Textures/grid.png.meta create mode 100644 ExperimentalProjects/VirtualReality/Assets/Textures/hold_still.png create mode 100644 ExperimentalProjects/VirtualReality/Assets/Textures/hold_still.png.meta create mode 100644 ExperimentalProjects/VirtualReality/Assets/Textures/icon.png create mode 100644 ExperimentalProjects/VirtualReality/Assets/Textures/icon.png.meta create mode 100644 ExperimentalProjects/VirtualReality/Assets/Textures/tango_service_trouble.png create mode 100644 ExperimentalProjects/VirtualReality/Assets/Textures/tango_service_trouble.png.meta create mode 100644 ExperimentalProjects/VirtualReality/ProjectSettings/AudioManager.asset create mode 100644 ExperimentalProjects/VirtualReality/ProjectSettings/DynamicsManager.asset create mode 100644 ExperimentalProjects/VirtualReality/ProjectSettings/EditorBuildSettings.asset create mode 100644 ExperimentalProjects/VirtualReality/ProjectSettings/EditorSettings.asset create mode 100644 ExperimentalProjects/VirtualReality/ProjectSettings/GraphicsSettings.asset create mode 100644 ExperimentalProjects/VirtualReality/ProjectSettings/InputManager.asset create mode 100644 ExperimentalProjects/VirtualReality/ProjectSettings/NavMeshAreas.asset create mode 100644 ExperimentalProjects/VirtualReality/ProjectSettings/NetworkManager.asset create mode 100644 ExperimentalProjects/VirtualReality/ProjectSettings/Physics2DSettings.asset create mode 100644 ExperimentalProjects/VirtualReality/ProjectSettings/ProjectSettings.asset create mode 100644 ExperimentalProjects/VirtualReality/ProjectSettings/ProjectVersion.txt create mode 100644 ExperimentalProjects/VirtualReality/ProjectSettings/QualitySettings.asset create mode 100644 ExperimentalProjects/VirtualReality/ProjectSettings/TagManager.asset create mode 100644 ExperimentalProjects/VirtualReality/ProjectSettings/TimeManager.asset diff --git a/AreaLearningUnity/Assets/Editor.meta b/AreaLearningUnity/Assets/Editor.meta index e135413e..d7421e55 100644 --- a/AreaLearningUnity/Assets/Editor.meta +++ b/AreaLearningUnity/Assets/Editor.meta @@ -1,7 +1,7 @@ fileFormatVersion: 2 guid: e059c130a747cd54c9485e019f799850 folderAsset: yes -timeCreated: 1433548041 +timeCreated: 1434563687 licenseType: Free DefaultImporter: userData: diff --git a/AreaLearningUnity/Assets/Editor/TangoInspector.cs b/AreaLearningUnity/Assets/Editor/TangoInspector.cs index 7c7c1e0f..66194cd3 100644 --- a/AreaLearningUnity/Assets/Editor/TangoInspector.cs +++ b/AreaLearningUnity/Assets/Editor/TangoInspector.cs @@ -60,6 +60,9 @@ private void _DrawMotionTrackingOptions(TangoApplication tangoApplication) EditorGUI.indentLevel++; tangoApplication.m_motionTrackingAutoReset = EditorGUILayout.Toggle("Auto Reset", tangoApplication.m_motionTrackingAutoReset); + + tangoApplication.m_useLowLatencyIMUIntegration = EditorGUILayout.Toggle("Low Latency Pose", + tangoApplication.m_useLowLatencyIMUIntegration); tangoApplication.m_enableAreaLearning = EditorGUILayout.Toggle("Area Learning", tangoApplication.m_enableAreaLearning); diff --git a/AreaLearningUnity/Assets/Google-Unity.meta b/AreaLearningUnity/Assets/Google-Unity.meta index d1fed12c..a3d682e0 100644 --- a/AreaLearningUnity/Assets/Google-Unity.meta +++ b/AreaLearningUnity/Assets/Google-Unity.meta @@ -1,7 +1,7 @@ fileFormatVersion: 2 guid: 555248d8e830e425b89d0506c0bc5b16 folderAsset: yes -timeCreated: 1433548041 +timeCreated: 1434563687 licenseType: Free DefaultImporter: userData: diff --git a/AreaLearningUnity/Assets/Google-Unity/Sample.meta b/AreaLearningUnity/Assets/Google-Unity/Sample.meta index 79fce860..ba9fdf4d 100644 --- a/AreaLearningUnity/Assets/Google-Unity/Sample.meta +++ b/AreaLearningUnity/Assets/Google-Unity/Sample.meta @@ -1,7 +1,7 @@ fileFormatVersion: 2 guid: 73a4a6d02bd9b45b9934c1414443c9d0 folderAsset: yes -timeCreated: 1433548041 +timeCreated: 1434563687 licenseType: Free DefaultImporter: userData: diff --git a/AreaLearningUnity/Assets/Google-Unity/Scripts.meta b/AreaLearningUnity/Assets/Google-Unity/Scripts.meta index d6bc72e5..6aaa4849 100644 --- a/AreaLearningUnity/Assets/Google-Unity/Scripts.meta +++ b/AreaLearningUnity/Assets/Google-Unity/Scripts.meta @@ -1,7 +1,7 @@ fileFormatVersion: 2 guid: ec3f31cb3fcac424ea1629761b78f663 folderAsset: yes -timeCreated: 1433548041 +timeCreated: 1434563687 licenseType: Free DefaultImporter: userData: diff --git a/AreaLearningUnity/Assets/Plugins.meta b/AreaLearningUnity/Assets/Plugins.meta index 343ea4e7..dd0c264a 100644 --- a/AreaLearningUnity/Assets/Plugins.meta +++ b/AreaLearningUnity/Assets/Plugins.meta @@ -1,7 +1,7 @@ fileFormatVersion: 2 guid: 5da679a4b9bf5420297abeb957a6c987 folderAsset: yes -timeCreated: 1433548041 +timeCreated: 1434563687 licenseType: Free DefaultImporter: userData: diff --git a/AreaLearningUnity/Assets/Plugins/Android.meta b/AreaLearningUnity/Assets/Plugins/Android.meta index deec1e79..8c132562 100644 --- a/AreaLearningUnity/Assets/Plugins/Android.meta +++ b/AreaLearningUnity/Assets/Plugins/Android.meta @@ -1,7 +1,7 @@ fileFormatVersion: 2 guid: 1771febdbd7034e6a8db81c274b8b470 folderAsset: yes -timeCreated: 1433548041 +timeCreated: 1434563687 licenseType: Free DefaultImporter: userData: diff --git a/AreaLearningUnity/Assets/Plugins/Android/AndroidManifest.xml.meta b/AreaLearningUnity/Assets/Plugins/Android/AndroidManifest.xml.meta index 5f31e01c..e2cb563e 100644 --- a/AreaLearningUnity/Assets/Plugins/Android/AndroidManifest.xml.meta +++ b/AreaLearningUnity/Assets/Plugins/Android/AndroidManifest.xml.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 7b801e1215cd74d2bb68201405e4a44c +guid: c28524e2338b34084b3c66dc6336a2b2 TextScriptImporter: userData: assetBundleName: diff --git a/AreaLearningUnity/Assets/Plugins/Android/google-unity-wrapper.meta b/AreaLearningUnity/Assets/Plugins/Android/google-unity-wrapper.meta index a5c148f2..4b0805e8 100644 --- a/AreaLearningUnity/Assets/Plugins/Android/google-unity-wrapper.meta +++ b/AreaLearningUnity/Assets/Plugins/Android/google-unity-wrapper.meta @@ -1,7 +1,7 @@ fileFormatVersion: 2 guid: 9cc69a99be59f444c828de9c33f550d0 folderAsset: yes -timeCreated: 1433548041 +timeCreated: 1434563687 licenseType: Free PluginImporter: serializedVersion: 1 diff --git a/AreaLearningUnity/Assets/Plugins/Android/google-unity-wrapper/AndroidManifest.xml.meta b/AreaLearningUnity/Assets/Plugins/Android/google-unity-wrapper/AndroidManifest.xml.meta index 065dcc31..07db78d5 100644 --- a/AreaLearningUnity/Assets/Plugins/Android/google-unity-wrapper/AndroidManifest.xml.meta +++ b/AreaLearningUnity/Assets/Plugins/Android/google-unity-wrapper/AndroidManifest.xml.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 145c09836e1e94c9aa432d2ddebb024b +guid: c55ea8b7ce14645ccbf445ab45137861 DefaultImporter: userData: assetBundleName: diff --git a/AreaLearningUnity/Assets/Plugins/Android/google-unity-wrapper/bin.meta b/AreaLearningUnity/Assets/Plugins/Android/google-unity-wrapper/bin.meta index 448047bc..e17ff179 100644 --- a/AreaLearningUnity/Assets/Plugins/Android/google-unity-wrapper/bin.meta +++ b/AreaLearningUnity/Assets/Plugins/Android/google-unity-wrapper/bin.meta @@ -1,7 +1,7 @@ fileFormatVersion: 2 guid: 82e9828a3b16447768339ef7f7b16f84 folderAsset: yes -timeCreated: 1433548041 +timeCreated: 1434563687 licenseType: Free DefaultImporter: userData: diff --git a/AreaLearningUnity/Assets/Plugins/Android/google-unity-wrapper/bin/AndroidManifest.xml.meta b/AreaLearningUnity/Assets/Plugins/Android/google-unity-wrapper/bin/AndroidManifest.xml.meta index 36209a3a..85d3be0c 100644 --- a/AreaLearningUnity/Assets/Plugins/Android/google-unity-wrapper/bin/AndroidManifest.xml.meta +++ b/AreaLearningUnity/Assets/Plugins/Android/google-unity-wrapper/bin/AndroidManifest.xml.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 370ec2e3efc8b417a89e8a025a8ce4c9 +guid: 52f44dda5a0bd4d9ab5bcb963b1e6812 DefaultImporter: userData: assetBundleName: diff --git a/AreaLearningUnity/Assets/Plugins/Android/google-unity-wrapper/bin/classes.meta b/AreaLearningUnity/Assets/Plugins/Android/google-unity-wrapper/bin/classes.meta index c67cb586..9bf27049 100644 --- a/AreaLearningUnity/Assets/Plugins/Android/google-unity-wrapper/bin/classes.meta +++ b/AreaLearningUnity/Assets/Plugins/Android/google-unity-wrapper/bin/classes.meta @@ -1,7 +1,7 @@ fileFormatVersion: 2 guid: 454c743945f934a0ab9888c983bb13a5 folderAsset: yes -timeCreated: 1433548041 +timeCreated: 1434563687 licenseType: Free DefaultImporter: userData: diff --git a/AreaLearningUnity/Assets/Plugins/Android/google-unity-wrapper/bin/classes/com.meta b/AreaLearningUnity/Assets/Plugins/Android/google-unity-wrapper/bin/classes/com.meta index 3d11cfc3..34b98c94 100644 --- a/AreaLearningUnity/Assets/Plugins/Android/google-unity-wrapper/bin/classes/com.meta +++ b/AreaLearningUnity/Assets/Plugins/Android/google-unity-wrapper/bin/classes/com.meta @@ -1,7 +1,7 @@ fileFormatVersion: 2 guid: ea2c7df88ccd945f4bbacfc4f12a5d11 folderAsset: yes -timeCreated: 1433548041 +timeCreated: 1434563687 licenseType: Free DefaultImporter: userData: diff --git a/AreaLearningUnity/Assets/Plugins/Android/google-unity-wrapper/bin/classes/com/google.meta b/AreaLearningUnity/Assets/Plugins/Android/google-unity-wrapper/bin/classes/com/google.meta index a8e85805..27159c83 100644 --- a/AreaLearningUnity/Assets/Plugins/Android/google-unity-wrapper/bin/classes/com/google.meta +++ b/AreaLearningUnity/Assets/Plugins/Android/google-unity-wrapper/bin/classes/com/google.meta @@ -1,7 +1,7 @@ fileFormatVersion: 2 guid: 428eb9ee5870d45608287202591e1a5c folderAsset: yes -timeCreated: 1433548041 +timeCreated: 1434563687 licenseType: Free DefaultImporter: userData: diff --git a/AreaLearningUnity/Assets/Plugins/Android/google-unity-wrapper/bin/classes/com/google/unity.meta b/AreaLearningUnity/Assets/Plugins/Android/google-unity-wrapper/bin/classes/com/google/unity.meta index 2fc13b51..2a9e8e30 100644 --- a/AreaLearningUnity/Assets/Plugins/Android/google-unity-wrapper/bin/classes/com/google/unity.meta +++ b/AreaLearningUnity/Assets/Plugins/Android/google-unity-wrapper/bin/classes/com/google/unity.meta @@ -1,7 +1,7 @@ fileFormatVersion: 2 guid: 90a02237508e0480fa303a251d339c5a folderAsset: yes -timeCreated: 1433548041 +timeCreated: 1434563687 licenseType: Free DefaultImporter: userData: diff --git a/AreaLearningUnity/Assets/Plugins/Android/google-unity-wrapper/bin/classes/com/google/unity/BuildConfig.class.meta b/AreaLearningUnity/Assets/Plugins/Android/google-unity-wrapper/bin/classes/com/google/unity/BuildConfig.class.meta index 06d9da9f..e3a2bf8e 100644 --- a/AreaLearningUnity/Assets/Plugins/Android/google-unity-wrapper/bin/classes/com/google/unity/BuildConfig.class.meta +++ b/AreaLearningUnity/Assets/Plugins/Android/google-unity-wrapper/bin/classes/com/google/unity/BuildConfig.class.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 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b/AreaLearningUnity/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_exception_i_am_dizzy.png.meta index 8e216a4c..8daa8aa7 100644 --- a/AreaLearningUnity/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_exception_i_am_dizzy.png.meta +++ b/AreaLearningUnity/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_exception_i_am_dizzy.png.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 7af12c077c9c84bb688bf56d694aa5b9 +guid: 9f4a32e3b45d84abbb339d5c6738acff DefaultImporter: userData: assetBundleName: diff --git a/AreaLearningUnity/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_exception_i_am_lost.png.meta b/AreaLearningUnity/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_exception_i_am_lost.png.meta index cbe976a6..00100bf5 100644 --- a/AreaLearningUnity/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_exception_i_am_lost.png.meta +++ b/AreaLearningUnity/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_exception_i_am_lost.png.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 8047ce9bd4cbb4a85ab05e3151b1d269 +guid: 610dc5d7bdcf041ccbfbd52a9142a71d DefaultImporter: userData: assetBundleName: diff --git a/AreaLearningUnity/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_exception_i_cant_see.png.meta b/AreaLearningUnity/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_exception_i_cant_see.png.meta index d9c54211..f0e414b1 100644 --- a/AreaLearningUnity/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_exception_i_cant_see.png.meta +++ b/AreaLearningUnity/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_exception_i_cant_see.png.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 95e90b016b24f4104921d9aed8260a85 +guid: 459a0b5e051f84274b2d221a7b17c945 DefaultImporter: userData: assetBundleName: diff --git a/AreaLearningUnity/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_exception_system.png.meta b/AreaLearningUnity/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_exception_system.png.meta index 7907b2af..f42ddc53 100644 --- a/AreaLearningUnity/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_exception_system.png.meta +++ b/AreaLearningUnity/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_exception_system.png.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: c4ce8f0f390b94e94a2a15775fb48583 +guid: a8015c85f8acf47d4a20b92e88b65e8a DefaultImporter: userData: assetBundleName: diff --git 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a/AreaLearningUnity/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_shake_err.png.meta +++ b/AreaLearningUnity/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_shake_err.png.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: fb90c7a45b43642c6b57ae250cda8d44 +guid: 78c09be38e2b64f5b8e242c8e01c098a DefaultImporter: userData: assetBundleName: diff --git a/AreaLearningUnity/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_shake_ok.png.meta b/AreaLearningUnity/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_shake_ok.png.meta index c3c03841..b398d3ca 100644 --- a/AreaLearningUnity/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_shake_ok.png.meta +++ b/AreaLearningUnity/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_shake_ok.png.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 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b/AreaLearningUnity/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/splash_logo.png.meta index 83bc96f3..63bf66e8 100644 --- a/AreaLearningUnity/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/splash_logo.png.meta +++ b/AreaLearningUnity/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/splash_logo.png.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 6c7d3bd6b6ece40148936eeecfe057b0 +guid: 6a138b9ddfed5441fb6b01c7cb73c3d8 DefaultImporter: userData: assetBundleName: diff --git a/AreaLearningUnity/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/splash_logo_experiments.png.meta b/AreaLearningUnity/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/splash_logo_experiments.png.meta index 2ba48fc0..f85f60a6 100644 --- a/AreaLearningUnity/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/splash_logo_experiments.png.meta +++ b/AreaLearningUnity/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/splash_logo_experiments.png.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 36ca211de69d94b0395b3c7038deb841 +guid: e824966c822ac43cd9452f10b2289646 DefaultImporter: userData: assetBundleName: diff --git a/AreaLearningUnity/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xxhdpi.meta b/AreaLearningUnity/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xxhdpi.meta index 9b19abd7..083da2fa 100644 --- a/AreaLearningUnity/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xxhdpi.meta +++ b/AreaLearningUnity/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xxhdpi.meta @@ -1,7 +1,7 @@ fileFormatVersion: 2 guid: 087c092f4e3104317aa3b89af5c69d9a folderAsset: yes -timeCreated: 1433548041 +timeCreated: 1434563687 licenseType: Free DefaultImporter: userData: diff --git 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b/AreaLearningUnity/Assets/Plugins/Android/tango-ux-support-library/res/values/strings.xml.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 5198aa5a96886423aa4b43cf676055aa +guid: c76d0908f781b430d94a8d312fd049d1 DefaultImporter: userData: assetBundleName: diff --git a/AreaLearningUnity/Assets/Plugins/Android/tango-ux-support-library/res/values/styles.xml.meta b/AreaLearningUnity/Assets/Plugins/Android/tango-ux-support-library/res/values/styles.xml.meta index dc183407..47b3018b 100644 --- a/AreaLearningUnity/Assets/Plugins/Android/tango-ux-support-library/res/values/styles.xml.meta +++ b/AreaLearningUnity/Assets/Plugins/Android/tango-ux-support-library/res/values/styles.xml.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 5785e3c4852bc460987042d17248da5d +guid: a8629ae0d41224db7bb4de41ac1d259c DefaultImporter: userData: assetBundleName: diff --git a/AreaLearningUnity/Assets/Scenes/Unity Area Learning.unity b/AreaLearningUnity/Assets/Scenes/Unity Area Learning.unity index 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a/AreaLearningUnity/Assets/TangoSDK/Core.meta b/AreaLearningUnity/Assets/TangoSDK/Core.meta index b82844d1..eaca5047 100644 --- a/AreaLearningUnity/Assets/TangoSDK/Core.meta +++ b/AreaLearningUnity/Assets/TangoSDK/Core.meta @@ -1,7 +1,7 @@ fileFormatVersion: 2 guid: b80c15ce37a1447f69e465cf133f71b6 folderAsset: yes -timeCreated: 1433548041 +timeCreated: 1434563687 licenseType: Free DefaultImporter: userData: diff --git a/AreaLearningUnity/Assets/TangoSDK/Core/Prefabs.meta b/AreaLearningUnity/Assets/TangoSDK/Core/Prefabs.meta index cd032f0a..7bcda6a2 100644 --- a/AreaLearningUnity/Assets/TangoSDK/Core/Prefabs.meta +++ b/AreaLearningUnity/Assets/TangoSDK/Core/Prefabs.meta @@ -1,7 +1,7 @@ fileFormatVersion: 2 guid: ceb5ea0e0a3d4435a8173d62c903e8b3 folderAsset: yes -timeCreated: 1433548041 +timeCreated: 1434563687 licenseType: Free DefaultImporter: userData: diff --git a/AreaLearningUnity/Assets/TangoSDK/Core/Scripts.meta b/AreaLearningUnity/Assets/TangoSDK/Core/Scripts.meta index 7c626a0c..1aaeb418 100644 --- a/AreaLearningUnity/Assets/TangoSDK/Core/Scripts.meta +++ b/AreaLearningUnity/Assets/TangoSDK/Core/Scripts.meta @@ -1,7 +1,7 @@ fileFormatVersion: 2 guid: 8e63f857443034fb6b291e8ff42a6c60 folderAsset: yes -timeCreated: 1433548041 +timeCreated: 1434563687 licenseType: Free DefaultImporter: userData: diff --git a/AreaLearningUnity/Assets/TangoSDK/Core/Scripts/Common.meta b/AreaLearningUnity/Assets/TangoSDK/Core/Scripts/Common.meta index 2cd291e5..1d880e5b 100644 --- a/AreaLearningUnity/Assets/TangoSDK/Core/Scripts/Common.meta +++ b/AreaLearningUnity/Assets/TangoSDK/Core/Scripts/Common.meta @@ -1,7 +1,7 @@ fileFormatVersion: 2 guid: a96639d914c7d4c11aa8634e9e475b09 folderAsset: yes -timeCreated: 1433548041 +timeCreated: 1434563687 licenseType: Free DefaultImporter: userData: diff --git a/AreaLearningUnity/Assets/TangoSDK/Core/Scripts/Interfaces.meta b/AreaLearningUnity/Assets/TangoSDK/Core/Scripts/Interfaces.meta index 65bf2582..09456181 100644 --- a/AreaLearningUnity/Assets/TangoSDK/Core/Scripts/Interfaces.meta +++ b/AreaLearningUnity/Assets/TangoSDK/Core/Scripts/Interfaces.meta @@ -1,7 +1,7 @@ fileFormatVersion: 2 guid: f5d37fb7ce64947f28ab06d0dbf90ce4 folderAsset: yes -timeCreated: 1433548041 +timeCreated: 1434563687 licenseType: Free DefaultImporter: userData: diff --git a/AreaLearningUnity/Assets/TangoSDK/Core/Scripts/Listeners.meta b/AreaLearningUnity/Assets/TangoSDK/Core/Scripts/Listeners.meta index c61042b8..b771cdc6 100644 --- a/AreaLearningUnity/Assets/TangoSDK/Core/Scripts/Listeners.meta +++ b/AreaLearningUnity/Assets/TangoSDK/Core/Scripts/Listeners.meta @@ -1,7 +1,7 @@ fileFormatVersion: 2 guid: f2e1e806634414f10ad59d9b84c3130c folderAsset: yes -timeCreated: 1433548041 +timeCreated: 1434563687 licenseType: Free DefaultImporter: userData: diff --git a/AreaLearningUnity/Assets/TangoSDK/Core/Scripts/TangoWrappers.meta b/AreaLearningUnity/Assets/TangoSDK/Core/Scripts/TangoWrappers.meta index 86f92d55..2ab7401e 100644 --- a/AreaLearningUnity/Assets/TangoSDK/Core/Scripts/TangoWrappers.meta +++ b/AreaLearningUnity/Assets/TangoSDK/Core/Scripts/TangoWrappers.meta @@ -1,7 +1,7 @@ fileFormatVersion: 2 guid: 4fc55f6870f0443b986d0ef797cec697 folderAsset: yes -timeCreated: 1433548041 +timeCreated: 1434563687 licenseType: Free DefaultImporter: userData: diff --git a/AreaLearningUnity/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoApplication.cs b/AreaLearningUnity/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoApplication.cs index ea626dda..140f3d2c 100644 --- a/AreaLearningUnity/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoApplication.cs +++ b/AreaLearningUnity/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoApplication.cs @@ -49,9 +49,10 @@ private enum PermissionsTypes public bool m_motionTrackingAutoReset = true; public bool m_enableAreaLearning = false; public bool m_enableUXLibrary = true; - public bool m_drawDefaultUXExceptions = true; + public bool m_drawDefaultUXExceptions = true; public bool m_useExperimentalVideoOverlay = true; public bool m_useExperimentalADF = false; + public bool m_useLowLatencyIMUIntegration = true; private static string m_tangoServiceVersion = string.Empty; private const string CLASS_NAME = "TangoApplication"; private const string ANDROID_PRO_LABEL_TEXT = "Tango plugin requires Unity Android Pro!"; @@ -572,6 +573,7 @@ private void _InitializeMotionTracking(string UUID) _SetMotionTrackingCallbacks(framePairs.ToArray()); } + TangoConfig.SetBool(TangoConfig.Keys.ENABLE_LOW_LATENCY_IMU_INTEGRATION, m_useLowLatencyIMUIntegration); TangoConfig.SetBool(TangoConfig.Keys.ENABLE_MOTION_TRACKING_AUTO_RECOVERY_BOOL, m_motionTrackingAutoReset); } diff --git a/AreaLearningUnity/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoConfig.cs b/AreaLearningUnity/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoConfig.cs index d8d50ac1..b2c0bb3a 100644 --- a/AreaLearningUnity/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoConfig.cs +++ b/AreaLearningUnity/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoConfig.cs @@ -37,6 +37,7 @@ public struct Keys // Motion Tracking public static readonly string ENABLE_MOTION_TRACKING_BOOL = "config_enable_motion_tracking"; public static readonly string ENABLE_MOTION_TRACKING_AUTO_RECOVERY_BOOL = "config_enable_auto_recovery"; + public static readonly string ENABLE_LOW_LATENCY_IMU_INTEGRATION = "config_enable_low_latency_imu_integration"; // Area Learning public static readonly string ENABLE_AREA_LEARNING_BOOL = "config_enable_learning_mode"; diff --git a/AreaLearningUnity/Assets/TangoSDK/Core/Tango.dat b/AreaLearningUnity/Assets/TangoSDK/Core/Tango.dat index 8ada7cd4..9972dda5 100644 --- a/AreaLearningUnity/Assets/TangoSDK/Core/Tango.dat +++ b/AreaLearningUnity/Assets/TangoSDK/Core/Tango.dat @@ -1 +1 @@ - undefined95ae20895ae208) \ No newline at end of file + undefinedc4c1f52 release/quine \ No newline at end of file diff --git a/AreaLearningUnity/Assets/TangoSDK/Core/Tango.dat.meta b/AreaLearningUnity/Assets/TangoSDK/Core/Tango.dat.meta index 3dec5064..f72fd8c9 100644 --- a/AreaLearningUnity/Assets/TangoSDK/Core/Tango.dat.meta +++ b/AreaLearningUnity/Assets/TangoSDK/Core/Tango.dat.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 872b99255d9a745b1857299086556624 +guid: c5a3f9a1974004c0abcb47f3720ad1fd DefaultImporter: userData: assetBundleName: diff --git a/AreaLearningUnity/ProjectSettings/ProjectSettings.asset b/AreaLearningUnity/ProjectSettings/ProjectSettings.asset index 92204b6c1672cad36e2fa1da8054db5849ef248b..0b18881d5cf09c577d15409b0a5e9ea90168e733 100644 GIT binary patch delta 88 zcmaFU$MmOR>_A11c_~HtnJEm6jFbJ^o6WV1qvouw(0sv%g7={1< diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/Editor.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/Editor.meta index 195ad5be..91b3e76a 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/Editor.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/Editor.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: 462ba99b2d48542a0ab8704add28be42 folderAsset: yes -timeCreated: 1433548232 -licenseType: Free +timeCreated: 1434565175 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/Editor/TangoInspector.cs b/ExperimentalProjects/AugmentedRealityUnity/Assets/Editor/TangoInspector.cs index 7c7c1e0f..66194cd3 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/Editor/TangoInspector.cs +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/Editor/TangoInspector.cs @@ -60,6 +60,9 @@ private void _DrawMotionTrackingOptions(TangoApplication tangoApplication) EditorGUI.indentLevel++; tangoApplication.m_motionTrackingAutoReset = EditorGUILayout.Toggle("Auto Reset", tangoApplication.m_motionTrackingAutoReset); + + tangoApplication.m_useLowLatencyIMUIntegration = EditorGUILayout.Toggle("Low Latency Pose", + tangoApplication.m_useLowLatencyIMUIntegration); tangoApplication.m_enableAreaLearning = EditorGUILayout.Toggle("Area Learning", tangoApplication.m_enableAreaLearning); diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/Google-Unity.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/Google-Unity.meta index 77b0cf99..26e693b9 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/Google-Unity.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/Google-Unity.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: 555248d8e830e425b89d0506c0bc5b16 folderAsset: yes -timeCreated: 1433548232 -licenseType: Free +timeCreated: 1434565175 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/Google-Unity/Sample.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/Google-Unity/Sample.meta index 957135a0..a1d9269c 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/Google-Unity/Sample.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/Google-Unity/Sample.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: 73a4a6d02bd9b45b9934c1414443c9d0 folderAsset: yes -timeCreated: 1433548232 -licenseType: Free +timeCreated: 1434565175 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/Google-Unity/Sample/Scenes.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/Google-Unity/Sample/Scenes.meta index 8f4b1b4c..d6f4e5ab 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/Google-Unity/Sample/Scenes.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/Google-Unity/Sample/Scenes.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: b77a92dcaef51492b91db4267192903e folderAsset: yes -timeCreated: 1433548232 -licenseType: Free +timeCreated: 1434565175 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/Google-Unity/Scripts.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/Google-Unity/Scripts.meta index a29bec96..76819c06 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/Google-Unity/Scripts.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/Google-Unity/Scripts.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: ec3f31cb3fcac424ea1629761b78f663 folderAsset: yes -timeCreated: 1433548232 -licenseType: Free +timeCreated: 1434565175 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins.meta index d3a133da..dc70bd68 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: 5da679a4b9bf5420297abeb957a6c987 folderAsset: yes -timeCreated: 1433548232 -licenseType: Free +timeCreated: 1434565175 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android.meta index 67810856..e7cdf6e6 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: 1771febdbd7034e6a8db81c274b8b470 folderAsset: yes -timeCreated: 1433548232 -licenseType: Free +timeCreated: 1434565175 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/AndroidManifest.xml.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/AndroidManifest.xml.meta index 5f31e01c..e2cb563e 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/AndroidManifest.xml.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/AndroidManifest.xml.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 7b801e1215cd74d2bb68201405e4a44c +guid: c28524e2338b34084b3c66dc6336a2b2 TextScriptImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/google-unity-wrapper.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/google-unity-wrapper.meta index 062c4125..1a14077c 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/google-unity-wrapper.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/google-unity-wrapper.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: e97bf3ae0049f4e4da7880bcc098bc6a folderAsset: yes -timeCreated: 1433548232 -licenseType: Free +timeCreated: 1434565175 +licenseType: Pro PluginImporter: serializedVersion: 1 iconMap: {} diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/google-unity-wrapper/AndroidManifest.xml.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/google-unity-wrapper/AndroidManifest.xml.meta index 065dcc31..07db78d5 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/google-unity-wrapper/AndroidManifest.xml.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/google-unity-wrapper/AndroidManifest.xml.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 145c09836e1e94c9aa432d2ddebb024b +guid: c55ea8b7ce14645ccbf445ab45137861 DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/google-unity-wrapper/bin.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/google-unity-wrapper/bin.meta index f771b536..bb7e9703 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/google-unity-wrapper/bin.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/google-unity-wrapper/bin.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: 82e9828a3b16447768339ef7f7b16f84 folderAsset: yes -timeCreated: 1433548232 -licenseType: Free +timeCreated: 1434565175 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/google-unity-wrapper/bin/AndroidManifest.xml.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/google-unity-wrapper/bin/AndroidManifest.xml.meta index 36209a3a..85d3be0c 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/google-unity-wrapper/bin/AndroidManifest.xml.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/google-unity-wrapper/bin/AndroidManifest.xml.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 370ec2e3efc8b417a89e8a025a8ce4c9 +guid: 52f44dda5a0bd4d9ab5bcb963b1e6812 DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/google-unity-wrapper/bin/classes.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/google-unity-wrapper/bin/classes.meta index 831c194c..33a8fa1e 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/google-unity-wrapper/bin/classes.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/google-unity-wrapper/bin/classes.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: 454c743945f934a0ab9888c983bb13a5 folderAsset: yes -timeCreated: 1433548232 -licenseType: Free +timeCreated: 1434565175 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/google-unity-wrapper/bin/classes/com.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/google-unity-wrapper/bin/classes/com.meta index 6c1fad5f..d81ad566 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/google-unity-wrapper/bin/classes/com.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/google-unity-wrapper/bin/classes/com.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: ea2c7df88ccd945f4bbacfc4f12a5d11 folderAsset: yes -timeCreated: 1433548232 -licenseType: Free +timeCreated: 1434565175 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/google-unity-wrapper/bin/classes/com/google.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/google-unity-wrapper/bin/classes/com/google.meta index 90bcae6b..2b377c10 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/google-unity-wrapper/bin/classes/com/google.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/google-unity-wrapper/bin/classes/com/google.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: 428eb9ee5870d45608287202591e1a5c folderAsset: yes -timeCreated: 1433548232 -licenseType: Free +timeCreated: 1434565175 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/google-unity-wrapper/bin/classes/com/google/unity.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/google-unity-wrapper/bin/classes/com/google/unity.meta index e6fc9361..6bb7994f 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/google-unity-wrapper/bin/classes/com/google/unity.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/google-unity-wrapper/bin/classes/com/google/unity.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: 90a02237508e0480fa303a251d339c5a folderAsset: yes -timeCreated: 1433548232 -licenseType: Free +timeCreated: 1434565175 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/google-unity-wrapper/bin/classes/com/google/unity/BuildConfig.class.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/google-unity-wrapper/bin/classes/com/google/unity/BuildConfig.class.meta index 06d9da9f..e3a2bf8e 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/google-unity-wrapper/bin/classes/com/google/unity/BuildConfig.class.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/google-unity-wrapper/bin/classes/com/google/unity/BuildConfig.class.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 350aabf7879f748b484aa5da16bb8aea +guid: 0fd341985ba9a42fc9111aca3ca4cb99 DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/google-unity-wrapper/bin/classes/com/google/unity/GoogleUnityActivity$1.class.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/google-unity-wrapper/bin/classes/com/google/unity/GoogleUnityActivity$1.class.meta index f90b06d0..2338d648 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/google-unity-wrapper/bin/classes/com/google/unity/GoogleUnityActivity$1.class.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/google-unity-wrapper/bin/classes/com/google/unity/GoogleUnityActivity$1.class.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 16b41755b94ea4c2090e0df4ce84212b +guid: 786aa7d365c7b4eb39ccc752693491d6 DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/google-unity-wrapper/bin/classes/com/google/unity/GoogleUnityActivity$AndroidLifecycleListener.class.meta 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100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-unity-helper/bin/classes/com/projecttango/unity/TangoUnityHelper$5.class.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-unity-helper/bin/classes/com/projecttango/unity/TangoUnityHelper$5.class.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 702c5125ddc7443748704aef1b6f4206 +guid: e635fd8a272f84e9d90bfa2d4753e67a DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-unity-helper/bin/classes/com/projecttango/unity/TangoUnityHelper.class.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-unity-helper/bin/classes/com/projecttango/unity/TangoUnityHelper.class.meta index b6a533d4..67575944 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-unity-helper/bin/classes/com/projecttango/unity/TangoUnityHelper.class.meta +++ 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a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/drawable-xhdpi/ic_shake_ok_tick.png.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/drawable-xhdpi/ic_shake_ok_tick.png.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: cce3c336467df4cd998354c77c7cfae7 +guid: 72a677c7d4aa147418ff6e35f0cdbc32 DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/drawable-xhdpi/splash_logo.png.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/drawable-xhdpi/splash_logo.png.meta index a1f5ecb9..2b43c307 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/drawable-xhdpi/splash_logo.png.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/drawable-xhdpi/splash_logo.png.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: fb4efce7d73b54e889548611f3b48607 +guid: 1b2d85a54cea14be4a63afdf0dee1dc3 DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/drawable-xhdpi/splash_logo_experiments.png.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/drawable-xhdpi/splash_logo_experiments.png.meta index 352e4cb3..0f94522d 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/drawable-xhdpi/splash_logo_experiments.png.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/drawable-xhdpi/splash_logo_experiments.png.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 72adc4c4b976e4335a1d78e96ec24982 +guid: 464f6853f3174486592f561b2d30899e DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/drawable-xxhdpi.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/drawable-xxhdpi.meta index f8987a9a..47ad4d8a 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/drawable-xxhdpi.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/drawable-xxhdpi.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: 3a3a3fc287e6341c998eaf25aec02a05 folderAsset: yes -timeCreated: 1433548232 -licenseType: Free +timeCreated: 1434565175 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/drawable-xxhdpi/ic_tango.png.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/drawable-xxhdpi/ic_tango.png.meta index ea4ac394..02f11154 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/drawable-xxhdpi/ic_tango.png.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/drawable-xxhdpi/ic_tango.png.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 11d0c2f54bcf447a6a4515a6c7a72bec +guid: 58b5ac70a12d04ae78fbbc32e219416d DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/drawable.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/drawable.meta index f6493633..67dbd892 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/drawable.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/drawable.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: 2e597c3b5ffc94ad0991490d1d7dac37 folderAsset: yes -timeCreated: 1433548232 -licenseType: Free +timeCreated: 1434565175 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/drawable/gradient_line.xml.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/drawable/gradient_line.xml.meta index 7002d0e2..3e71a6e4 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/drawable/gradient_line.xml.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/drawable/gradient_line.xml.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 79dcbdcf5fd43493d99d89d0a341f64f +guid: 537479dd528034fea87008bf401eb6e3 DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/layout.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/layout.meta index 95cad790..04311e5c 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/layout.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/layout.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: 0fa3a214c4fdd4be8bf45d42f0596de8 folderAsset: yes -timeCreated: 1433548232 -licenseType: Free +timeCreated: 1434565175 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/layout/activity_select_adf.xml.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/layout/activity_select_adf.xml.meta index b7b9004d..77c74504 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/layout/activity_select_adf.xml.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/layout/activity_select_adf.xml.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 86cfa94189aed44079d812751b8f482a +guid: 829eef124baaf4e01bf501a12009dadd DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/layout/exception_component.xml.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/layout/exception_component.xml.meta index b9c96d06..4acc5a40 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/layout/exception_component.xml.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/layout/exception_component.xml.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 32db10760f52d401e8d1b50bef1cf885 +guid: d662d08d1a16847479f8d90a1b0d758b DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/layout/item_adf.xml.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/layout/item_adf.xml.meta index 41c9159d..a323b672 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/layout/item_adf.xml.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/layout/item_adf.xml.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 92877879a2bd24894ab9ea1f928f7d7f +guid: 7e51e440dd4d84618abcc3bea47755c7 DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/layout/layout_connection.xml.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/layout/layout_connection.xml.meta index f1506f01..c70bfb36 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/layout/layout_connection.xml.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/layout/layout_connection.xml.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 4254aa1fcc10c4954a777e983c29f967 +guid: 4e8d14ca8a6db49729d727b650964c4c DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/layout/layout_splash.xml.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/layout/layout_splash.xml.meta index 817343c8..95fde481 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/layout/layout_splash.xml.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/layout/layout_splash.xml.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 8f03859da4db24d9c8210c4ff3fe91e1 +guid: 63813967518014746b907ac0a6cfae33 DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/layout/layout_tango_ux.xml.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/layout/layout_tango_ux.xml.meta index 7e0b7650..804e1c83 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/layout/layout_tango_ux.xml.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/layout/layout_tango_ux.xml.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 3be7abe4c6ef44ddbbda85672fe6c6f8 +guid: a0d2a3973eb83460394c1d8610816f66 DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/values.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/values.meta index b8319d91..2e52a4a7 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/values.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/values.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: 9a4395c2824094c1d8f295967429fc62 folderAsset: yes -timeCreated: 1433548232 -licenseType: Free +timeCreated: 1434565175 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/values/colors.xml.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/values/colors.xml.meta index a92f69ef..2abd7706 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/values/colors.xml.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/values/colors.xml.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 4f1fe8f181cc541fbad86361a8aefa7a +guid: a63ff364f978d469d8fc6403d36e648d DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/values/dimens.xml.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/values/dimens.xml.meta index 7c84618d..ad5764a5 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/values/dimens.xml.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/values/dimens.xml.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 3fc71dd92ba604d5ea9f706e5819b0e8 +guid: 6a2d3bf9c6a2c4b4b9c5df1447aa95b5 DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/values/strings.xml.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/values/strings.xml.meta index bcd4f243..3c7db7fb 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/values/strings.xml.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/values/strings.xml.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 5198aa5a96886423aa4b43cf676055aa +guid: c76d0908f781b430d94a8d312fd049d1 DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/values/styles.xml.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/values/styles.xml.meta index dc183407..47b3018b 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/values/styles.xml.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/Plugins/Android/tango-ux-support-library/res/values/styles.xml.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 5785e3c4852bc460987042d17248da5d +guid: a8629ae0d41224db7bb4de41ac1d259c DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/Scenes/Unity Augmented Reality.unity b/ExperimentalProjects/AugmentedRealityUnity/Assets/Scenes/Unity Augmented Reality.unity index da9f5ddc..5f306e39 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/Scenes/Unity Augmented Reality.unity +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/Scenes/Unity Augmented Reality.unity @@ -98,7 +98,6 @@ GameObject: - 20: {fileID: 535930853} - 124: {fileID: 535930852} - 92: {fileID: 535930851} - - 114: {fileID: 535930849} m_Layer: 0 m_Name: Camera m_TagString: MainCamera @@ -106,22 +105,6 @@ GameObject: m_NavMeshLayer: 0 m_StaticEditorFlags: 0 m_IsActive: 1 ---- !u!114 &535930849 -MonoBehaviour: - m_ObjectHideFlags: 0 - m_PrefabParentObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} - m_GameObject: {fileID: 535930848} - m_Enabled: 1 - m_EditorHideFlags: 0 - m_Script: {fileID: 11500000, guid: 128ae9bf0245a419a98a670b35a56249, type: 3} - m_Name: - m_EditorClassIdentifier: - m_arScreen: {fileID: 1065599730} - m_tangoServiceVersionName: - m_frameDeltaTime: 0 - m_frameCount: 0 - m_status: 0 --- !u!92 &535930851 Behaviour: m_ObjectHideFlags: 0 @@ -414,6 +397,8 @@ MonoBehaviour: m_EditorClassIdentifier: m_renderCamera: {fileID: 535930853} m_screenMaterial: {fileID: 2100000, guid: aaf9e2fe0204a438aaff24a73507f2b8, type: 2} + m_status: 0 + m_frameCount: 0 --- !u!33 &1065599731 MeshFilter: m_ObjectHideFlags: 0 @@ -604,4 +589,4 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: 78760276f84c94c678297fc65f4ec855, type: 3} m_Name: m_EditorClassIdentifier: - m_tangoPoseController: {fileID: 535930849} + m_arScreen: {fileID: 1065599730} diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/Scripts/ARScreen.cs b/ExperimentalProjects/AugmentedRealityUnity/Assets/Scripts/ARScreen.cs index 334ed6b3..16ce423b 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/Scripts/ARScreen.cs +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/Scripts/ARScreen.cs @@ -33,45 +33,66 @@ public class ARScreen : MonoBehaviour private TangoApplication m_tangoApplication; private YUVTexture m_textures; - + + // Matrix for Tango coordinate frame to Unity coordinate frame conversion. + // Start of service frame with respect to Unity world frame. + private Matrix4x4 m_uwTss; + // Unity camera frame with respect to color camera frame. + private Matrix4x4 m_cTuc; + // Device frame with respect to IMU frame. + private Matrix4x4 m_imuTd; + // Color camera frame with respect to IMU frame. + private Matrix4x4 m_imuTc; + // Unity camera frame with respect to IMU frame, this is composed by + // Matrix4x4.Inverse(m_imuTd) * m_imuTc * m_cTuc; + // We pre-compute this matrix to save some computation in update(). + private Matrix4x4 m_dTuc; + + // Values for debug display. + [HideInInspector] + public TangoEnums.TangoPoseStatusType m_status; + [HideInInspector] + public int m_frameCount; + /// - /// Set up the size of ARScreen based on camera intrinsics. + /// Initialize the AR Screen. /// - public void SetCameraIntrinsics() + private void Start() { - TangoCameraIntrinsics intrinsics = new TangoCameraIntrinsics(); - VideoOverlayProvider.GetIntrinsics(TangoEnums.TangoCameraId.TANGO_CAMERA_COLOR, intrinsics); + // Constant matrix converting start of service frame to Unity world frame. + m_uwTss = new Matrix4x4(); + m_uwTss.SetColumn (0, new Vector4 (1.0f, 0.0f, 0.0f, 0.0f)); + m_uwTss.SetColumn (1, new Vector4 (0.0f, 0.0f, 1.0f, 0.0f)); + m_uwTss.SetColumn (2, new Vector4 (0.0f, 1.0f, 0.0f, 0.0f)); + m_uwTss.SetColumn (3, new Vector4 (0.0f, 0.0f, 0.0f, 1.0f)); - float verticalFOV = 2.0f * Mathf.Rad2Deg * Mathf.Atan((intrinsics.height * 0.5f) / (float)intrinsics.fy); - if(!float.IsNaN(verticalFOV)) - { - m_renderCamera.fieldOfView = verticalFOV; + // Constant matrix converting Unity world frame frame to device frame. + m_cTuc.SetColumn (0, new Vector4 (1.0f, 0.0f, 0.0f, 0.0f)); + m_cTuc.SetColumn (1, new Vector4 (0.0f, -1.0f, 0.0f, 0.0f)); + m_cTuc.SetColumn (2, new Vector4 (0.0f, 0.0f, 1.0f, 0.0f)); + m_cTuc.SetColumn (3, new Vector4 (0.0f, 0.0f, 0.0f, 1.0f)); - // Here we are scaling the image plane to make sure the image plane's ratio is set as the - // color camera image ratio. - // If we don't do this, because we are drawing the texture fullscreen, the image plane will - // be set to the screen's ratio. - float widthRatio = (float)Screen.width / (float)intrinsics.width; - float heightRatio = (float)Screen.height / (float)intrinsics.height; - if (widthRatio >= heightRatio) + m_tangoApplication = FindObjectOfType(); + + if(m_tangoApplication != null) + { + if(AndroidHelper.IsTangoCorePresent()) { - float normalizedOffset = (widthRatio / heightRatio - 1.0f) / 2.0f; - _SetScreenVertices(0, normalizedOffset); + // Request Tango permissions + m_tangoApplication.RegisterPermissionsCallback(_OnTangoApplicationPermissionsEvent); + m_tangoApplication.RequestNecessaryPermissionsAndConnect(); + m_tangoApplication.Register(this); } else { - float normalizedOffset = (heightRatio / widthRatio - 1.0f) / 2.0f; - _SetScreenVertices(normalizedOffset, 0); + // If no Tango Core is present let's tell the user to install it. + Debug.Log("Tango Core is outdated."); } } - } - - /// - /// Initialize the AR Screen. - /// - private void Start() - { - m_tangoApplication = FindObjectOfType(); + else + { + Debug.Log("No Tango Manager found in scene."); + } if(m_tangoApplication != null) { m_textures = m_tangoApplication.GetVideoOverlayTextureYUV(); @@ -88,10 +109,86 @@ private void Start() /// Unity update function, we update our texture from here. /// private void Update() { - VideoOverlayProvider.RenderLatestFrame (TangoEnums.TangoCameraId.TANGO_CAMERA_COLOR); + if(Input.GetKeyDown(KeyCode.Escape)) + { + if(m_tangoApplication != null) + { + m_tangoApplication.Shutdown(); + } + + // This is a temporary fix for a lifecycle issue where calling + // Application.Quit() here, and restarting the application immediately, + // results in a hard crash. + AndroidHelper.AndroidQuit(); + } + double timestamp = VideoOverlayProvider.RenderLatestFrame (TangoEnums.TangoCameraId.TANGO_CAMERA_COLOR); + _UpdateTransformation(timestamp); GL.InvalidateState (); } + + + /// + /// This callback function is called after user appoved or declined the permission to use Motion Tracking. + /// + private void _OnTangoApplicationPermissionsEvent(bool permissionsGranted) + { + if(permissionsGranted) + { + m_tangoApplication.InitApplication(); + m_tangoApplication.InitProviders(string.Empty); + m_tangoApplication.ConnectToService(); + + // Ask ARScreen to query the camera intrinsics from Tango Service. + _SetCameraIntrinsics(); + _SetCameraExtrinsics(); + } + else + { + AndroidHelper.ShowAndroidToastMessage("Motion Tracking Permissions Needed", true); + } + } + + /// + /// Update the camera gameobject's transformation to the pose that on current timestamp. + /// + private void _UpdateTransformation(double timestamp) { + TangoPoseData pose = new TangoPoseData(); + TangoCoordinateFramePair pair; + pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE; + pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE; + PoseProvider.GetPoseAtTime(pose, timestamp, pair); + + m_status = pose.status_code; + if (pose.status_code == TangoEnums.TangoPoseStatusType.TANGO_POSE_VALID) + { + Vector3 m_tangoPosition = new Vector3((float)pose.translation [0], + (float)pose.translation [1], + (float)pose.translation [2]); + + Quaternion m_tangoRotation = new Quaternion((float)pose.orientation [0], + (float)pose.orientation [1], + (float)pose.orientation [2], + (float)pose.orientation [3]); + + Matrix4x4 ssTd = Matrix4x4.TRS(m_tangoPosition, m_tangoRotation, Vector3.one); + + // Here we are getting the pose of Unity camera frame with respect to Unity world. + // This is the transformation of our current pose within the Unity coordinate frame. + Matrix4x4 uwTuc = m_uwTss * ssTd * m_dTuc; + + // Extract new local position + m_renderCamera.transform.position = uwTuc.GetColumn(3); + + // Extract new local rotation + m_renderCamera.transform.rotation = Quaternion.LookRotation(uwTuc.GetColumn(2), uwTuc.GetColumn(1)); + m_frameCount++; + } + else { + m_frameCount = 0; + } + } + /// /// Set the screen (video overlay image plane) size and vertices. The image plane is not /// applying any project matrix or view matrix. So it's drawing space is the normalized @@ -134,4 +231,78 @@ private void _SetScreenVertices(float normalizedOffsetX, float normalizedOffsetY meshFilter.mesh = mesh; mesh.RecalculateNormals(); } + + /// + /// The function is for querying the camera extrinsic, for example: the transformation between + /// IMU and device frame. These extrinsics is used to transform the pose from the color camera frame + /// to the device frame. Because the extrinsic is being queried using the GetPoseAtTime() + /// with a desired frame pair, it can only be queried after the ConnectToService() is called. + /// + /// The device with respect to IMU frame is not directly queryable from API, so we use the IMU + /// frame as a temporary value to get the device frame with respect to IMU frame. + /// + private void _SetCameraExtrinsics() { + double timestamp = 0.0; + TangoCoordinateFramePair pair; + TangoPoseData poseData = new TangoPoseData(); + + // Getting the transformation of device frame with respect to IMU frame. + pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_IMU; + pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE; + PoseProvider.GetPoseAtTime(poseData, timestamp, pair); + Vector3 position = new Vector3((float)poseData.translation[0], + (float)poseData.translation[1], + (float)poseData.translation[2]); + Quaternion quat = new Quaternion((float)poseData.orientation[0], + (float)poseData.orientation[1], + (float)poseData.orientation[2], + (float)poseData.orientation[3]); + m_imuTd = Matrix4x4.TRS(position, quat, new Vector3 (1.0f, 1.0f, 1.0f)); + + // Getting the transformation of IMU frame with respect to color camera frame. + pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_IMU; + pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_CAMERA_COLOR; + PoseProvider.GetPoseAtTime(poseData, timestamp, pair); + position = new Vector3((float)poseData.translation[0], + (float)poseData.translation[1], + (float)poseData.translation[2]); + quat = new Quaternion((float)poseData.orientation[0], + (float)poseData.orientation[1], + (float)poseData.orientation[2], + (float)poseData.orientation[3]); + m_imuTc = Matrix4x4.TRS(position, quat, new Vector3 (1.0f, 1.0f, 1.0f)); + m_dTuc = Matrix4x4.Inverse(m_imuTd) * m_imuTc * m_cTuc; + } + + /// + /// Set up the size of ARScreen based on camera intrinsics. + /// + private void _SetCameraIntrinsics() + { + TangoCameraIntrinsics intrinsics = new TangoCameraIntrinsics(); + VideoOverlayProvider.GetIntrinsics(TangoEnums.TangoCameraId.TANGO_CAMERA_COLOR, intrinsics); + + float verticalFOV = 2.0f * Mathf.Rad2Deg * Mathf.Atan((intrinsics.height * 0.5f) / (float)intrinsics.fy); + if(!float.IsNaN(verticalFOV)) + { + m_renderCamera.fieldOfView = verticalFOV; + + // Here we are scaling the image plane to make sure the image plane's ratio is set as the + // color camera image ratio. + // If we don't do this, because we are drawing the texture fullscreen, the image plane will + // be set to the screen's ratio. + float widthRatio = (float)Screen.width / (float)intrinsics.width; + float heightRatio = (float)Screen.height / (float)intrinsics.height; + if (widthRatio >= heightRatio) + { + float normalizedOffset = (widthRatio / heightRatio - 1.0f) / 2.0f; + _SetScreenVertices(0, normalizedOffset); + } + else + { + float normalizedOffset = (heightRatio / widthRatio - 1.0f) / 2.0f; + _SetScreenVertices(normalizedOffset, 0); + } + } + } } diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/Scripts/GUIController.cs b/ExperimentalProjects/AugmentedRealityUnity/Assets/Scripts/GUIController.cs index 2dbda048..7d786801 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/Scripts/GUIController.cs +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/Scripts/GUIController.cs @@ -50,7 +50,7 @@ public class GUIController : MonoBehaviour { public const string UX_TARGET_TO_BASE_FRAME = "Target->{0}, Base->{1}:"; public const string UX_STATUS = "\tstatus: {0}, count: {1}, position (m): [{2}], orientation: [{3}]"; public const float SECOND_TO_MILLISECOND = 1000.0f; - public PoseController m_tangoPoseController; + public ARScreen m_arScreen; private const float m_updateFrequency = 1.0f; private string m_FPSText; @@ -61,6 +61,7 @@ public class GUIController : MonoBehaviour { private Rect m_label; private TangoApplication m_tangoApplication; + private string m_tangoServiceVersion; /// /// Unity Start() callback, we set up some initial values here. @@ -73,6 +74,7 @@ void Start () m_FPSText = "FPS = Calculating"; m_label = new Rect(Screen.width * 0.025f - 50, Screen.height * 0.96f - 25, 600.0f, 50.0f); m_tangoApplication = FindObjectOfType(); + m_tangoServiceVersion = TangoApplication.GetTangoServiceVersion(); } /// @@ -202,7 +204,7 @@ void OnGUI() GUI.Label(new Rect(UI_LABEL_START_X, UI_LABEL_START_Y, UI_LABEL_SIZE_X , - UI_LABEL_SIZE_Y), UI_FONT_SIZE + String.Format(UX_TANGO_SERVICE_VERSION, m_tangoPoseController.m_tangoServiceVersionName) + ""); + UI_LABEL_SIZE_Y), UI_FONT_SIZE + String.Format(UX_TANGO_SERVICE_VERSION, m_tangoServiceVersion) + ""); GUI.Label(new Rect(UI_LABEL_START_X, UI_FPS_LABEL_START_Y, @@ -216,8 +218,8 @@ void OnGUI() "Device", "Start") + ""); - Vector3 pos = m_tangoPoseController.transform.position; - Quaternion quat = m_tangoPoseController.transform.rotation; + Vector3 pos = m_arScreen.transform.position; + Quaternion quat = m_arScreen.transform.rotation; string positionString = pos.x.ToString(UI_FLOAT_FORMAT) + ", " + pos.y.ToString(UI_FLOAT_FORMAT) + ", " + pos.z.ToString(UI_FLOAT_FORMAT); @@ -229,8 +231,8 @@ void OnGUI() UI_POSE_LABEL_START_Y, UI_LABEL_SIZE_X , UI_LABEL_SIZE_Y), UI_FONT_SIZE + String.Format(UX_STATUS, - _GetLoggingStringFromPoseStatus(m_tangoPoseController.m_status), - _GetLoggingStringFromFrameCount(m_tangoPoseController.m_frameCount), + _GetLoggingStringFromPoseStatus(m_arScreen.m_status), + _GetLoggingStringFromFrameCount(m_arScreen.m_frameCount), positionString, rotationString) + ""); GUI.color = oldColor; } diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/Scripts/PoseController.cs b/ExperimentalProjects/AugmentedRealityUnity/Assets/Scripts/PoseController.cs deleted file mode 100644 index 7234ff31..00000000 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/Scripts/PoseController.cs +++ /dev/null @@ -1,249 +0,0 @@ -/* - * Copyright 2014 Google Inc. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ -using System.Collections; -using UnityEngine; -using Tango; -using System; - -/// -/// This is a basic movement controller based on -/// pose estimation returned from the Tango Service. -/// -public class PoseController : MonoBehaviour , ITangoPose -{ - public ARScreen m_arScreen; - - // Tango pose data for debug logging and transform update. - [HideInInspector] - public string m_tangoServiceVersionName = string.Empty; - [HideInInspector] - public float m_frameDeltaTime; - [HideInInspector] - public int m_frameCount; - [HideInInspector] - public TangoEnums.TangoPoseStatusType m_status; - - private TangoApplication m_tangoApplication; - private float m_prevFrameTimestamp; - - // Matrix for Tango coordinate frame to Unity coordinate frame conversion. - // Start of service frame with respect to Unity world frame. - private Matrix4x4 m_uwTss; - // Unity camera frame with respect to device frame. - private Matrix4x4 m_cTuc; - // IMU frame with respect to device frame. - private Matrix4x4 m_imuTd; - // IMU frame with respect to color camera frame (as well as depth camera frame) - private Matrix4x4 m_imuTc; - - /// - /// Initialize the controller. - /// - private void Awake() - { - // Constant matrix converting start of service frame to Unity world frame. - m_uwTss = new Matrix4x4(); - m_uwTss.SetColumn (0, new Vector4 (1.0f, 0.0f, 0.0f, 0.0f)); - m_uwTss.SetColumn (1, new Vector4 (0.0f, 0.0f, 1.0f, 0.0f)); - m_uwTss.SetColumn (2, new Vector4 (0.0f, 1.0f, 0.0f, 0.0f)); - m_uwTss.SetColumn (3, new Vector4 (0.0f, 0.0f, 0.0f, 1.0f)); - - // Constant matrix converting Unity world frame frame to device frame. - m_cTuc.SetColumn (0, new Vector4 (1.0f, 0.0f, 0.0f, 0.0f)); - m_cTuc.SetColumn (1, new Vector4 (0.0f, -1.0f, 0.0f, 0.0f)); - m_cTuc.SetColumn (2, new Vector4 (0.0f, 0.0f, 1.0f, 0.0f)); - m_cTuc.SetColumn (3, new Vector4 (0.0f, 0.0f, 0.0f, 1.0f)); - - m_frameDeltaTime = -1.0f; - m_prevFrameTimestamp = -1.0f; - m_frameCount = -1; - m_status = TangoEnums.TangoPoseStatusType.NA; - } - - /// - /// Unity start callback, we check the user's permission in this function. - /// - private void Start() - { - m_tangoApplication = FindObjectOfType(); - - if(m_tangoApplication != null) - { - if(AndroidHelper.IsTangoCorePresent()) - { - // Request Tango permissions - m_tangoApplication.RegisterPermissionsCallback(_OnTangoApplicationPermissionsEvent); - m_tangoApplication.RequestNecessaryPermissionsAndConnect(); - m_tangoApplication.Register(this); - m_tangoServiceVersionName = TangoApplication.GetTangoServiceVersion(); - } - else - { - // If no Tango Core is present let's tell the user to install it. - Debug.Log("Tango Core is outdated."); - } - } - else - { - Debug.Log("No Tango Manager found in scene."); - } - } - - /// - /// Unity update callback. - /// - private void Update() - { - if(Input.GetKeyDown(KeyCode.Escape)) - { - if(m_tangoApplication != null) - { - m_tangoApplication.Shutdown(); - } - - // This is a temporary fix for a lifecycle issue where calling - // Application.Quit() here, and restarting the application immediately, - // results in a hard crash. - AndroidHelper.AndroidQuit(); - } - } - - /// - /// Unity callback when application is paused. - /// - private void OnApplicationPause(bool pauseStatus) - { - m_frameDeltaTime = -1.0f; - m_prevFrameTimestamp = -1.0f; - m_frameCount = -1; - m_status = TangoEnums.TangoPoseStatusType.NA; - } - - /// - /// This function will be called the there's a new pose available in the system. - /// when a new pose is sampled. - /// - /// Pose data that we get from the estimation. - public void OnTangoPoseAvailable(Tango.TangoPoseData pose) - { - // Get out of here if the pose is null - if (pose == null) - { - Debug.Log("TangoPoseDate is null."); - return; - } - - // The callback pose is for device with respect to start of service pose. - if (pose.framePair.baseFrame == TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE && - pose.framePair.targetFrame == TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE) - { - if(pose.status_code == TangoEnums.TangoPoseStatusType.TANGO_POSE_VALID) - { - Vector3 m_tangoPosition = new Vector3((float)pose.translation [0], - (float)pose.translation [1], - (float)pose.translation [2]); - - Quaternion m_tangoRotation = new Quaternion((float)pose.orientation [0], - (float)pose.orientation [1], - (float)pose.orientation [2], - (float)pose.orientation [3]); - - Matrix4x4 ssTd = Matrix4x4.TRS(m_tangoPosition, m_tangoRotation, Vector3.one); - - // Here we are getting the pose of Unity camaer frame with respect to Unity world. - // This is the transformation of our current pose within the Unity coordinate frame. - Matrix4x4 uwTuc = m_uwTss * ssTd * Matrix4x4.Inverse(m_imuTd) * m_imuTc * m_cTuc; - - // Extract new local position - transform.position = uwTuc.GetColumn(3); - - // Extract new local rotation - transform.rotation = Quaternion.LookRotation(uwTuc.GetColumn(2), uwTuc.GetColumn(1)); - } - } - - // Reset the current status frame count if the status code changed. - if (pose.status_code != m_status) - { - m_frameCount = 0; - } - - // Update the stats for the pose for the debug text - m_status = pose.status_code; - m_frameCount++; - - // Compute delta frame timestamp. - m_frameDeltaTime = (float)pose.timestamp - m_prevFrameTimestamp; - m_prevFrameTimestamp = (float)pose.timestamp; - } - - /// - /// This callback function is called after user appoved or declined the permission to use Motion Tracking. - /// - private void _OnTangoApplicationPermissionsEvent(bool permissionsGranted) - { - if(permissionsGranted) - { - m_tangoApplication.InitApplication(); - m_tangoApplication.InitProviders(string.Empty); - m_tangoApplication.ConnectToService(); - - // Ask ARScreen to query the camera intrinsics from Tango Service. - m_arScreen.SetCameraIntrinsics(); - - // The following code is querying the camera extrinsic, for example: the transformation between - // IMU and device frame. These extrinsics is used to transform the pose from the device frame - // to the color camera frame. Because the extrinsic is being queried using the GetPoseAtTime() - // with a desired frame pair, it can only be queried after the ConnectToService() is called. - // - // The device with respect to IMU frame is not directly queryable from API, so we use the IMU - // frame as a temporary value to get the device frame with respect to IMU frame. - double timestamp = 0.0; - TangoCoordinateFramePair pair; - TangoPoseData poseData = new TangoPoseData(); - - // Getting the transformation of device frame with respect to IMU frame. - pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_IMU; - pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE; - PoseProvider.GetPoseAtTime(poseData, timestamp, pair); - Vector3 position = new Vector3((float)poseData.translation[0], - (float)poseData.translation[1], - (float)poseData.translation[2]); - Quaternion quat = new Quaternion((float)poseData.orientation[0], - (float)poseData.orientation[1], - (float)poseData.orientation[2], - (float)poseData.orientation[3]); - m_imuTd = Matrix4x4.TRS(position, quat, new Vector3 (1.0f, 1.0f, 1.0f)); - - // Getting the transformation of IMU frame with respect to color camera frame. - pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_IMU; - pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_CAMERA_COLOR; - PoseProvider.GetPoseAtTime(poseData, timestamp, pair); - position = new Vector3((float)poseData.translation[0], - (float)poseData.translation[1], - (float)poseData.translation[2]); - quat = new Quaternion((float)poseData.orientation[0], - (float)poseData.orientation[1], - (float)poseData.orientation[2], - (float)poseData.orientation[3]); - m_imuTc = Matrix4x4.TRS(position, quat, new Vector3 (1.0f, 1.0f, 1.0f)); - } - else - { - AndroidHelper.ShowAndroidToastMessage("Motion Tracking Permissions Needed", true); - } - } -} diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK.meta index dbf096af..51892c78 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: f24904c8b29354d40994455141edc875 folderAsset: yes -timeCreated: 1433548232 -licenseType: Free +timeCreated: 1434565175 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK/Core.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK/Core.meta index 84fb5034..15d6c100 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK/Core.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK/Core.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: b80c15ce37a1447f69e465cf133f71b6 folderAsset: yes -timeCreated: 1433548232 -licenseType: Free +timeCreated: 1434565175 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK/Core/Prefabs.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK/Core/Prefabs.meta index b294cbe6..b076bd9a 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK/Core/Prefabs.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK/Core/Prefabs.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: ceb5ea0e0a3d4435a8173d62c903e8b3 folderAsset: yes -timeCreated: 1433548232 -licenseType: Free +timeCreated: 1434565175 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK/Core/Scripts.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK/Core/Scripts.meta index 7637680f..3df08141 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK/Core/Scripts.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK/Core/Scripts.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: 8e63f857443034fb6b291e8ff42a6c60 folderAsset: yes -timeCreated: 1433548232 -licenseType: Free +timeCreated: 1434565175 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK/Core/Scripts/Common.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK/Core/Scripts/Common.meta index 299c79fe..776c5a94 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK/Core/Scripts/Common.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK/Core/Scripts/Common.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: a96639d914c7d4c11aa8634e9e475b09 folderAsset: yes -timeCreated: 1433548232 -licenseType: Free +timeCreated: 1434565175 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK/Core/Scripts/Interfaces.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK/Core/Scripts/Interfaces.meta index 15cf667d..c76a752a 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK/Core/Scripts/Interfaces.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK/Core/Scripts/Interfaces.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: f5d37fb7ce64947f28ab06d0dbf90ce4 folderAsset: yes -timeCreated: 1433548232 -licenseType: Free +timeCreated: 1434565175 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK/Core/Scripts/Listeners.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK/Core/Scripts/Listeners.meta index 48a0b52b..f035caa7 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK/Core/Scripts/Listeners.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK/Core/Scripts/Listeners.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: f2e1e806634414f10ad59d9b84c3130c folderAsset: yes -timeCreated: 1433548232 -licenseType: Free +timeCreated: 1434565175 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK/Core/Scripts/TangoWrappers.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK/Core/Scripts/TangoWrappers.meta index b531f314..e63050ee 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK/Core/Scripts/TangoWrappers.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK/Core/Scripts/TangoWrappers.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: 4fc55f6870f0443b986d0ef797cec697 folderAsset: yes -timeCreated: 1433548232 -licenseType: Free +timeCreated: 1434565175 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoApplication.cs b/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoApplication.cs index ea626dda..140f3d2c 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoApplication.cs +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoApplication.cs @@ -49,9 +49,10 @@ private enum PermissionsTypes public bool m_motionTrackingAutoReset = true; public bool m_enableAreaLearning = false; public bool m_enableUXLibrary = true; - public bool m_drawDefaultUXExceptions = true; + public bool m_drawDefaultUXExceptions = true; public bool m_useExperimentalVideoOverlay = true; public bool m_useExperimentalADF = false; + public bool m_useLowLatencyIMUIntegration = true; private static string m_tangoServiceVersion = string.Empty; private const string CLASS_NAME = "TangoApplication"; private const string ANDROID_PRO_LABEL_TEXT = "Tango plugin requires Unity Android Pro!"; @@ -572,6 +573,7 @@ private void _InitializeMotionTracking(string UUID) _SetMotionTrackingCallbacks(framePairs.ToArray()); } + TangoConfig.SetBool(TangoConfig.Keys.ENABLE_LOW_LATENCY_IMU_INTEGRATION, m_useLowLatencyIMUIntegration); TangoConfig.SetBool(TangoConfig.Keys.ENABLE_MOTION_TRACKING_AUTO_RECOVERY_BOOL, m_motionTrackingAutoReset); } diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoConfig.cs b/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoConfig.cs index d8d50ac1..b2c0bb3a 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoConfig.cs +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoConfig.cs @@ -37,6 +37,7 @@ public struct Keys // Motion Tracking public static readonly string ENABLE_MOTION_TRACKING_BOOL = "config_enable_motion_tracking"; public static readonly string ENABLE_MOTION_TRACKING_AUTO_RECOVERY_BOOL = "config_enable_auto_recovery"; + public static readonly string ENABLE_LOW_LATENCY_IMU_INTEGRATION = "config_enable_low_latency_imu_integration"; // Area Learning public static readonly string ENABLE_AREA_LEARNING_BOOL = "config_enable_learning_mode"; diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK/Core/Tango.dat b/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK/Core/Tango.dat index 8ada7cd4..9972dda5 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK/Core/Tango.dat +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK/Core/Tango.dat @@ -1 +1 @@ - undefined95ae20895ae208) \ No newline at end of file + undefinedc4c1f52 release/quine \ No newline at end of file diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK/Core/Tango.dat.meta b/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK/Core/Tango.dat.meta index 3dec5064..f72fd8c9 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK/Core/Tango.dat.meta +++ b/ExperimentalProjects/AugmentedRealityUnity/Assets/TangoSDK/Core/Tango.dat.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 872b99255d9a745b1857299086556624 +guid: c5a3f9a1974004c0abcb47f3720ad1fd DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/AugmentedRealityUnity/ProjectSettings/ProjectSettings.asset b/ExperimentalProjects/AugmentedRealityUnity/ProjectSettings/ProjectSettings.asset index 72782ec3..1141f90e 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/ProjectSettings/ProjectSettings.asset +++ b/ExperimentalProjects/AugmentedRealityUnity/ProjectSettings/ProjectSettings.asset @@ -76,13 +76,13 @@ PlayerSettings: 16:9: 1 Others: 1 bundleIdentifier: com.projecttango.experiments.augmentedreality - bundleVersion: 1.15 + bundleVersion: 1.16 preloadedAssets: [] metroEnableIndependentInputSource: 0 metroEnableLowLatencyPresentationAPI: 0 xboxOneDisableKinectGpuReservation: 0 productGUID: b34d832c717244d229bccdfd54c71e8a - AndroidBundleVersionCode: 15 + AndroidBundleVersionCode: 16 AndroidMinSdkVersion: 19 AndroidPreferredInstallLocation: 1 aotOptions: diff --git a/ExperimentalProjects/MeshBuilder/Assets/Editor.meta b/ExperimentalProjects/MeshBuilder/Assets/Editor.meta index 715ceafa..b885f9e4 100644 --- a/ExperimentalProjects/MeshBuilder/Assets/Editor.meta +++ b/ExperimentalProjects/MeshBuilder/Assets/Editor.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: aa740952593f34ea6ac8a8ed36584fe7 folderAsset: yes -timeCreated: 1433548905 -licenseType: Free +timeCreated: 1434565528 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/MeshBuilder/Assets/Editor/TangoInspector.cs b/ExperimentalProjects/MeshBuilder/Assets/Editor/TangoInspector.cs index 7c7c1e0f..66194cd3 100644 --- a/ExperimentalProjects/MeshBuilder/Assets/Editor/TangoInspector.cs +++ b/ExperimentalProjects/MeshBuilder/Assets/Editor/TangoInspector.cs @@ -60,6 +60,9 @@ private void _DrawMotionTrackingOptions(TangoApplication tangoApplication) EditorGUI.indentLevel++; tangoApplication.m_motionTrackingAutoReset = EditorGUILayout.Toggle("Auto Reset", tangoApplication.m_motionTrackingAutoReset); + + tangoApplication.m_useLowLatencyIMUIntegration = EditorGUILayout.Toggle("Low Latency Pose", + tangoApplication.m_useLowLatencyIMUIntegration); tangoApplication.m_enableAreaLearning = EditorGUILayout.Toggle("Area Learning", tangoApplication.m_enableAreaLearning); diff --git a/ExperimentalProjects/MeshBuilder/Assets/Google-Unity.meta b/ExperimentalProjects/MeshBuilder/Assets/Google-Unity.meta index a7176d52..ed33bfb3 100644 --- a/ExperimentalProjects/MeshBuilder/Assets/Google-Unity.meta +++ b/ExperimentalProjects/MeshBuilder/Assets/Google-Unity.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: 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    b#iO6`XxVNjzWDiSrBTLG0 zU38CO#-by7G)Xx+I5UdtC@i*~B9gbD8uFqrv5b`ta?gg%p`}nCDu&#U3jR>N_?EyC zp*tmXr$QxA5Vq{xVatwm`-LtYE>Y@12`z?mVK?nkx&G>}=sf=OKN3tO^mX^gbqePiIhxRryzAvF{3k#ZfOwmR().velocity = mainCamera.transform.forward * forwardVelocity + mainCamera.transform.up*forwardVelocity/2; - ballArray[currentBallID].SetActive(true); - currentBallID = (currentBallID + 1)%ballArray.Length; - } - - for (var i = 0; i < Input.touchCount; ++i) { - if (Input.GetTouch(i).phase == TouchPhase.Began) { - - ballArray[currentBallID].transform.position = mainCamera.transform.position - mainCamera.transform.up*ballPrefab.transform.localScale.y; - ballArray[currentBallID].GetComponent().velocity = mainCamera.transform.forward * forwardVelocity + mainCamera.transform.up*forwardVelocity/2; - ballArray[currentBallID].SetActive(true); - currentBallID = (currentBallID + 1)%ballArray.Length; - } - } - } +public class BallThrower : MonoBehaviour { + public GameObject ballPrefab; + public Camera mainCamera; + float forwardVelocity = 5.0f; + + GameObject[] ballArray = new GameObject[10]; + int currentBallID = 0; + + // Use this for initialization + void Start () { + for(int i = 0; i < ballArray.Length; i++){ + ballArray[i] = (GameObject)Instantiate (ballPrefab); + ballArray[i].SetActive (false); + ballArray[i].transform.parent = transform; + } + currentBallID = 0; + } + + // Update is called once per frame + void Update () { + + if (Input.GetKeyDown (KeyCode.Space)) { + ballArray[currentBallID].transform.position = mainCamera.transform.position - mainCamera.transform.up*ballPrefab.transform.localScale.y; + ballArray[currentBallID].GetComponent().velocity = mainCamera.transform.forward * forwardVelocity + mainCamera.transform.up*forwardVelocity/2; + ballArray[currentBallID].SetActive(true); + currentBallID = (currentBallID + 1)%ballArray.Length; + } + + for (var i = 0; i < Input.touchCount; ++i) { + if (Input.GetTouch(i).phase == TouchPhase.Began) { + + ballArray[currentBallID].transform.position = mainCamera.transform.position - mainCamera.transform.up*ballPrefab.transform.localScale.y; + ballArray[currentBallID].GetComponent().velocity = mainCamera.transform.forward * forwardVelocity + mainCamera.transform.up*forwardVelocity/2; + ballArray[currentBallID].SetActive(true); + currentBallID = (currentBallID + 1)%ballArray.Length; + } + } + } } diff --git a/ExperimentalProjects/MeshBuilder/Assets/Scripts/CustomPointCloudListener.cs b/ExperimentalProjects/MeshBuilder/Assets/Scripts/CustomPointCloudListener.cs index d054f8cf..58ccd1df 100644 --- a/ExperimentalProjects/MeshBuilder/Assets/Scripts/CustomPointCloudListener.cs +++ b/ExperimentalProjects/MeshBuilder/Assets/Scripts/CustomPointCloudListener.cs @@ -22,44 +22,157 @@ using Tango; using System.IO; -/// -/// Point cloud visualize using depth frame API. -/// +/** + * CustomPointCloudListener + * Manages points cloud data either from the API, playback file, synthetic room, or test generation + */ + public class CustomPointCloudListener : MonoBehaviour, ITangoDepth { - public bool m_recordData = false; - public bool m_playbackData = false; - public GameObject m_occupancyManagerObject; + /** + * Main Camera + */ public Camera m_mainCamera; - public int m_insertionCount = 10; - public string m_loadSessionID = "2014_10_26_031617"; - private DynamicMeshManager m_occupancyManager; - - // Mesh data. + /** + * Dynamic Mesh Manager + */ + public DynamicMeshManager m_meshManager; + + /** + * Synthetic Room for raycasting into + */ + public GameObject syntheticRoom; + + /** + * Number of points to insert per depth frame update + */ + public int m_insertionCount = 1000; + + /** + * file name of recorded session used for playback + */ + public string m_recordingID = "2014_10_26_031617"; + + /** + * Enable playback + */ + public bool m_playbackData = false; + + /** + * Enable synthetic data generation using synthetic room + */ + public bool m_syntheticData = false; + + /** + * Enable Generated Test Data + */ + public bool m_testData = false; + + /** + * Enable Recording + */ + private bool m_recordData = false; + + /** + * Flag for updated depth data + */ private bool m_isDirty; - private int m_maxPoints = 20000; - private float[] m_depthPoints; + + /** + * Copy of the detph data + */ private TangoUnityDepth m_currTangoDepth = new TangoUnityDepth(); + + /** + * Pose of the device when depth data arrived + */ private TangoPoseData m_poseAtDepthTimestamp = new TangoPoseData(); + /** + * Time stamp used to create unique file recording names + */ private string m_sessionTimestamp = "None"; + + /** + * File writer + */ private BinaryWriter m_fileWriter = null; + + /** + * File reader + */ private BinaryReader m_fileReader = null; - private GameObject[] m_quads = null; - private int m_quadIndex = 0; - + /** + * Cubes for live depth preview + */ + private GameObject[] m_cubes = null; + + /** + * Index for live preview cubes + */ + private int m_cubeIndex = 0; + + /** + * Motion trail history for depth camera pose + */ private List m_positionHistory = new List(); + /** + * Initial camera position offset + */ private Vector3 m_initCameraPosition = new Vector3(); - + + /** + * Scratch space for raycasting synthetic data + */ + private RaycastHit hitInfo = new RaycastHit (); + + /** + * Raycast layer for synthetic room + */ + private int syntheticRoomLayer = 1 << 8; + + /** + * Raycast distance for synthetic data + */ + private float syntheticRaycastMaxDistance = 4; + + /** + * Debug text field + */ private string m_debugText; + /** + * pause playback or depth accumulation + */ private bool m_pause = false; + + /** + * step playback + */ private bool m_step = false; + /** + * Track frame count + */ + private int m_frameCount; + + /** + * Minimum square distance to insert depth data. + * Sensor may produce values at 0, should be rejected + */ + private float m_sqrMinimumDepthDistance = 0.0625f; + + /** + * frame of reference for depth data + */ private TangoCoordinateFramePair m_coordinatePair; + + /** + * Reference to main Tango Application + */ private TangoApplication m_tangoApplication; /// @@ -67,9 +180,6 @@ public class CustomPointCloudListener : MonoBehaviour, ITangoDepth /// public void Start() { - m_occupancyManager = m_occupancyManagerObject.GetComponent (); - - m_depthPoints = new float[m_maxPoints * 3]; m_isDirty = false; m_initCameraPosition = m_mainCamera.transform.position; @@ -77,15 +187,17 @@ public void Start() m_coordinatePair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE; m_coordinatePair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;//FIX should be depth sensor - m_quads = new GameObject[m_insertionCount]; + m_cubes = new GameObject[m_insertionCount]; float size = 0.02f; for (int i =0; i < m_insertionCount; i++) { - m_quads[i] = (GameObject)GameObject.CreatePrimitive (PrimitiveType.Cube); - m_quads[i].transform.localScale = new Vector3(size, size, size); - m_quads[i].transform.parent = transform; + m_cubes[i] = (GameObject)GameObject.CreatePrimitive (PrimitiveType.Cube); + m_cubes[i].transform.localScale = new Vector3(size, size, size); + m_cubes[i].transform.parent = transform; } + syntheticRoom.SetActive (m_syntheticData); + ClearLivePreviewCubes(); #if UNITY_ANDROID && !UNITY_EDITOR if (m_recordData) @@ -96,15 +208,41 @@ public void Start() if (m_playbackData) { m_recordData = false; - string filename = m_loadSessionID +".dat"; + string filename = m_recordingID +".dat"; m_fileReader = new BinaryReader(File.Open(Application.persistentDataPath + "/" + filename, FileMode.Open)); m_debugText = "Loading from: " + filename + " " + m_fileReader.ToString(); } m_tangoApplication = FindObjectOfType(); m_tangoApplication.Register(this); + + if (m_testData) { + GenerateTestData (); + } + } + + /** + * Generate synthetic test point cloud data for performance and debugging + */ + public void GenerateTestData() { + Debug.Log ("Generating Test Data"); + + Vector3 obs = new Vector3 (0, -1, 0); + float range = 6.0f; + float step = 0.025f; + for(float x = -range; x < range; x += step) { + for(float z = -range; z < range; z += step) { + float y = 0.5f*Mathf.Sin(2*Mathf.Sqrt(x*x + z*z)); + m_meshManager.InsertPoint(new Vector3(x,y,z+range),obs,1.0f); + } + } + + m_meshManager.QueueDirtyMeshesForRegeneration (); } + /** + * Create file for recording + */ void PrepareRecording() { m_sessionTimestamp = DateTime.Now.ToString("yyyy_MM_dd_HHmmss"); @@ -118,9 +256,12 @@ void PrepareRecording() m_debugText = "Saving to: " + filename + " " + m_fileWriter.ToString(); } + /** + * Draw debug frustum lines + */ void DrawDebugLines() { - float frustumSize = 3; + float frustumSize = 2; Color frustumColor = Color.red; Debug.DrawLine(transform.position, transform.position + frustumSize*transform.forward+transform.right+transform.up, frustumColor); Debug.DrawLine(transform.position, transform.position + frustumSize*transform.forward-transform.right+transform.up, frustumColor); @@ -132,11 +273,16 @@ void DrawDebugLines() Debug.DrawLine(transform.position + frustumSize*transform.forward-transform.right-transform.up, transform.position + frustumSize*transform.forward+transform.right-transform.up, frustumColor); } - /// - /// Update is called once per frame. - /// - private void LateUpdate() + /** + * Update is called once per frame + * It processes input keyfor pausing, steping. It will also playback/record data or generate synthetic data. + * If running on Tango device it will process depth data that was copied for the depth callback. + */ + private void Update() { + m_frameCount++; + + if (Input.GetKeyDown(KeyCode.P)) { m_pause = !m_pause; @@ -149,7 +295,7 @@ private void LateUpdate() //history for (int i =0; i < m_positionHistory.Count-1; i++) { - Debug.DrawLine(m_positionHistory[i], m_positionHistory[i+1], Color.gray); + Debug.DrawLine(m_positionHistory[i], m_positionHistory[i+1], Color.white); } if (m_pause && !m_step) { @@ -159,82 +305,130 @@ private void LateUpdate() m_step = false; + if(m_recordData && !m_playbackData) { + WritePoseToFile(m_fileWriter, m_poseAtDepthTimestamp); + WriteDepthToFile(m_fileWriter, m_currTangoDepth); + m_debugText = "Recording Session: " + m_sessionTimestamp + " Points: " + m_currTangoDepth.m_timestamp; + } + if (m_playbackData) { ReadPoseFromFile(m_fileReader,ref m_poseAtDepthTimestamp); - ReadDepthFromFile(m_fileReader, ref m_currTangoDepth, ref m_depthPoints); + ReadDepthFromFile(m_fileReader, ref m_currTangoDepth); + m_mainCamera.transform.position = transform.position; + m_mainCamera.transform.rotation = transform.rotation; m_isDirty = true; } - if (m_isDirty) - { - if(m_recordData) { - WritePoseToFile(m_fileWriter, m_poseAtDepthTimestamp); - WriteDepthToFile(m_fileWriter, m_currTangoDepth, m_depthPoints); - m_debugText = "Recording Session: " + m_sessionTimestamp + " Points: " + m_currTangoDepth.m_timestamp; + if (m_syntheticData) { + + //FIX - proper simulation should populate m_poseAtDepthTimestamp and m_currTangoDepth + // and the let the inset loop at the bottom execute normally. + // This implementation overrides the insert loop. + + transform.position = m_mainCamera.transform.position; + transform.rotation = m_mainCamera.transform.rotation; + + m_currTangoDepth.m_pointCount = 0; +// m_currTangoDepth.m_timestamp = UnityEngine.Time.realtimeSinceStartup; +// m_poseAtDepthTimestamp.timestamp = UnityEngine.Time.realtimeSinceStartup; +// m_poseAtDepthTimestamp.status_code = TangoEnums.TangoPoseStatusType.TANGO_POSE_VALID; + + if ((m_frameCount % 6) == 0) { + float start = Time.realtimeSinceStartup; + + for (int i = 0; i < m_insertionCount; i++) { + int x = UnityEngine.Random.Range (0, Screen.width); + int y = UnityEngine.Random.Range (0, Screen.height); + Ray ray = m_mainCamera.ScreenPointToRay (new Vector3 (x, y, 0)); + if (Physics.Raycast (ray, out hitInfo, syntheticRaycastMaxDistance, syntheticRoomLayer)) { + m_meshManager.InsertPoint (hitInfo.point, ray.direction, 1.0f/(hitInfo.distance+1)); + } + } + m_meshManager.QueueDirtyMeshesForRegeneration (); + float stop = Time.realtimeSinceStartup; + m_meshManager.InsertionTime = m_meshManager.InsertionTime*m_meshManager.TimeSmoothing + (1.0f-m_meshManager.TimeSmoothing)*(stop - start); + } - ClearQuads(); - SetTransformUsingPose(transform, m_poseAtDepthTimestamp); - if(m_playbackData) { - m_mainCamera.transform.position = transform.position; - m_mainCamera.transform.rotation = transform.rotation; - } + } + else if (m_isDirty) + { + + ClearLivePreviewCubes(); + + SetTransformUsingTangoPose(transform, m_poseAtDepthTimestamp); m_positionHistory.Add(transform.position); + DrawDebugLines(); - float start = Time.realtimeSinceStartup; + + float insertionStartTime = Time.realtimeSinceStartup; for (int i = 0; i < m_insertionCount; i++) { if(i > m_currTangoDepth.m_pointCount) - { break; - } + //randomly sub sample int index = i; //need to be more graceful than this, does not behave continuously - if(m_insertionCount < m_currTangoDepth.m_pointCount); + if(m_insertionCount < m_currTangoDepth.m_pointCount) index = UnityEngine.Random.Range(0,m_currTangoDepth.m_pointCount); - Vector3 p = new Vector3(m_depthPoints[3*index],-m_depthPoints[3*index+1],m_depthPoints[3*index+2]); + Vector3 p = new Vector3(m_currTangoDepth.m_points[3*index],-m_currTangoDepth.m_points[3*index+1],m_currTangoDepth.m_points[3*index+2]); + float sqrmag = p.sqrMagnitude; + + if(sqrmag < m_sqrMinimumDepthDistance) + continue; Vector3 tp = transform.TransformPoint(p); - float mag = Vector3.Magnitude(p); //less weight for things farther away, because of noise if (m_recordData) { - CreateQuad(p); + SetLivePreviewCube(tp); } else { - m_occupancyManager.InsertPoint (tp, transform.forward, 0.2f / (mag + 1.0f)); + m_meshManager.InsertPoint (tp, transform.forward, 1.0f / (sqrmag + 1.0f)); } } - float stop = Time.realtimeSinceStartup; - m_occupancyManager.InsertionTime = m_occupancyManager.InsertionTime * m_occupancyManager.Smoothing + (1.0f - m_occupancyManager.Smoothing) * (stop - start); - m_occupancyManager.QueueDirtyMeshesForRegeneration (); + float insertionStopTime = Time.realtimeSinceStartup; + m_meshManager.InsertionTime = m_meshManager.InsertionTime * m_meshManager.TimeSmoothing + (1.0f - m_meshManager.TimeSmoothing) * (insertionStopTime - insertionStartTime); + m_meshManager.QueueDirtyMeshesForRegeneration (); m_isDirty = false; } } - private void ClearQuads() + /** + * Clear live preview cubes + */ + private void ClearLivePreviewCubes() { for (int i = 0; i < m_insertionCount; i++) { - m_quads[i].SetActive(false); + m_cubes[i].SetActive(false); } - m_quadIndex = 0; + m_cubeIndex = 0; } - private void CreateQuad(Vector3 p) + /** + * Set Live preview cube position + * @param p position to set the preview cube + */ + private void SetLivePreviewCube(Vector3 p) { - m_quads[m_quadIndex].transform.localPosition = p; - m_quads[m_quadIndex].SetActive (true); - m_quadIndex++; + m_cubes[m_cubeIndex].transform.position = p; + m_cubes[m_cubeIndex].SetActive (true); + m_cubeIndex++; } - private void SetTransformUsingPose(Transform xform, TangoPoseData pose) + /** + * Tranform Tango pose data to Unity transform + * @param xform Unity Transform output + * @param pose Tango Pose Data + */ + private void SetTransformUsingTangoPose(Transform xform, TangoPoseData pose) { xform.position = new Vector3((float)pose.translation [0], (float)pose.translation [2], @@ -245,22 +439,24 @@ private void SetTransformUsingPose(Transform xform, TangoPoseData pose) (float)pose.orientation [1], (float)pose.orientation [3]); - Quaternion axisFix = Quaternion.Euler(-quat.eulerAngles.x, + Quaternion axisFixedQuat = Quaternion.Euler(-quat.eulerAngles.x, -quat.eulerAngles.z, quat.eulerAngles.y); - //should query API for depth camera extrinsics - Quaternion extrinsics = Quaternion.Euler(-12.0f,0,0); + //FIX - should query API for depth camera extrinsics + Quaternion extrinsics = Quaternion.Euler(-12.0f, 0, 0); - xform.rotation = Quaternion.Euler(90.0f, 0.0f, 0.0f) * axisFix*extrinsics; + xform.rotation = Quaternion.Euler(90.0f, 0.0f, 0.0f) * axisFixedQuat * extrinsics; } - + /** + * Reset Point Cloud preview, history, and mesh data. + */ public void Reset() { - ClearQuads (); + ClearLivePreviewCubes (); m_positionHistory.Clear (); - m_occupancyManager.Clear (); + m_meshManager.Clear (); } /// @@ -272,24 +468,39 @@ public void OnTangoDepthAvailable(TangoUnityDepth tangoDepth) // Fill in the data to draw the point cloud. if (tangoDepth != null) { - m_occupancyManager.depthPointCount = tangoDepth.m_pointCount; + if(tangoDepth.m_points == null) { + Debug.Log("Depth points are null"); + return; + } + + if(tangoDepth.m_pointCount > m_currTangoDepth.m_points.Length) { + m_currTangoDepth.m_points = new float[3*((int)(1.5f*tangoDepth.m_pointCount))]; + } + for (int i = 0; i < tangoDepth.m_pointCount; i+=3) { - m_depthPoints[3 * i] = tangoDepth.m_points[i * 3]; - m_depthPoints[3 * i + 1] = tangoDepth.m_points[i * 3 + 1]; - m_depthPoints[3 * i + 2] = tangoDepth.m_points[i * 3 + 2]; + m_currTangoDepth.m_points[3 * i] = tangoDepth.m_points[i * 3]; + m_currTangoDepth.m_points[3 * i + 1] = tangoDepth.m_points[i * 3 + 1]; + m_currTangoDepth.m_points[3 * i + 2] = tangoDepth.m_points[i * 3 + 2]; } m_currTangoDepth.m_timestamp = tangoDepth.m_timestamp; m_currTangoDepth.m_pointCount = tangoDepth.m_pointCount; PoseProvider.GetPoseAtTime(m_poseAtDepthTimestamp, m_currTangoDepth.m_timestamp,m_coordinatePair); + if(m_poseAtDepthTimestamp.status_code != TangoEnums.TangoPoseStatusType.TANGO_POSE_VALID) + return; + m_isDirty = true; } return; } - + /** + * Write pose data to file + * @param writer File writer + * @param pose Tango pose data + */ public void WritePoseToFile(BinaryWriter writer, TangoPoseData pose) { if(writer == null) { @@ -312,6 +523,11 @@ public void WritePoseToFile(BinaryWriter writer, TangoPoseData pose) { } + /** + * Read pose from file + * @param reader File reader + * @param pose Tango pose data + */ public int ReadPoseFromFile(BinaryReader reader, ref TangoPoseData pose) { if(reader == null) @@ -352,8 +568,13 @@ public int ReadPoseFromFile(BinaryReader reader, ref TangoPoseData pose) pose.orientation[3] = reader.ReadDouble(); return 0; } - - public void WriteDepthToFile(BinaryWriter writer, TangoUnityDepth depth, float[] pointData) + + /** + * Write depth data to file + * @param writer File writer + * @param depthFrame Tango depth data + */ + public void WriteDepthToFile(BinaryWriter writer, TangoUnityDepth depthFrame) { if(writer == null) { @@ -361,20 +582,24 @@ public void WriteDepthToFile(BinaryWriter writer, TangoUnityDepth depth, float[] } writer.Write("depthframe\n"); - writer.Write(depth.m_timestamp+"\n"); - writer.Write(depth.m_pointCount+"\n"); + writer.Write(depthFrame.m_timestamp+"\n"); + writer.Write(depthFrame.m_pointCount+"\n"); - for(int i = 0; i < depth.m_pointCount; i++) + for(int i = 0; i < depthFrame.m_pointCount; i++) { - writer.Write(pointData[3*i]); - writer.Write(pointData[3*i+1]); - writer.Write(pointData[3*i+2]); + writer.Write(depthFrame.m_points[3*i]); + writer.Write(depthFrame.m_points[3*i+1]); + writer.Write(depthFrame.m_points[3*i+2]); } writer.Flush(); } - - public int ReadDepthFromFile(BinaryReader reader, ref TangoUnityDepth depthFrame, ref float[] points) + /** + * Read depth data from file + * @param reader File reader + * @param depthFrame Tango depth data. + */ + public int ReadDepthFromFile(BinaryReader reader, ref TangoUnityDepth depthFrame) { string frameMarker; try { @@ -383,7 +608,7 @@ public int ReadDepthFromFile(BinaryReader reader, ref TangoUnityDepth depthFrame reader.BaseStream.Position = 0; Reset(); - print ("Restating log file: " + x.ToString()); + print ("Restarting log file: " + x.ToString()); frameMarker = reader.ReadString(); } @@ -393,26 +618,32 @@ public int ReadDepthFromFile(BinaryReader reader, ref TangoUnityDepth depthFrame } depthFrame.m_timestamp = double.Parse(reader.ReadString()); depthFrame.m_pointCount = int.Parse(reader.ReadString()); + if (depthFrame.m_pointCount > depthFrame.m_points.Length) + depthFrame.m_points = new float[3 * ((int)(1.5f * depthFrame.m_pointCount))]; //load up the data for(int i = 0; i < depthFrame.m_pointCount; i++) { - points[3*i] = reader.ReadSingle(); - points[3*i+1] = reader.ReadSingle(); - points[3*i+2] = reader.ReadSingle(); + depthFrame.m_points[3*i] = reader.ReadSingle(); + depthFrame.m_points[3*i+1] = reader.ReadSingle(); + depthFrame.m_points[3*i+2] = reader.ReadSingle(); } return 0; } - + + /** + * Display some on screen debug infromation and handles the record button. + */ void OnGUI() { + GUI.Label(new Rect(10,180,1000,30), "Depth Points: " + m_currTangoDepth.m_pointCount); GUI.Label(new Rect(10,200,1000,30), "Debug: " + m_debugText); if (!m_recordData) { if (GUI.Button (new Rect (Screen.width - 160, 120, 140, 80), "Start Record")) { - m_occupancyManager.Clear(); + m_meshManager.Clear(); PrepareRecording (); m_recordData = true; } @@ -427,5 +658,12 @@ void OnGUI() m_debugText = "Stopped Recording"; } } + + string buttonName = "Pause"; + if (m_pause) + buttonName = "Resume"; + if (GUI.Button (new Rect (Screen.width - 160, 220, 140, 80), buttonName)) { + m_pause = !m_pause; + } } } diff --git a/ExperimentalProjects/MeshBuilder/Assets/Scripts/CustomTangoMotionController.cs b/ExperimentalProjects/MeshBuilder/Assets/Scripts/CustomTangoMotionController.cs deleted file mode 100644 index 9a132f52..00000000 --- a/ExperimentalProjects/MeshBuilder/Assets/Scripts/CustomTangoMotionController.cs +++ /dev/null @@ -1,217 +0,0 @@ -/* - * Copyright 2014 Google Inc. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -using System.Collections; -using UnityEngine; -using Tango; -using System; - -/// -/// This is a basic movement controller based on -/// pose estimation returned from the Tango Service. -/// -public class CustomTangoMotionController : MonoBehaviour, ITangoPose -{ - private bool m_alreadyInitialized = false; - private TangoApplication m_tangoApplication; - - // Tango pose data. - private Quaternion m_tangoRotation; - private Vector3 m_tangoPosition; - - // We use couple of matrix transformation to convert the pose from Tango coordinate - // frame to Unity coordinate frame. - // The full equation is: - // Matrix4x4 uwTuc = m_uwTss * ssTd * m_dTuc; - // - // uwTuc: Unity camera with respect to Unity world, this is the desired matrix. - // m_uwTss: Constant matrix converting start of service frame to Unity world frame. - // ssTd: Device frame with repect to start of service frame, this matrix denotes the - // pose transform we get from pose callback. - // m_dTuc: Constant matrix converting Unity world frame frame to device frame. - // - // Please see the coordinate system section online for more information: - // https://developers.google.com/project-tango/overview/coordinate-systems - private Matrix4x4 m_uwTss; - private Matrix4x4 m_dTuc; - private Vector3 m_startingOffset; - private Quaternion m_startingRotation; - // Flag for initilizing Tango. - private bool m_shouldInitTango = false; - - /// - /// Initialize the controller. - /// - private void Awake() - { - // Constant matrix converting start of service frame to Unity world frame. - m_uwTss = new Matrix4x4(); - m_uwTss.SetColumn (0, new Vector4 (1.0f, 0.0f, 0.0f, 0.0f)); - m_uwTss.SetColumn (1, new Vector4 (0.0f, 0.0f, 1.0f, 0.0f)); - m_uwTss.SetColumn (2, new Vector4 (0.0f, 1.0f, 0.0f, 0.0f)); - m_uwTss.SetColumn (3, new Vector4 (0.0f, 0.0f, 0.0f, 1.0f)); - - // Constant matrix converting Unity world frame frame to device frame. - m_dTuc = new Matrix4x4(); - m_dTuc.SetColumn (0, new Vector4 (1.0f, 0.0f, 0.0f, 0.0f)); - m_dTuc.SetColumn (1, new Vector4 (0.0f, 1.0f, 0.0f, 0.0f)); - m_dTuc.SetColumn (2, new Vector4 (0.0f, 0.0f, -1.0f, 0.0f)); - m_dTuc.SetColumn (3, new Vector4 (0.0f, 0.0f, 0.0f, 1.0f)); - - m_tangoRotation = Quaternion.identity; - m_tangoPosition = Vector3.zero; - m_startingOffset = transform.position; - m_startingRotation = transform.rotation; - } - - /// - /// Start this instance. - /// - private void Start() - { - m_tangoApplication = FindObjectOfType(); - - if(m_tangoApplication != null) - { - if(AndroidHelper.IsTangoCorePresent()) - { - // Request Tango permissions - m_tangoApplication.RegisterPermissionsCallback(_OnTangoApplicationPermissionsEvent); - m_tangoApplication.RequestNecessaryPermissionsAndConnect(); - m_tangoApplication.Register(this); - } - else - { - // If no Tango Core is present let's tell the user to install it! - StartCoroutine(_InformUserNoTangoCore()); - } - } - else - { - Debug.Log("No Tango Manager found in scene."); - } - } - - /// - /// Informs the user that they should install Tango Core via Android toast. - /// - private IEnumerator _InformUserNoTangoCore() - { - AndroidHelper.ShowAndroidToastMessage("Please install Tango Core", false); - yield return new WaitForSeconds(2.0f); - Application.Quit(); - } - - /// - /// Apply any needed changes to the pose. - /// - private void Update() - { - #if UNITY_ANDROID && !UNITY_EDITOR - if(Input.GetKeyDown(KeyCode.Escape)) - { - if(m_tangoApplication != null) - { - m_tangoApplication.Shutdown(); - } - - // This is a temporary fix for a lifecycle issue where calling - // Application.Quit() here, and restarting the application immediately, - // results in a hard crash. - AndroidHelper.AndroidQuit(); - } - #else - Vector3 tempPosition = transform.position; - Quaternion tempRotation = transform.rotation; - PoseProvider.GetMouseEmulation(ref tempPosition, ref tempRotation); - transform.rotation = tempRotation; - transform.position = tempPosition; - #endif - } - - /// - /// Unity callback when application is paused. - /// - private void OnApplicationPause(bool pauseStatus) - { - m_tangoRotation = Quaternion.identity; - m_tangoPosition = Vector3.zero; - } - - /// - /// An event notifying when a new pose is available. OnTangoPoseAvailable events are thread safe. - /// - /// Pose. - public void OnTangoPoseAvailable(Tango.TangoPoseData pose) - { - // Get out of here if the pose is null - if (pose == null) - { - Debug.Log("TangoPoseDate is null."); - return; - } - - // The callback pose is for device with respect to start of service pose. - if (pose.framePair.baseFrame == TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE && - pose.framePair.targetFrame == TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE) - { - if(pose.status_code == TangoEnums.TangoPoseStatusType.TANGO_POSE_VALID) - { - // Create new Quaternion and Vec3 from the pose data received in the event. - m_tangoPosition = new Vector3((float)pose.translation [0], - (float)pose.translation [1], - (float)pose.translation [2]); - - m_tangoRotation = new Quaternion((float)pose.orientation [0], - (float)pose.orientation [1], - (float)pose.orientation [2], - (float)pose.orientation [3]); - - // Construct the start of service with respect to device matrix from the pose. - Matrix4x4 ssTd = Matrix4x4.TRS(m_tangoPosition, m_tangoRotation, Vector3.one); - - // Converting from Tango coordinate frame to Unity coodinate frame. - Matrix4x4 uwTuc = m_uwTss * ssTd * m_dTuc; - - // Extract new local position - transform.position = m_startingRotation * uwTuc.GetColumn(3) + m_startingOffset; - - // Extract new local rotation - transform.rotation = m_startingRotation * Quaternion.LookRotation(uwTuc.GetColumn(2), uwTuc.GetColumn(1)); - } - else // if the current pose is not valid we set the pose to identity - { - m_tangoPosition = Vector3.zero; - m_tangoRotation = Quaternion.identity; - } - } - - } - - private void _OnTangoApplicationPermissionsEvent(bool permissionsGranted) - { - if(permissionsGranted) - { - m_tangoApplication.InitApplication(); - m_tangoApplication.InitProviders(string.Empty); - m_tangoApplication.ConnectToService(); - } - else - { - AndroidHelper.ShowAndroidToastMessage("Motion Tracking Permissions Needed", true); - } - } -} diff --git a/ExperimentalProjects/MeshBuilder/Assets/Scripts/DebugDrawing.cs b/ExperimentalProjects/MeshBuilder/Assets/Scripts/DebugDrawing.cs new file mode 100644 index 00000000..9cce1f5c --- /dev/null +++ b/ExperimentalProjects/MeshBuilder/Assets/Scripts/DebugDrawing.cs @@ -0,0 +1,77 @@ +/* + * Copyright 2014 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +using UnityEngine; +using System; +using System.Collections; +using System.Collections.Generic; + +/** + * Utility functions for drawing debug lines for more complex shapes + */ +public class DebugDrawing { + + /** + * Draws a box + */ + public static void Box(Vector3 min, Vector3 max, Color c) { + Debug.DrawLine (min, new Vector3 (min.x, min.y, max.z), c); + Debug.DrawLine (min, new Vector3 (min.x, max.y, min.z), c); + Debug.DrawLine (min, new Vector3 (max.x, min.y, min.z), c); + + Debug.DrawLine (new Vector3 (min.x, max.y, max.z), new Vector3 (min.x, min.y, max.z), c); + Debug.DrawLine (new Vector3 (min.x, max.y, max.z), new Vector3 (min.x, max.y, min.z), c); + + Debug.DrawLine (new Vector3 (max.x, max.y, min.z), new Vector3 (max.x, min.y, min.z), c); + Debug.DrawLine (new Vector3 (max.x, max.y, min.z), new Vector3 (min.x, max.y, min.z), c); + + Debug.DrawLine (new Vector3 (max.x, min.y, max.z), new Vector3 (min.x, min.y, max.z), c); + Debug.DrawLine (new Vector3 (max.x, min.y, max.z), new Vector3 (max.x, min.y, min.z), c); + + + Debug.DrawLine (max, new Vector3 (min.x, max.y, max.z), c); + Debug.DrawLine (max, new Vector3 (max.x, max.y, min.z), c); + Debug.DrawLine (max, new Vector3 (max.x, min.y, max.z), c); + } + + /** + * Draws a crosshair + */ + public static void CrossHair(Vector3 point, float size, Color c) { + Debug.DrawLine (new Vector3 (point.x + size, point.y, point.z), new Vector3 (point.x - size, point.y, point.z), c); + Debug.DrawLine (new Vector3 (point.x, point.y+ size, point.z), new Vector3 (point.x , point.y - size, point.z), c); + Debug.DrawLine (new Vector3 (point.x, point.y, point.z+ size), new Vector3 (point.x , point.y, point.z - size), c); + + float inc = Mathf.PI / 16; + for (float theta = 0; theta <= 2*Mathf.PI; theta += inc) + { + Debug.DrawLine (new Vector3 (point.x + size*Mathf.Cos(theta), point.y + size*Mathf.Sin(theta), point.z), new Vector3 (point.x + size*Mathf.Cos(theta+inc), point.y + size*Mathf.Sin(theta+inc), point.z), c); + Debug.DrawLine (new Vector3 (point.x + size*Mathf.Cos(theta), point.y, point.z + size*Mathf.Sin(theta)), new Vector3 (point.x + size*Mathf.Cos(theta+inc), point.y , point.z+ size*Mathf.Sin(theta+inc)), c); + Debug.DrawLine (new Vector3 (point.x , point.y + size*Mathf.Sin(theta), point.z+ size*Mathf.Cos(theta)), new Vector3 (point.x , point.y + size*Mathf.Sin(theta+inc), point.z+ size*Mathf.Cos(theta+inc)), c); + + } + } + + /** + * Draws cross X + */ + public static void CrossX(Vector3 p, float size, Color c) { + Debug.DrawLine (p + new Vector3 (-size, -size, -size), p + new Vector3 (size, size, size), c); + Debug.DrawLine (p + new Vector3 (size, -size, -size), p + new Vector3 (-size, size, size), c); + Debug.DrawLine (p + new Vector3 (size, size, -size), p + new Vector3 (-size, -size, size), c); + Debug.DrawLine (p + new Vector3 (-size, size, -size), p + new Vector3 (size, -size, size), c); + } +} diff --git a/ExperimentalProjects/MeshBuilder/Assets/Scripts/DebugDrawing.cs.meta b/ExperimentalProjects/MeshBuilder/Assets/Scripts/DebugDrawing.cs.meta new file mode 100644 index 00000000..19a8d624 --- /dev/null +++ b/ExperimentalProjects/MeshBuilder/Assets/Scripts/DebugDrawing.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 8afba094468834d7ca04315f0b0459ba +timeCreated: 1433698403 +licenseType: Pro +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/MeshBuilder/Assets/Scripts/DynamicMeshCube.cs b/ExperimentalProjects/MeshBuilder/Assets/Scripts/DynamicMeshCube.cs new file mode 100644 index 00000000..0ef644d1 --- /dev/null +++ b/ExperimentalProjects/MeshBuilder/Assets/Scripts/DynamicMeshCube.cs @@ -0,0 +1,1077 @@ +/* + * Copyright 2014 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +using UnityEngine; +using System; +using System.Collections; +using System.Collections.Generic; + +/** + * Dynamic Meshing Cube + * Manages the voxels and mesh data for each cube volume + */ +public class DynamicMeshCube : MonoBehaviour { + + /** + * resolution of the voxels which determines mesh resolution + */ + public int m_voxelResolution = 10; + + /** + * dimension size of the voxel grid. This is larger than the voxel resolution for buffer margin on each side + */ + private int m_voxelGridDimension = 10; + + /** + * margin count for voxels + */ + private int m_voxelMarginCount = 2; + + /** + * size of each voxel + */ + private float m_voxelSize = 0.1f; + + /** + * threshold for boundard insertions + */ + private float m_epsilon = 0.001f; + + /** + * spatial hashkey of this meshing cube + */ + private int m_hashKey = int.MinValue; + + /** + * flag used for thread safety + */ + private bool m_isRegenerating = false; + + /** + * Unity Mesh Filter object that handles mesh management + */ + private MeshFilter m_meshFilter = null; + + /** + * list of vertices in the mesh + */ + private List m_vertices = new List(); + + /** + * list of normals in the mesh + */ + private List m_normals = new List(); + + /** + * list of triangles in the mesh + */ + private List m_triangles = new List(); + + /** + * list of texture uvs in the mesh + */ + private List m_uvs = new List(); + + /** + * isolevel for surfce computation in polygonization + */ + private float m_meshingIsolevel = 0.0f; + + /** + * default initial voxel value + */ + private float m_initialVoxelValue = -1.0f; + + /** + * maximum voxel weight + */ + private float m_maximumVoxelWeight = 100; + + /** + * percentage change in the voxel value as a function of size for the mesh to be considered dirty + */ + private float m_minimumVoxelPercentageChangeForDirty = 0.33f; + + /** + * minimum change for the voxel to make the entire mesh dirty. get calcuated using percentage change. + */ + private float m_minimumVoxelChangeForDirty = 0.01f;//will get updated when voxel size is computed + + /** + * Hash tree storage for the voxel data. + */ + private VoxelHashTree voxelStorage = new VoxelHashTree(); + + /** + * LUT for UV coorinadate combinations + */ + private Vector2[] uvOptions = new Vector2[4]; + + /** + * Flag to indicate if mesh is dirty. + */ + private bool isDirty = true; + + /** + * Gets list of vertices in the mesh + */ + public List Vertices { + get { + return m_vertices; + } + } + + /** + * Gets list of vertices in the mesh + */ + public List Triangles { + get { + return m_triangles; + } + } + + /** + * Gets list of UVs in the mesh + */ + public List UVs { + get { + return m_uvs; + } + } + + /** + * Gets regeneration state + */ + public bool IsRegenerating { + get { + return m_isRegenerating; + } + } + + /** + * Gets hashkey of this meshing cube + */ + public int Key { + get { + return m_hashKey; + } + set { + m_hashKey = value; + } + } + + /** + * Prints Debug Info for this meshing cube. + */ + public void PrintDebugInfo() { + string info = ""; + info += "Mesh Volume Key: " + m_hashKey + "\n"; + info += "Root Voxel Key: " + voxelStorage.Key + "\n"; + + foreach (VoxelHashTree t in voxelStorage.GetEnumerable()) + { + info += " " + t.Key + "\n"; + } + Debug.Log (info); + } + + public float VoxelSize { + get { + return m_voxelSize; + } + set { + m_voxelSize = value; + m_epsilon = m_voxelSize/100.0f; + } + } + + /** + * Initializes the Meshing Cube. + */ + void Start () { + + uvOptions [0] = new Vector3 (-1, -1); + uvOptions [1] = new Vector3 (0, 1); + uvOptions [2] = new Vector3 (1, 1); + uvOptions [3] = new Vector3 (0, 0); + m_meshFilter = gameObject.GetComponent (); + if (m_meshFilter == null) + m_meshFilter = gameObject.AddComponent (); + + if (m_meshFilter == null) + Debug.LogError ("Could not get or add MeshFilter"); + + Mesh mesh = m_meshFilter.sharedMesh; + if (mesh == null) + { + m_meshFilter.mesh = new Mesh(); + mesh = m_meshFilter.sharedMesh; + } + if (mesh == null) + { + Debug.LogError ("Could not get or create Mesh"); + } + } + + /** + * Sets the voxel resolution for this meshing cube. + * @param voxelResolution number of voxel divisions in this cube. + */ + public void SetProperties(int voxelResolution) { + this.m_voxelResolution = voxelResolution; + m_voxelGridDimension = voxelResolution + 2*m_voxelMarginCount; + VoxelSize = transform.localScale.x / voxelResolution; + m_minimumVoxelChangeForDirty = VoxelSize * m_minimumVoxelPercentageChangeForDirty; + Clear (); + } + + /** + * Gets dirty flag + */ + public bool IsDirty { + get { + return isDirty; + } + } + + /** + * Computes hashkey for particular voxel index + * @return the hashKey + */ + public int ComputeVoxelHashKey(int x, int y, int z) { + return x+m_voxelMarginCount + (y+m_voxelMarginCount)*m_voxelGridDimension + (z+m_voxelMarginCount)*m_voxelGridDimension*m_voxelGridDimension; + } + + /** + * Computes hashkey for particular 3D point + * @return the haskKey + */ + public int ComputeVoxelHashKey(Vector3 p) { + return ((int)Mathf.Floor(p.x))+m_voxelMarginCount + (((int)Mathf.Floor(p.y))+m_voxelMarginCount)*m_voxelGridDimension + (((int)Mathf.Floor(p.z))+m_voxelMarginCount)*m_voxelGridDimension*m_voxelGridDimension; + } + + /** + * Clips the point+dir ray to the bounds of the meshing cube + */ + public void ClipRayToBounds(ref Vector3 point, Vector3 dir) + { + if (point.x < 0) + point = point + dir*(0 - point.x) / dir.x; + if (point.y < 0) + point = point + dir*(0 - point.y) / dir.y; + if (point.z < 0) + point = point + dir*(0 - point.z) / dir.z; + + if (point.x > 1) + point = point + dir*(1 - point.x) / dir.x; + if (point.y > 1) + point = point + dir*(1 - point.y) / dir.y; + if (point.z > 1) + point = point + dir*(1 - point.z) / dir.z; + } + + /** + * Raycast into this meshing cube for a list of voxels that are intersected + * @param start start point of the ray + * @param stop stop point of the ray + * @param dir the unit direction vector of the ray + * @return list of populated voxels that are intersected by the ray + */ + public List RayCastVoxelHitlist(Vector3 start, Vector3 stop, Vector3 dir) { + + List hits = new List (); + List hitKeys = new List(); + + Vector3 adjustedStart = start - transform.position; + Vector3 adjustedStop = stop - transform.position; + + ClipRayToBounds (ref adjustedStart, dir); + ClipRayToBounds (ref adjustedStop, dir); + + //converts it to integer space + adjustedStart *= m_voxelResolution; + adjustedStop *= m_voxelResolution; + + //x crosses + if (dir.x > 0) + { + for (float x = Mathf.Ceil(adjustedStart.x)+m_epsilon; x < adjustedStop.x; x++) { + + float scale = (x - adjustedStart.x) / dir.x; + hitKeys.Add (ComputeVoxelHashKey (adjustedStart + scale * dir)); + } + } + else + { + for (float x = Mathf.Floor(adjustedStart.x)-m_epsilon; x > adjustedStop.x; x -= 1) { + float scale = (x - adjustedStart.x) / dir.x; + hitKeys.Add (ComputeVoxelHashKey (adjustedStart + scale * dir)); + } + } + + //y crosses + if (dir.y > 0) + { + for (float y = Mathf.Ceil(adjustedStart.y)+m_epsilon; y < adjustedStop.y; y += 1) { + float scale = (y - adjustedStart.y) / dir.y; + hitKeys.Add (ComputeVoxelHashKey (adjustedStart + scale * dir)); + } + } + else + { + for (float y = Mathf.Floor(adjustedStart.y)-m_epsilon; y > adjustedStop.y; y -= 1) { + float scale = (y - adjustedStart.y) / dir.y; + hitKeys.Add (ComputeVoxelHashKey (adjustedStart + scale * dir)); + } + } + + //z crosses + if (dir.z > 0) + { + for (float z = Mathf.Ceil(adjustedStart.z)+m_epsilon; z < adjustedStop.z; z += 1) { + float scale = (z - adjustedStart.z) / dir.z; + hitKeys.Add (ComputeVoxelHashKey (adjustedStart + scale * dir)); + } + } + else + { + for (float z = Mathf.Floor(adjustedStart.z)-m_epsilon; z > adjustedStop.z; z -= 1) { + float scale = (z - adjustedStart.z) / dir.z; + hitKeys.Add (ComputeVoxelHashKey (adjustedStart + scale * dir)); + } + } + + foreach (int key in hitKeys) + { + Voxel v = voxelStorage.Query(key); + if(v != null) { + hits.Add(v); + } + } + + return hits; + } + + /** + * Query if a voxel exists at the query location. + * @param x x query index + * @param y y query index + * @param z z query index + * @return the voxel if it exists, null if it does not exist + */ + public Voxel QueryVoxel(int x, int y, int z) { + return voxelStorage.Query(ComputeVoxelHashKey(x,y,z)); + } + + /** + * Query if a voxel exists at the query location. If ti does not exits, create it. + * @param x x query index + * @param y y query index + * @param z z query index + * @return the voxel + */ + public Voxel QueryCreateVoxel(int x, int y, int z) { + int hashKey = ComputeVoxelHashKey(x,y,z); + Voxel v = voxelStorage.Query(hashKey); + if (v == null) { + v = InitializeVoxel (x, y, z, m_voxelSize, m_initialVoxelValue, 0); + voxelStorage.Insert(v,hashKey); + } + return v; + } + + + /** + * Initialize a new voxel at a given location + * @param xID x index + * @param yID y index + * @param zID z index + * @param voxelSize size of the voxel + * @param initialValue initialValue of the voxel + * @param initialWeight initialWeight of the voxel + * @return the created voxel + */ + Voxel InitializeVoxel(int xID, int yID, int zID, float voxelSize, float initialValue, float initialWeight) { + Voxel v = new Voxel(); + v.size = voxelSize; + v.value = initialValue; + v.weight = initialWeight; + v.normal = new Vector3 (0, 1, 0); + v.parent = transform; + v.xID = xID; + v.yID = yID; + v.zID = zID; + + v.anchor = new Vector3 (xID * v.size, yID * v.size, zID * v.size); + v.anchor.x += v.size/2; + v.anchor.y += v.size/2; + v.anchor.z += v.size/2; + + v.neighborsCreated = false; + + return v; + } + + /** + * Adjust the weight of the voxel given the 3D point observation + * @param v the Voxel to be adjusted + * @param p the point inserted + * @param obs observation direction of the point + * @param weight weight of the observation + * @return final value of the adjusted voxel + */ + float AdjustWeight(Voxel v, Vector3 p, Vector3 obs, float weight) { + if (v.weight > m_maximumVoxelWeight) { + v.weight += weight; //keep accumulating, so we know when to subdivide + return v.value; + } + + float penetration = Vector3.Dot (obs, v.anchor - p); + v.value = (v.value * v.weight + penetration * weight) / (v.weight + weight); + v.weight += weight; + + if (v.value < -1) { + v.value = -1; + v.weight = 0; + } + + // if (v.value > 1) + // v.value = 1; + // if (v.weight > maximumWeight) + // v.weight = maximumWeight; + + if(Mathf.Abs(v.lastMeshedValue - v.value) > m_minimumVoxelChangeForDirty) + isDirty = true; + return v.value; + } + + /** + * Insert point into this meshing cube, with output position index of the affected voxel + * @param p point to be inserted + * @param obs observation direction of this point + * @param weight of the observation + * @param index output position index of the voxel + * @return the final value of the adjusted voxel + */ + public float InsertPoint(Vector3 p, Vector3 obs, float weight, ref int[] index) { + + if (m_isRegenerating) + return -1; + index[0] = (int)Math.Floor((p.x-transform.position.x)/m_voxelSize); + index[1] = (int)Math.Floor((p.y-transform.position.y)/m_voxelSize); + index[2] = (int)Math.Floor((p.z-transform.position.z)/m_voxelSize); + + return AdjustWeight (QueryCreateVoxel(index[0], index[1], index[2]), p-transform.position, obs, weight); + } + + /** + * Insert point into this meshing cube + * @param p point to be inserted + * @param obs observation direction of this point + * @param weight of the observation + * @return the final value of the adjusted voxel + */ + public float InsertPoint(Vector3 queryPoint, Vector3 p, Vector3 obs, float weight) { + if (m_isRegenerating) + return -1; + + int x = (int)Math.Floor ((queryPoint.x - transform.position.x) / m_voxelSize); + int y = (int)Math.Floor ((queryPoint.y - transform.position.y) / m_voxelSize); + int z = (int)Math.Floor ((queryPoint.z - transform.position.z) / m_voxelSize); + + return AdjustWeight (QueryCreateVoxel (x,y,z), p - transform.position, obs, weight); + } + + + /** + * Clears data from the meshing cube + */ + public void Clear() { + + if(m_vertices != null) + m_vertices.Clear (); + if(m_triangles != null) + m_triangles.Clear (); + if (m_normals != null) + m_normals.Clear (); + if(m_uvs != null) + m_uvs.Clear (); + if(voxelStorage != null) + voxelStorage.Clear (); + if (m_meshFilter != null) { + if (m_meshFilter.sharedMesh != null) { + m_meshFilter.sharedMesh.Clear (); + } + } + + isDirty = true; + } + + /** + * Walks through the voxel space prior to meshing to ensure all populated voxel have neighbors that are below the isosurface. + * Having populated voxels surrounded by neighbors below the isosurface is required to create valid meshes. + */ + void PrepareVoxels() { + + //for each voxel above ISO, making sure neighboring lower voxels exist + foreach (VoxelHashTree t in voxelStorage.GetEnumerable()) { + Voxel v = t.Voxel; + + if (v == null) { + Debug.Log("Error: Prepare Voxels - VoxelTree has null voxel"); + continue; + } + + //clear the stored triangle data used to compute voxel normal + v.trianglesIndicies.Clear(); + + if(v.neighborsCreated) + continue; + + //create lower padding voxels as needed, so marching cubes will work correctly + if(v.value > m_meshingIsolevel) { + + //neighboring 8 + QueryCreateVoxel(v.xID-1, v.yID-1, v.zID); + QueryCreateVoxel(v.xID-1, v.yID, v.zID); + QueryCreateVoxel(v.xID-1, v.yID+1, v.zID); + + QueryCreateVoxel(v.xID, v.yID-1, v.zID); + QueryCreateVoxel(v.xID, v.yID+1, v.zID); + + QueryCreateVoxel(v.xID+1, v.yID-1, v.zID); + QueryCreateVoxel(v.xID+1, v.yID, v.zID); + QueryCreateVoxel(v.xID+1, v.yID+1, v.zID); + + //upper 9 + QueryCreateVoxel(v.xID-1, v.yID-1, v.zID+1); + QueryCreateVoxel(v.xID-1, v.yID, v.zID+1); + QueryCreateVoxel(v.xID-1, v.yID+1, v.zID+1); + + QueryCreateVoxel(v.xID, v.yID+1, v.zID+1); + QueryCreateVoxel(v.xID, v.yID, v.zID+1); + QueryCreateVoxel(v.xID, v.yID-1, v.zID+1); + + QueryCreateVoxel(v.xID+1, v.yID-1, v.zID+1); + QueryCreateVoxel(v.xID+1, v.yID, v.zID+1); + QueryCreateVoxel(v.xID+1, v.yID+1, v.zID+1); + + //lower 9 + QueryCreateVoxel(v.xID-1, v.yID-1, v.zID-1); + QueryCreateVoxel(v.xID-1, v.yID, v.zID-1); + QueryCreateVoxel(v.xID-1, v.yID+1, v.zID-1); + + QueryCreateVoxel(v.xID, v.yID+1, v.zID-1); + QueryCreateVoxel(v.xID, v.yID, v.zID-1); + QueryCreateVoxel(v.xID, v.yID-1, v.zID-1); + + QueryCreateVoxel(v.xID+1, v.yID-1, v.zID-1); + QueryCreateVoxel(v.xID+1, v.yID, v.zID-1); + QueryCreateVoxel(v.xID+1, v.yID+1, v.zID-1); + + v.neighborsCreated = true; + } + } + } + + /** + * Calculate the UV coordinates for a triangle. + * @param ia first triangle vertex index + * @param ib second triangle vertex index + * @param ix third triangle vertex index + */ + void CalculateUVs(int ia, int ib, int ic) { + //likely bug, if it winds down to the last face + //it forces it to be valid, which will alter + //an existing face without checking that face + //may not be resolvable without doing a full + //3-color graph solver + + if(m_uvs[ia] == uvOptions[0]){ + if(m_uvs[ib] == uvOptions[0]){ + if(m_uvs[ic] == uvOptions[0]){ + m_uvs[ia] = uvOptions[1]; + m_uvs[ib] = uvOptions[2]; + m_uvs[ic] = uvOptions[3]; + } + else if(m_uvs[ic] == uvOptions[1]){ + m_uvs[ia] = uvOptions[2]; + m_uvs[ib] = uvOptions[3]; + } + else if(m_uvs[ic] == uvOptions[2]){ + m_uvs[ia] = uvOptions[1]; + m_uvs[ib] = uvOptions[3]; + } + else if(m_uvs[ic] == uvOptions[3]){ + m_uvs[ia] = uvOptions[1]; + m_uvs[ib] = uvOptions[2]; + } + } + else if(m_uvs[ib] == uvOptions[1]){ + if(m_uvs[ic] == uvOptions[0]){ + m_uvs[ia] = uvOptions[2]; + m_uvs[ic] = uvOptions[3]; + } + else if(m_uvs[ic] == uvOptions[2]){ + m_uvs[ia] = uvOptions[1]; + } + else if(m_uvs[ic] == uvOptions[3]){ + m_uvs[ia] = uvOptions[2]; + } + } + else if(m_uvs[ib] == uvOptions[2]){ + if(m_uvs[ic] == uvOptions[0]){ + m_uvs[ia] = uvOptions[1]; + m_uvs[ic] = uvOptions[3]; + } + else if(m_uvs[ic] == uvOptions[1]){ + m_uvs[ia] = uvOptions[3]; + } + else if(m_uvs[ic] == uvOptions[3]){ + m_uvs[ia] = uvOptions[1]; + } + } + else if(m_uvs[ib] == uvOptions[3]){ + if(m_uvs[ic] == uvOptions[0]){ + m_uvs[ia] = uvOptions[1]; + m_uvs[ic] = uvOptions[2]; + } + else if(m_uvs[ic] == uvOptions[1]){ + m_uvs[ia] = uvOptions[2]; + } + else if(m_uvs[ic] == uvOptions[2]){ + m_uvs[ia] = uvOptions[1]; + } + } + } + else if(m_uvs[ia] == uvOptions[1]){ + if((m_uvs[ib] == uvOptions[0])||(m_uvs[ib] == uvOptions[1])){ + if(m_uvs[ic] == uvOptions[0]){ + m_uvs[ib] = uvOptions[2]; + m_uvs[ic] = uvOptions[3]; + } + else if(m_uvs[ic] == uvOptions[2]){ + m_uvs[ib] = uvOptions[3]; + } + else if(m_uvs[ic] == uvOptions[3]){ + m_uvs[ib] = uvOptions[2]; + } + } + else if(m_uvs[ib] == uvOptions[2]){ + m_uvs[ic] = uvOptions[3]; + } + else if(m_uvs[ib] == uvOptions[3]){ + m_uvs[ic] = uvOptions[2]; + } + } + else if(m_uvs[ia] == uvOptions[2]){ + if((m_uvs[ib] == uvOptions[0])||(m_uvs[ib] == uvOptions[2])){ + if(m_uvs[ic] == uvOptions[0]){ + m_uvs[ib] = uvOptions[1]; + m_uvs[ic] = uvOptions[3]; + } + else if(m_uvs[ic] == uvOptions[1]){ + m_uvs[ib] = uvOptions[3]; + } + else if(m_uvs[ic] == uvOptions[3]){ + m_uvs[ib] = uvOptions[1]; + } + } + else if(m_uvs[ib] == uvOptions[1]){ + m_uvs[ic] = uvOptions[3]; + } + else if(m_uvs[ib] == uvOptions[3]){ + m_uvs[ic] = uvOptions[1]; + } + } + if(m_uvs[ia] == uvOptions[3]){ + if((m_uvs[ib] == uvOptions[0])||(m_uvs[ib] == uvOptions[3])){ + if(m_uvs[ic] == uvOptions[0]){ + m_uvs[ib] = uvOptions[1]; + m_uvs[ic] = uvOptions[2]; + } + else if(m_uvs[ic] == uvOptions[1]){ + m_uvs[ib] = uvOptions[2]; + } + else if(m_uvs[ic] == uvOptions[2]){ + m_uvs[ib] = uvOptions[1]; + } + } + else if(m_uvs[ib] == uvOptions[1]){ + m_uvs[ic] = uvOptions[2]; + } + else if(m_uvs[ib] == uvOptions[2]){ + m_uvs[ic] = uvOptions[1]; + } + } + } + + /** + * For a given voxel, execute the polygonization algorithm to generate mesh vertices, triangles, normals, and UVs. + * @param v the voxel to mesh + * @return number of created triangles + */ + int Polygonize(Voxel v) { + if (v == null) + return 0; + + //allows us to track if the mesh is dirty and needs updating + //needs to be above the early exit checks, otherwise voxels + //keep getting marked as dirty + v.lastMeshedValue = v.value; + + //keep the meshing within the volume bounds + if (v.xID >= m_voxelResolution) + return 0; + if (v.yID >= m_voxelResolution) + return 0; + if (v.zID >= m_voxelResolution) + return 0; + if (v.xID < 0) + return 0; + if (v.yID < 0) + return 0; + if (v.zID < 0) + return 0; + + Voxel v0 = v; + + //this conditions te input to the polygonize, and make sure all the neighbors have valid entries + //if all input voxels are gauranteed to not be edge voxels, this may not be necessary. + + //OPIMTIZATION - voxel can store meshing neighbors, rather than query each + //skip if they are null + Voxel v1 = QueryVoxel(v.xID+1, v.yID, v.zID); + if (v1 == null) + return 0; + Voxel v2 = QueryVoxel(v.xID+1, v.yID+1, v.zID); + if (v2 == null) + return 0; + Voxel v3 = QueryVoxel(v.xID, v.yID+1, v.zID); + if (v3 == null) + return 0; + Voxel v4 = QueryVoxel(v.xID, v.yID, v.zID+1); + if (v4 == null) + return 0; + Voxel v5 = QueryVoxel(v.xID+1, v.yID, v.zID+1); + if (v5 == null) + return 0; + Voxel v6 = QueryVoxel(v.xID+1, v.yID+1, v.zID+1); + if (v6 == null) + return 0; + Voxel v7 = QueryVoxel(v.xID, v.yID+1, v.zID+1); + if (v7 == null) + return 0; + + int triangleStart = m_triangles.Count; + int createdTriangles = Polygonizer.Process(m_meshingIsolevel, + v0.value, + v1.value, + v2.value, + v3.value, + v4.value, + v5.value, + v6.value, + v7.value, + v0.anchor, + v1.anchor, + v2.anchor, + v3.anchor, + v4.anchor, + v5.anchor, + v6.anchor, + v7.anchor, + ref m_vertices,ref m_triangles); + + //compute per vertex normal + int addedVertCount = 0; + while (m_normals.Count < m_vertices.Count) { + m_normals.Add(new Vector3(0,1,0)); + m_uvs.Add (new Vector2 (-1, -1)); + addedVertCount++; + } + + for (int i = triangleStart; i < m_triangles.Count; i += 3) { + v.trianglesIndicies.Add(i);//add it to each voxel this impacted? + + int ia = m_triangles[i]; + int ib = m_triangles[i+1]; + int ic = m_triangles[i+2]; + Vector3 a = m_vertices[ia]; + Vector3 b = m_vertices[ib]; + Vector3 c = m_vertices[ic]; + + Vector3 n = Vector3.Cross(a-b,b-c).normalized; + m_normals[ia] = n; + m_normals[ib] = n; + m_normals[ic] = n; + + CalculateUVs(ia,ib,ic); + } + + //adjust per voxel normal + + return createdTriangles; + } + + /** + * EXPERIMENTAL - simplfying planar sections of the mesh + */ + public void SimplifyPlanarGroup(Voxel v0, Voxel v1, Voxel v2, Voxel v3) { + + Voxel[] voxels = new Voxel[4]; + voxels [0] = v0; + voxels [1] = v1; + voxels [2] = v2; + voxels [3] = v3; + + int totalTriangles = 0; + Vector3 averageNormal = new Vector3 (0, 0, 0); + List triIndicies = new List(); + + foreach (Voxel v in voxels) { + if(v == null) + return; + if(v.trianglesIndicies.Count != 2)//only do planar groups right now + return; + totalTriangles += v.trianglesIndicies.Count; + foreach(int triIndex in v.trianglesIndicies) + averageNormal += m_normals[m_triangles[triIndex]]; + } + + averageNormal /= totalTriangles; + + //too contentious + if (averageNormal.magnitude < 0.75f) + return; + + //we have 4 voxel neighors with triangles + //see if the normals are within tolernace + + float variance = 0; + foreach (Voxel v in voxels) { + foreach(int triIndex in v.trianglesIndicies) { + variance += Vector3.SqrMagnitude(m_normals[m_triangles[triIndex]]-averageNormal); + triIndicies.Add(triIndex); + } + } + variance /= totalTriangles; + + if (variance > 0.05) + return; + + //we have triangles in a plane + + Vector3 avg = new Vector3 (); + foreach (int index in triIndicies) { + avg += m_vertices[m_triangles[index]]; + avg += m_vertices[m_triangles[index+1]]; + avg += m_vertices[m_triangles[index+2]]; + } + avg /= totalTriangles * 3; + + foreach (int index in triIndicies) { + bool remove = false; + if(Vector3.SqrMagnitude(m_vertices[m_triangles[index]]-avg) < 0.05f) { + remove = true; + } + if(Vector3.SqrMagnitude(m_vertices[m_triangles[index+1]]-avg) < 0.05f) { + remove = true; + } + if(Vector3.SqrMagnitude(m_vertices[m_triangles[index+2]]-avg) < 0.05f) { + remove = true; + } + + if(remove) { + m_triangles.RemoveAt(index); + m_triangles.RemoveAt(index+1); + m_triangles.RemoveAt(index+2); + } + } + + DebugDrawing.CrossX(avg + transform.position, 0.01f, Color.magenta); + + //lets create the neighbor graph + + } + + /** + * EXPERIMENTAL - simpligy planar parts of the mesh + */ + public void SimplifyByVoxel(Voxel v) { + //this conditions te input to the polygonize, and make sure all the neighbors have valid entries + //if all input voxels are gauranteed to not be edge voxels, this may not be necessary. + Voxel v0 = v; + Voxel v1 = QueryVoxel(v.xID+1, v.yID, v.zID); + Voxel v2 = QueryVoxel(v.xID+1, v.yID+1, v.zID); + Voxel v3 = QueryVoxel(v.xID, v.yID+1, v.zID); + Voxel v4 = QueryVoxel(v.xID, v.yID, v.zID+1); + Voxel v5 = QueryVoxel(v.xID+1, v.yID, v.zID+1); + Voxel v6 = QueryVoxel(v.xID, v.yID+1, v.zID+1); + + //three planar directions.. diagonals aren't necessary? + SimplifyPlanarGroup (v0, v1, v2, v3); + SimplifyPlanarGroup (v0, v1, v4, v5); + SimplifyPlanarGroup (v0, v2, v3, v6); + } + + /** + * Rebuild the Unity mesh + * @return 1 if successful, -1 if there was an error + */ + + public int RegenerateMesh() { + + if (!isDirty) + return 0; + if (m_isRegenerating) + return 0; + + if (m_meshFilter == null) { + Debug.Log ("mesh filter is null"); + return -1; + } + + Mesh mesh = m_meshFilter.sharedMesh; + if (mesh == null){ + Debug.Log ("shared mesh was null, creating new"); + m_meshFilter.mesh = new Mesh(); + mesh = m_meshFilter.sharedMesh; + } + + if (mesh == null) { + Debug.Log("mesh is null"); + return -1; + } + + m_isRegenerating = true; + + mesh.Clear (); + m_vertices.Clear (); + m_triangles.Clear (); + m_normals.Clear (); + m_uvs.Clear (); + + PrepareVoxels (); + + foreach (VoxelHashTree t in voxelStorage.GetEnumerable()) { + if (t.Voxel == null) { + Debug.Log ("Error: VoxelTree has null voxel"); + continue; + } + + if(Polygonize(t.Voxel) == 0) { + //no triangles were created, consider deleting this voxel? + //just delecting, causes a lot of re-creation. need o be smarter + } + } + + SetMesh(); + isDirty = false; + m_isRegenerating = false; + + return 1; + } + + /** + * Update the Unity Meshfilter data. + */ + + public void SetMesh() { + if (m_vertices == null) { + Debug.Log("vertices null"); + return; + } + if (m_normals == null) { + Debug.Log("normals null"); + return; + } + if (m_uvs == null) { + Debug.Log("uvs null"); + return; + } + if (m_triangles == null) { + Debug.Log("triangles null"); + return; + } + + if (m_meshFilter == null) { + Debug.Log("mf is null"); + return; + } + + Mesh mesh = m_meshFilter.sharedMesh; + if (mesh == null){ + m_meshFilter.mesh = new Mesh(); + mesh = m_meshFilter.sharedMesh; + } + + if (mesh == null) { + Debug.Log("mesh is null"); + return; + } + mesh.Clear (); + mesh.MarkDynamic(); + mesh.vertices = m_vertices.ToArray(); + mesh.normals = m_normals.ToArray(); + mesh.uv = m_uvs.ToArray (); + + if (mesh.vertices == null) { + Debug.Log("mesh vertices null"); + return; + } + + if (mesh.normals == null) { + Debug.Log("mesh normals null"); + return; + } + + if (mesh.uv == null) { + Debug.Log("mesh uv null"); + return; + } + + mesh.triangles = m_triangles.ToArray(); + + if (mesh.triangles == null) { + Debug.Log("mesh triangles null"); + return; + } + + mesh.RecalculateBounds (); + mesh.Optimize (); + + GetComponent().sharedMesh = null; + GetComponent().sharedMesh = mesh; + } + + /** + * Debug Draw the normals + */ + + public void DebugDrawNormals() { + for (int i =0; i < m_vertices.Count; i++) { + Vector3 p = transform.position + m_vertices[i]; + Debug.DrawLine (p,p + m_normals[i]*m_voxelSize,Color.red); + } + } + + /** + * Update called once per frame + */ + void Update () { + } +} diff --git a/ExperimentalProjects/MeshBuilder/Assets/Scripts/DynamicMeshVolume.cs.meta b/ExperimentalProjects/MeshBuilder/Assets/Scripts/DynamicMeshCube.cs.meta similarity index 100% rename from ExperimentalProjects/MeshBuilder/Assets/Scripts/DynamicMeshVolume.cs.meta rename to ExperimentalProjects/MeshBuilder/Assets/Scripts/DynamicMeshCube.cs.meta diff --git a/ExperimentalProjects/MeshBuilder/Assets/Scripts/DynamicMeshManager.cs b/ExperimentalProjects/MeshBuilder/Assets/Scripts/DynamicMeshManager.cs index 590fba24..19b5a278 100644 --- a/ExperimentalProjects/MeshBuilder/Assets/Scripts/DynamicMeshManager.cs +++ b/ExperimentalProjects/MeshBuilder/Assets/Scripts/DynamicMeshManager.cs @@ -1,4 +1,4 @@ -/* +/* * Copyright 2014 Google Inc. All Rights Reserved. * * Licensed under the Apache License, Version 2.0 (the "License"); @@ -18,360 +18,308 @@ using System; using System.Collections; using System.Collections.Generic; - -//uses a spatial hash key and a binary tree to store sparse volumetric data -public class VolumetricHashStorage { - - private VolumetricHashStorage leftHashTree = null; - private VolumetricHashStorage rightHashTree = null; - private VolumetricHashStorage root = null; - - private GameObject meshingCube = null; - private DynamicMeshVolume grid = null; - private int[] cellIndex = new int[3]; - - private int key = 0; - private int dimension = 1000;//supports +/- 500m from origin along each axis - - public VolumetricHashStorage(VolumetricHashStorage parent, int hashkey) { - if (parent == null) - root = this; - else - root = parent; - - key = hashkey; - } - - public DynamicMeshVolume Grid { - get { - return grid; - } - } - - private void Instantiate(int hashkey, GameObject prefab, Transform parent, int gridCellDivisions) { - int x, y, z; - GetReverseHashKey(hashkey, out x, out y, out z); - meshingCube = (GameObject)GameObject.Instantiate (prefab); - meshingCube.transform.position = new Vector3 (x, y, z); - meshingCube.transform.parent = parent; - grid = meshingCube.GetComponent (); - grid.SetProperties (gridCellDivisions); - grid.Key = hashkey; - } - - //IEnumerator and IEnumerable require these methods. - public IEnumerable GetEnumerable() - { - if (leftHashTree != null) - foreach(VolumetricHashStorage n in leftHashTree.GetEnumerable()) - yield return n; - yield return this; - if (rightHashTree != null) - foreach (VolumetricHashStorage n in rightHashTree.GetEnumerable()) - yield return n; - } - - //hash function is simply a floor function of the x,y,z coordinates - public int GetHashKey(Vector3 p) { - return (int)Mathf.Floor (p.x) + (int)(dimension * Mathf.Floor (p.y)) + (int)(dimension*dimension * Mathf.Floor (p.z)); - } - - private void GetReverseHashKey(int index, out int x, out int y, out int z) { - int flipLimit = dimension / 2; - int temp = index; - - x = temp % dimension; - if (x > flipLimit) //x is negative, but opposite sign of y - x = x - dimension; - if (x < -flipLimit) //x is positive, but opposite sign of y - x = dimension + x; - temp -= x; - temp /= dimension; - - y = temp % dimension; - if (y > flipLimit) - y = y - dimension;//y is negative, but opposite sign of z - if (y < -flipLimit) - y = dimension + y;//y is positive, but opposite sign of z - - temp -= y; - z = temp/dimension; - } - - public float InsertPoint(Vector3 p, Vector3 n, float weight, GameObject prefab, Transform parent, int cellDivisions) { - int hashKey = GetHashKey(p); - return InsertPoint (hashKey, p, n, weight, prefab, parent, cellDivisions); - } - - private float InsertPoint(int hashkey, Vector3 p, Vector3 n, float weight, GameObject prefab, Transform parent, int cellDivisions) { - - if (key == hashkey) { - - if(meshingCube == null) { - Instantiate(hashkey, prefab, parent, cellDivisions); - } - - if(grid == null) - grid = meshingCube.GetComponent (); - - //adjust weight of mutiple voxels along observation ray - float result = grid.InsertPoint(p, n, weight, ref cellIndex); - Vector3 closerPoint = p-n*grid.GridCellSize.x; - Vector3 furtherPoint = p+n*grid.GridCellSize.x; - //voxel was inside the surface, back out one, and insert in the next closest voxel - if(result > 0) - grid.InsertPoint(closerPoint, p, n, weight); - else - grid.InsertPoint(furtherPoint, p, n, weight); - - - if(cellIndex[0] == 0) { - int neighborHashKey = hashkey - 1; - result = root.InsertPoint(neighborHashKey, p,n,weight,prefab,parent,cellDivisions); - } - if(cellIndex[1] == 0) { - int neighborHashKey = hashkey - dimension; - result = root.InsertPoint(neighborHashKey, p,n,weight,prefab,parent,cellDivisions); - } - if(cellIndex[2] == 0) { - int neighborHashKey = hashkey - dimension*dimension; - result = root.InsertPoint(neighborHashKey, p,n,weight,prefab,parent,cellDivisions); - } - - return result; - } - - if(hashkey < key) { - if(leftHashTree == null) - leftHashTree = new VolumetricHashStorage(root, hashkey); - return leftHashTree.InsertPoint(hashkey, p, n, weight, prefab, parent, cellDivisions); - } else { - if(rightHashTree == null) - rightHashTree = new VolumetricHashStorage(root, hashkey); - return rightHashTree.InsertPoint(hashkey, p, n, weight, prefab, parent, cellDivisions); - } - } - - public VolumetricHashStorage Query(int hashKey) { - if (hashKey == key) { - return this; - } - if(hashKey < key) { - if(leftHashTree != null) - return leftHashTree.Query(hashKey); - } else { - if(rightHashTree != null) - return rightHashTree.Query(hashKey); - } - return null; - } - - public void Clear() { - if (leftHashTree != null) { - leftHashTree.Clear (); - leftHashTree = null; - } - if (rightHashTree != null) { - rightHashTree.Clear (); - rightHashTree = null; - } - - if (grid != null) { - grid.Clear (); - } - - if (meshingCube != null) { - GameObject.DestroyImmediate (meshingCube); - meshingCube = null; - } - } - - public void ComputeStats(ref int vertCount, ref int triangleCount, ref int nodeCount) { - if (leftHashTree != null) - leftHashTree.ComputeStats(ref vertCount, ref triangleCount, ref nodeCount); - if (grid != null) { - vertCount += grid.Vertices.Count; - triangleCount += grid.Triangles.Count; - } - nodeCount++; - - if (rightHashTree != null) - rightHashTree.ComputeStats(ref vertCount, ref triangleCount, ref nodeCount); - } - - public void UpdateMeshes() { - if (leftHashTree != null) - leftHashTree.UpdateMeshes(); - if (grid != null) - if(grid.IsDirty) - grid.RegenerateMesh (); - if (rightHashTree != null) - rightHashTree.UpdateMeshes(); - return; - } - - public void Draw() { - if (leftHashTree != null) - leftHashTree.Draw(); - if (grid != null) { - grid.Draw(); - } - if (rightHashTree != null) - rightHashTree.Draw(); - } -} - +/** + * DynamicMeshManager + * This class handles all of the administrative work of inserting points, creating new meshes, + * queueing meshes to be regenerated. Meshing volumes are allocated dynamically in a unit cube grid. + * When points are inserted into the mesh manager, it creates and updates the appropriate mesh cube. + * Mesh cubes that are marked dirty, at processed in the queue each frame. If the user spends a lot + * of time in the same space, the number of meshing cubes that need to be updated should slowly approach zero. + * The mesh geometery is available to any other Unity tool such as hit testing of path planning. + */ public class DynamicMeshManager : MonoBehaviour { - public GameObject meshingCubePrefab; - public int gridCellDivisions = 10; - public float meshingTimeBudgetMS = 10; - - private int totalVerts = 0; - private int totalTriangles = 0; - private int insertCount = 0; - private int nodeCount = 0; - private bool clearing = false; - - private Queue regenerationQueue = new Queue (); - - private VolumetricHashStorage dynamicMeshStorage = new VolumetricHashStorage(null, 0); - private float remeshingTime = 0; - private int remeshingCount = 5; - private float insertionTime = 0; - private float smoothing = 0.97f; - private float lastDequeTime = 0; - private float lastUpdateTime = 0; - - private DynamicMeshVolume selectedVolume = null; - - public Camera mainCamera; - public GameObject hitCursor; - - [HideInInspector] - public int depthPointCount = 0; - - // Use this for initialization - void Start () { - } - - public void InsertPoint(Vector3 p, Vector3 n, float weight) { - if (clearing) - return; - dynamicMeshStorage.InsertPoint(p,n,weight, meshingCubePrefab, transform, gridCellDivisions); - insertCount++; - } - - public float Smoothing { - get { - return smoothing; - } - set { - smoothing = value; - } - } - - public float InsertionTime { - get { - return insertionTime; - } - set { - insertionTime = value; - } - } - - public void QueueDirtyMeshesForRegeneration() { - if (clearing) - return; - //enque dirty meshes - int count = 0; - foreach (VolumetricHashStorage o in dynamicMeshStorage.GetEnumerable()) { - count += 1; - if(o.Grid == null) - continue; - - if(o.Grid.IsDirty) { - if(!regenerationQueue.Contains(o.Grid)) - regenerationQueue.Enqueue(o.Grid); - } - } - } - - public void UpdateStats() { - totalVerts = 0; - totalTriangles = 0; - nodeCount = 0; - dynamicMeshStorage.ComputeStats (ref totalVerts, ref totalTriangles, ref nodeCount); - } - - public void Clear() { - //i think this causes a thread contention because we are updating the mesh in the Update call - clearing = true; - insertCount = 0; - regenerationQueue.Clear (); - dynamicMeshStorage.Clear (); - clearing = false; - } - - void OnGUI() - { - GUI.Label(new Rect(10,20,1000,30), "Persistent Path: " + Application.persistentDataPath); - GUI.Label(new Rect(10,40,1000,30), "Total Verts/Triangles: " + totalVerts + "/" + totalTriangles + " Nodes: " + nodeCount + " UpdateQueue:" + regenerationQueue.Count); - GUI.Label(new Rect(10,60,1000,30), "Insert Count: " + insertCount); - GUI.Label(new Rect(10,80,1000,30), "RemeshingTime: " + remeshingTime.ToString("F6") + " Remeshing Count: " + remeshingCount); - GUI.Label(new Rect(10,100,1000,30), "InsertionTime: " + insertionTime.ToString("F6")); - GUI.Label(new Rect(10,120,1000,30), "Last Deque Time: " + lastDequeTime.ToString("F6")); - GUI.Label(new Rect(10,140,1000,30), "Last Update Time2: " + lastUpdateTime.ToString("F6")); - GUI.Label(new Rect(10,160,1000,30), "Depth Points: " + depthPointCount); - - if (GUI.Button (new Rect (Screen.width - 160, 20, 140, 80), "Clear")) { - Clear(); - } - } - - // Update is called once per frame - void Update () { - lastUpdateTime = Time.realtimeSinceStartup; - - //update 1 cell in the top of queue - if (remeshingCount < 1) - remeshingCount = 1; - - for(int i = 0; i < remeshingCount; i++) { - if(regenerationQueue.Count == 0) - break; - lastDequeTime = Time.realtimeSinceStartup; - float start = Time.realtimeSinceStartup; - ((DynamicMeshVolume)regenerationQueue.Dequeue ()).RegenerateMesh(); - float stop = Time.realtimeSinceStartup; - remeshingTime = smoothing*remeshingTime + (1.0f-smoothing)*(stop - start); - } - if(remeshingTime > float.Epsilon) - remeshingCount = (int)(meshingTimeBudgetMS*0.001f / remeshingTime); - - UpdateStats (); - -// if (Input.GetMouseButtonDown (0)) { -// RaycastHit hitInfo = new RaycastHit (); -// Ray ray = mainCamera.ScreenPointToRay (new Vector3 (Input.mousePosition.x, Input.mousePosition.y, 0)); -// if (Physics.Raycast (ray, out hitInfo, 4,1)) { -// hitCursor.transform.position = hitInfo.point; -// selectedVolume = hitInfo.collider.gameObject.GetComponent(); -// int index = selectedVolume.Triangles[hitInfo.triangleIndex*3]; -// -// Debug.Log(selectedVolume + " " + selectedVolume.Uvs[index] + " " + selectedVolume.Uvs[index+1] + " " + selectedVolume.Uvs[index+2] + " query:" + hitInfo.textureCoord); -// } -// } - - if (selectedVolume != null) { -// selectedGrid.Draw (); -// selectedGrid.SimplifyMesh(); -// selectedGrid.SetMesh(); - } - - if (Input.GetKeyDown (KeyCode.C)) - Clear (); - - - } + /** + * Prefab that gets instantiated when new cube volumes are needed. + * It has the DynamicMeshingCube script + */ + public GameObject m_meshingCubePrefab; + + /** + * Resolution of the cube meshes. Specifies divisions per meter. + */ + public int m_voxelResolution = 10; + + /** + * The amount of time per frame allowed to be spend on mesh regeneration. + */ + public float m_meshingTimeBudgetMS = 10; + + /** + * Keeps track of total vertices in the mesh system. + */ + private int m_totalVertices = 0; + + /** + * Keeps track of the total triangles in the system. + */ + private int m_totalTriangles = 0; + + /** + * Keeps track of the total points that have been inserted. + */ + private int m_insertCount = 0; + + /** + * Keeps track of the total number of meshing cubes created. + */ + private int m_totalMeshCubes = 0; + + /** + * Flag to let the update and insertion threads know it is being cleared. + */ + private bool m_isClearing = false; + + /** + * Queue for tracking which meshing cubes need to be regenerated. + */ + private Queue m_regenerationQueue = new Queue (); + + /** + * HashTree datastructure for storing the meshing cubes. + */ + private VolumetricHashTree m_meshStorage = new VolumetricHashTree(null, 0); + + /** + * Keeps track of how long was spent remeshing each frame. + */ + private float m_remeshingTime = 0; + + /** + * Limit on the number of meshes that can be remeshed each frame. + */ + private int m_maximumRemeshingCountPerFrame = 1; + + /** + * Keeps track of the time spend inserting points each depth frame update + */ + private float m_pointInsertionTime = 0; + + /** + * Smoothing variable for FPS-like measurements + */ + private float m_frameRateSmoothing = 0.97f; + + /** + * Keeps track of the last time the meshing system receive an Update + */ + private float m_lastUpdateTime = 0; + + /** + * Keeps track of the number of rendering frames updated. + */ + private int m_frameCount = 0; + + /** + * Handle for the main camera, primarily to set position when in dataset playback. + */ + public Camera m_mainCamera; + + /** + * Storage of the voxels that are intersected with a raycast test. + */ + List m_raycastHits = null; + + /** + * Flag for raycast development testing. + */ + public bool m_raycastTesting; + + /** + * Testing for raycast development. + */ + Vector3 m_raycastStart; + + /** + * Testing for raycast development. + */ + Vector3 m_raycastStop; + + + float m_meshingStart = 0; + float m_meshingStop = 0; + + /** + * Used for initialization. + */ + void Start () { + + } + + /** + * Gets the time smoothing parameter. + */ + public float TimeSmoothing { + get { + return m_frameRateSmoothing; + } + set { + m_frameRateSmoothing = value; + } + } + + /** + * Gets the point insertion time. + */ + public float InsertionTime { + get { + return m_pointInsertionTime; + } + set { + m_pointInsertionTime = value; + } + } + + /** + * Insert a point into the meshing volumes. + * @param p the 3D point to be inserted + * @param obs the direction of the observation vector from the camera toward the point + * @param w weight of the observation + */ + public void InsertPoint(Vector3 p, Vector3 obs, float weight) { + if (m_isClearing) + return; + m_meshStorage.InsertPoint(p,obs,weight, m_meshingCubePrefab, transform, m_voxelResolution); + m_insertCount++; + } + + /** + * Searches for meshing cubes that have been mark dirty and adds them to the queue for remeshing. + */ + public void QueueDirtyMeshesForRegeneration() { + if (m_isClearing) + return; + + //enque dirty meshes + int count = 0; + foreach (VolumetricHashTree o in m_meshStorage.GetEnumerable()) { + count += 1; + if(o.DynamicMeshCube == null) + continue; + + if(o.DynamicMeshCube.IsDirty) { + if(!m_regenerationQueue.Contains(o.DynamicMeshCube)) + m_regenerationQueue.Enqueue(o.DynamicMeshCube); + } + } + } + + /** + * Print out debug information for each of the meshing cubes. + */ + public void PrintDebugInfo() { + foreach (VolumetricHashTree o in m_meshStorage.GetEnumerable()) { + if(o.DynamicMeshCube == null) + continue; + o.DynamicMeshCube.PrintDebugInfo(); + } + } + + /** + * Recompute statistics about the meshing cubes. + */ + public void UpdateStats() { + m_totalVertices = 0; + m_totalTriangles = 0; + m_totalMeshCubes = 0; + m_meshStorage.ComputeStats (ref m_totalVertices, ref m_totalTriangles, ref m_totalMeshCubes); + } + + + /** + * Clears all meshing data. + */ + public void Clear() { + //i think this causes a thread contention because we are updating the mesh in the Update call + m_isClearing = true; + m_insertCount = 0; + m_regenerationQueue.Clear (); + m_meshStorage.Clear (); + m_isClearing = false; + } + + /** + * Displays statistics and diagnostics information about the meshing cubes + */ + void OnGUI() + { + GUI.Label(new Rect(10,20,1000,30), "Persistent Path: " + Application.persistentDataPath); + GUI.Label(new Rect(10,40,1000,30), "Total Verts/Triangles: " + m_totalVertices + "/" + m_totalTriangles + " Volumes: " + m_totalMeshCubes + " UpdateQueue:" + m_regenerationQueue.Count); + GUI.Label(new Rect(10,60,1000,30), "Insert Count: " + m_insertCount); + GUI.Label(new Rect(10,80,1000,30), "RemeshingTime: " + m_remeshingTime.ToString("F6") + " Remeshing Count: " + m_maximumRemeshingCountPerFrame); + GUI.Label(new Rect(10,100,1000,30), "InsertionTime: " + m_pointInsertionTime.ToString("F6")); + GUI.Label(new Rect(10,120,1000,30), "Last Update Time: " + m_lastUpdateTime.ToString("F6")); + GUI.Label(new Rect(10,140,1000,30), "Version: " + "15.06.05"); + + if (GUI.Button (new Rect (Screen.width - 160, 20, 140, 80), "Clear")) { + Clear(); + } + } + + /** + * Update is called once per frame and progressively remeshes volumes that are in the queue. + */ + void Update () { + m_frameCount++; + + + int meshUpdateCount = 0; + + //update 1 cell in the top of queue + if (m_maximumRemeshingCountPerFrame < 1) + m_maximumRemeshingCountPerFrame = 1; + if (m_maximumRemeshingCountPerFrame > 10) + m_maximumRemeshingCountPerFrame = 10; + + { + for(int i = 0; i < m_maximumRemeshingCountPerFrame; i++) { + if(m_regenerationQueue.Count == 0) { + if((m_meshingStart != 0)&&(m_meshingStop == 0)) { + m_meshingStop = UnityEngine.Time.realtimeSinceStartup; + Debug.Log("Meshing time: " + (m_meshingStop - m_meshingStart)); + } + break; + } + + if(m_meshingStart == 0) + m_meshingStart = UnityEngine.Time.realtimeSinceStartup; + + float start = Time.realtimeSinceStartup; + ((DynamicMeshCube)m_regenerationQueue.Dequeue ()).RegenerateMesh(); + float stop = Time.realtimeSinceStartup; + m_remeshingTime = m_frameRateSmoothing*m_remeshingTime + (1.0f-m_frameRateSmoothing)*(stop - start); + meshUpdateCount++; + } + if(m_remeshingTime > float.Epsilon) + m_maximumRemeshingCountPerFrame = (int)(m_meshingTimeBudgetMS*0.001f / m_remeshingTime); + UpdateStats (); + } + + if (m_raycastTesting) { + m_raycastStart = m_mainCamera.transform.position; + m_raycastStop = m_mainCamera.transform.position + m_mainCamera.transform.forward*5; + + m_raycastHits = m_meshStorage.RaycastVoxelHitlist(m_raycastStart, m_raycastStop); + + if(m_raycastHits == null) { + Debug.Log("Error Dynamic Mesh - Raycast returned null"); + } + + if(m_raycastHits.Count == 0) { + Debug.DrawLine(m_raycastStart, m_raycastStop,Color.red); + }else { + foreach(Voxel v in m_raycastHits) { + Vector3 voxelSize = new Vector3(v.size,v.size,v.size)/2; + Vector3 min = v.anchor + v.parent.position - voxelSize; + Vector3 max = v.anchor + v.parent.position + voxelSize; + DebugDrawing.Box(min, max,Color.green); + } + Debug.DrawLine(m_raycastStart, m_raycastStop,Color.green); + } + } + + if (Input.GetKeyDown (KeyCode.C)) + Clear (); + + } } diff --git a/ExperimentalProjects/MeshBuilder/Assets/Scripts/DynamicMeshVolume.cs b/ExperimentalProjects/MeshBuilder/Assets/Scripts/DynamicMeshVolume.cs deleted file mode 100644 index 379aeb60..00000000 --- a/ExperimentalProjects/MeshBuilder/Assets/Scripts/DynamicMeshVolume.cs +++ /dev/null @@ -1,703 +0,0 @@ -/* - * Copyright 2014 Google Inc. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -using UnityEngine; -using System; -using System.Collections; -using System.Collections.Generic; - -public class DynamicMeshVolume : MonoBehaviour { - - public int divisions = 10; - private int cellGridDimension = 1; - private int marginCellCount = 2; - - private Vector3 cellSize = new Vector3 (1, 1, 1); - private int key = 0; - - //temporary storage used by marching cubes - private Voxel[] voxelBuffer = new Voxel[8]; - - //used by marching cubes mesh - MeshFilter mf = null; -// MeshRenderer mr = null; - List vertices = new List(); - List normals = new List(); - List triangles = new List(); - List uvs = new List(); - - float isolevel = 0.0f; - float initialVoxelValue = -1.0f; - float maximumWeight = 100; - float minimumCellPercentageChangeForDirty = 0.33f; - float minimumChangeForDirty = 0.01f;//will get updated when cell size is computed - - VoxelTree voxelStorage = new VoxelTree(); - - - Vector2[] uvOptions = new Vector2[4]; - bool isDirty = true; - - public List Vertices { - get { - return vertices; - } - } - - public List Triangles { - get { - return triangles; - } - } - - public List Uvs { - get { - return uvs; - } - } - - public int Key { - get { - return key; - } - set { - key = value; - } - } - - void Awake() { - for(int i = 0; i < 8; i++) - voxelBuffer[i] = new Voxel(); - - uvOptions [0] = new Vector3 (-1, -1); - uvOptions [1] = new Vector3 (0, 1); - uvOptions [2] = new Vector3 (1, 1); - uvOptions [3] = new Vector3 (0, 0); - - mf = gameObject.GetComponent (); -// mr = gameObject.GetComponent (); - - mf.mesh = new Mesh (); - SetProperties (divisions); - } - - public Vector3 GridCellSize { - get { - return cellSize; - } - set { - cellSize = value; - } - } - - // Use this for initialization - void Start () { - } - - public void SetProperties(int divisions) { - this.divisions = divisions; - cellGridDimension = divisions + 2*marginCellCount; - cellSize = transform.localScale / divisions; - minimumChangeForDirty = cellSize.x * minimumCellPercentageChangeForDirty; - Clear (); - } - - public void InsertTestData(int count, float weight) { - int[] index = new int[3]; - for (int i = 0; i < count; i++) { - Vector3 p = new Vector3(UnityEngine.Random.Range(transform.position.x,transform.position.x+transform.localScale.x+cellSize.x), - UnityEngine.Random.Range(transform.position.y,transform.position.y+transform.localScale.y+cellSize.y), - UnityEngine.Random.Range(transform.position.z,transform.position.z+transform.localScale.z+cellSize.z)); - Vector3 n = new Vector3(0, 1, 0); - - InsertPoint(p,n,weight, ref index); - } - } - - public bool IsDirty { - get { - return isDirty; - } - } - - public int GetHashKey(int x, int y, int z) { - return x+marginCellCount + (y+marginCellCount)*cellGridDimension + (z+marginCellCount)*cellGridDimension*cellGridDimension; - } - - public Voxel QueryVoxel(int x, int y, int z) { - return voxelStorage.Query(GetHashKey(x,y,z)); - } - - Voxel QueryCreateVoxel(int x, int y, int z) { - int hashKey = GetHashKey(x,y,z); - Voxel v = voxelStorage.Query(hashKey); - if (v == null) { - v = InitializeVoxel (x, y, z, cellSize, initialVoxelValue, 0); - voxelStorage.Insert(v,hashKey); - } - return v; - } - - Voxel InitializeVoxel(int xID, int yID, int zID, Vector3 voxelSize, float initialValue, float initialWeight) { - Voxel v = new Voxel(); - v.size = voxelSize; - v.value = initialValue; - v.weight = initialWeight; - v.normal = new Vector3 (0, 1, 0); - v.xID = xID; - v.yID = yID; - v.zID = zID; - - v.anchor = new Vector3(xID*v.size.x,yID*v.size.y,zID*v.size.z) + v.size/2; - return v; - } - - float AdjustWeight(Voxel v, Vector3 p, Vector3 n, float weight) { - - if (v.weight > maximumWeight) { - v.weight += weight; //keep accumulating, so we know when to subdivide - return v.value; - } - - float penetration = Vector3.Dot (n, v.anchor - p); - v.value = (v.value * v.weight + penetration * weight) / (v.weight + weight); - v.weight += weight; - - if (v.value < -1) { - v.value = -1; - v.weight = 0; - } - - // if (v.value > 1) - // v.value = 1; - // if (v.weight > maximumWeight) - // v.weight = maximumWeight; - - if(Mathf.Abs(v.lastMeshedValue - v.value) > minimumChangeForDirty) - isDirty = true; - return v.value; - } - - public float InsertPoint(Vector3 p, Vector3 n, float weight, ref int[] index) { - index[0] = (int)Math.Floor((p.x-transform.position.x)/cellSize.x); - index[1] = (int)Math.Floor((p.y-transform.position.y)/cellSize.y); - index[2] = (int)Math.Floor((p.z-transform.position.z)/cellSize.z); - return AdjustWeight (QueryCreateVoxel(index[0], index[1], index[2]), p-transform.position, n, weight); - } - - public float InsertPoint(Vector3 queryPoint, Vector3 p, Vector3 n, float weight) { - int x = (int)Math.Floor ((queryPoint.x - transform.position.x) / cellSize.x); - int y = (int)Math.Floor ((queryPoint.y - transform.position.y) / cellSize.y); - int z = (int)Math.Floor ((queryPoint.z - transform.position.z) / cellSize.z); - - return AdjustWeight (QueryCreateVoxel (x,y,z), p - transform.position, n, weight); - } - - - public void Clear() { - if(vertices != null) - vertices.Clear (); - if(triangles != null) - triangles.Clear (); - if (normals != null) - normals.Clear (); - if(uvs != null) - uvs.Clear (); - if(voxelStorage != null) - voxelStorage.Clear (); - if (mf != null) { - if (mf.mesh != null) { - mf.mesh.Clear (); -// mf.mesh = null; - } -// mf = null; - } - - isDirty = true; - } - - void PrepareVoxels() { - //for each voxel above ISO, making sure neighboring lower voxels exist - foreach (VoxelTree t in voxelStorage.GetEnumerable()) { - Voxel v = t.Voxel; - if (v == null) { - Debug.Log("something is wrong, VoxelTree has null voxel"); - continue; - } - - //clear the stored triangle data used to compute voxel normal - v.trianglesIndicies.Clear(); - - //create lower padding voxels as needed, so marching cubes will work correctly - if(v.value > isolevel) { - - //neighboring 3 - QueryCreateVoxel(v.xID-1, v.yID, v.zID); - QueryCreateVoxel(v.xID-1, v.yID-1, v.zID); - QueryCreateVoxel(v.xID, v.yID-1, v.zID); - - //lower four - QueryCreateVoxel(v.xID, v.yID, v.zID-1); - QueryCreateVoxel(v.xID-1, v.yID, v.zID-1); - QueryCreateVoxel(v.xID-1, v.yID-1, v.zID-1); - QueryCreateVoxel(v.xID, v.yID-1, v.zID-1); - } - } - } - - void CalculateUVs(int ia, int ib, int ic) { - //likely bug, if it winds down to the last face - //it forces it to be valid, which will alter - //an existing face without checking that face - //may not be resolvable without doing a full - //3-color graph solver - - if(uvs[ia] == uvOptions[0]){ - if(uvs[ib] == uvOptions[0]){ - if(uvs[ic] == uvOptions[0]){ - uvs[ia] = uvOptions[1]; - uvs[ib] = uvOptions[2]; - uvs[ic] = uvOptions[3]; - } - else if(uvs[ic] == uvOptions[1]){ - uvs[ia] = uvOptions[2]; - uvs[ib] = uvOptions[3]; - } - else if(uvs[ic] == uvOptions[2]){ - uvs[ia] = uvOptions[1]; - uvs[ib] = uvOptions[3]; - } - else if(uvs[ic] == uvOptions[3]){ - uvs[ia] = uvOptions[1]; - uvs[ib] = uvOptions[2]; - } - } - else if(uvs[ib] == uvOptions[1]){ - if(uvs[ic] == uvOptions[0]){ - uvs[ia] = uvOptions[2]; - uvs[ic] = uvOptions[3]; - } - else if(uvs[ic] == uvOptions[2]){ - uvs[ia] = uvOptions[1]; - } - else if(uvs[ic] == uvOptions[3]){ - uvs[ia] = uvOptions[2]; - } - } - else if(uvs[ib] == uvOptions[2]){ - if(uvs[ic] == uvOptions[0]){ - uvs[ia] = uvOptions[1]; - uvs[ic] = uvOptions[3]; - } - else if(uvs[ic] == uvOptions[1]){ - uvs[ia] = uvOptions[3]; - } - else if(uvs[ic] == uvOptions[3]){ - uvs[ia] = uvOptions[1]; - } - } - else if(uvs[ib] == uvOptions[3]){ - if(uvs[ic] == uvOptions[0]){ - uvs[ia] = uvOptions[1]; - uvs[ic] = uvOptions[2]; - } - else if(uvs[ic] == uvOptions[1]){ - uvs[ia] = uvOptions[2]; - } - else if(uvs[ic] == uvOptions[2]){ - uvs[ia] = uvOptions[1]; - } - } - } - else if(uvs[ia] == uvOptions[1]){ - if((uvs[ib] == uvOptions[0])||(uvs[ib] == uvOptions[1])){ - if(uvs[ic] == uvOptions[0]){ - uvs[ib] = uvOptions[2]; - uvs[ic] = uvOptions[3]; - } - else if(uvs[ic] == uvOptions[2]){ - uvs[ib] = uvOptions[3]; - } - else if(uvs[ic] == uvOptions[3]){ - uvs[ib] = uvOptions[2]; - } - } - else if(uvs[ib] == uvOptions[2]){ - uvs[ic] = uvOptions[3]; - } - else if(uvs[ib] == uvOptions[3]){ - uvs[ic] = uvOptions[2]; - } - } - else if(uvs[ia] == uvOptions[2]){ - if((uvs[ib] == uvOptions[0])||(uvs[ib] == uvOptions[2])){ - if(uvs[ic] == uvOptions[0]){ - uvs[ib] = uvOptions[1]; - uvs[ic] = uvOptions[3]; - } - else if(uvs[ic] == uvOptions[1]){ - uvs[ib] = uvOptions[3]; - } - else if(uvs[ic] == uvOptions[3]){ - uvs[ib] = uvOptions[1]; - } - } - else if(uvs[ib] == uvOptions[1]){ - uvs[ic] = uvOptions[3]; - } - else if(uvs[ib] == uvOptions[3]){ - uvs[ic] = uvOptions[1]; - } - } - if(uvs[ia] == uvOptions[3]){ - if((uvs[ib] == uvOptions[0])||(uvs[ib] == uvOptions[3])){ - if(uvs[ic] == uvOptions[0]){ - uvs[ib] = uvOptions[1]; - uvs[ic] = uvOptions[2]; - } - else if(uvs[ic] == uvOptions[1]){ - uvs[ib] = uvOptions[2]; - } - else if(uvs[ic] == uvOptions[2]){ - uvs[ib] = uvOptions[1]; - } - } - else if(uvs[ib] == uvOptions[1]){ - uvs[ic] = uvOptions[2]; - } - else if(uvs[ib] == uvOptions[2]){ - uvs[ic] = uvOptions[1]; - } - } - } - - void ComputeVoxelNormals() { - foreach (VoxelTree t in voxelStorage.GetEnumerable()) { - Voxel v = t.Voxel; - if(v.trianglesIndicies.Count == 0) - continue; - - v.normal.Set(0,0,0); - - foreach(int index in v.trianglesIndicies) - v.normal += normals[triangles[index]]; - - v.normal /= v.trianglesIndicies.Count; - } - } - - int CreateMarchingCube(Voxel v) { - if (v == null) - return 0; - - //allows us to track if the mesh is dirty and needs updating - //needs to be above the early exit checks, otherwise cells - //keep getting marked as dirty - v.lastMeshedValue = v.value; - - //keep the meshing within the volume bounds - if (v.xID >= divisions) - return 0; - if (v.yID >= divisions) - return 0; - if (v.zID >= divisions) - return 0; - if (v.xID < 0) - return 0; - if (v.yID < 0) - return 0; - if (v.zID < 0) - return 0; - - Voxel v0 = v; - - //this conditions te input to the polygonize, and make sure all the neighbors have valid entries - //if all input voxels are gauranteed to not be edge voxels, this may not be necessary. - Voxel v1 = QueryVoxel(v.xID+1, v.yID, v.zID); - if (v1 == null) { - voxelBuffer[1].value = initialVoxelValue; - voxelBuffer[1].anchor = v.anchor + new Vector3(v.size.x, 0, 0); - v1 = voxelBuffer[1]; - } - - Voxel v2 = QueryVoxel(v.xID+1, v.yID+1, v.zID); - if (v2 == null) { - voxelBuffer[2].value = initialVoxelValue; - voxelBuffer[2].anchor = v.anchor + new Vector3(v.size.x, v.size.y,0); - v2 = voxelBuffer[2]; - } - Voxel v3 = QueryVoxel(v.xID, v.yID+1, v.zID); - if (v3 == null) { - voxelBuffer[3].value = initialVoxelValue; - voxelBuffer[3].anchor = v.anchor + new Vector3(0, v.size.y,0); - v3 = voxelBuffer[3]; - } - Voxel v4 = QueryVoxel(v.xID, v.yID, v.zID+1); - if (v4 == null) { - voxelBuffer[4].value = initialVoxelValue; - voxelBuffer[4].anchor = v.anchor + new Vector3(0, 0,v.size.z); - v4 = voxelBuffer[4]; - } - Voxel v5 = QueryVoxel(v.xID+1, v.yID, v.zID+1); - if (v5 == null) { - voxelBuffer[5].value = initialVoxelValue; - voxelBuffer[5].anchor = v.anchor + new Vector3(v.size.x, 0,v.size.z); - v5 = voxelBuffer[5]; - } - Voxel v6 = QueryVoxel(v.xID+1, v.yID+1, v.zID+1); - if (v6 == null) { - voxelBuffer[6].value = initialVoxelValue; - voxelBuffer[6].anchor = v.anchor + new Vector3(v.size.x, v.size.y,v.size.z); - v6 = voxelBuffer[6]; - } - Voxel v7 = QueryVoxel(v.xID, v.yID+1, v.zID+1); - if (v7 == null) { - voxelBuffer[7].value = initialVoxelValue; - voxelBuffer[7].anchor = v.anchor + new Vector3(0, v.size.y,v.size.z); - v7 = voxelBuffer[7]; - } - - int triangleStart = triangles.Count; - int createdTriangles = Polygonizer.Process(isolevel, - v0.value, - v1.value, - v2.value, - v3.value, - v4.value, - v5.value, - v6.value, - v7.value, - v0.anchor, - v1.anchor, - v2.anchor, - v3.anchor, - v4.anchor, - v5.anchor, - v6.anchor, - v7.anchor, - ref vertices,ref triangles); - - //compute per vertex normal - int addedVertCount = 0; - while (normals.Count < vertices.Count) { - normals.Add(new Vector3(0,1,0)); - uvs.Add (new Vector2 (-1, -1)); - addedVertCount++; - } - - for (int i = triangleStart; i < triangles.Count; i += 3) { - v.trianglesIndicies.Add(i);//add it to each voxel this impacted? - - int ia = triangles[i]; - int ib = triangles[i+1]; - int ic = triangles[i+2]; - Vector3 a = vertices[ia]; - Vector3 b = vertices[ib]; - Vector3 c = vertices[ic]; - - Vector3 n = Vector3.Cross(a-b,b-c).normalized; - normals[ia] = n; - normals[ib] = n; - normals[ic] = n; - - CalculateUVs(ia,ib,ic); - } - - //adjust per voxel normal - - return createdTriangles; - } - - void DebugDrawX(Vector3 p, float size, Color c) { - Debug.DrawLine (p + new Vector3 (-size, -size, -size), p + new Vector3 (size, size, size), c); - Debug.DrawLine (p + new Vector3 (size, -size, -size), p + new Vector3 (-size, size, size), c); - Debug.DrawLine (p + new Vector3 (size, size, -size), p + new Vector3 (-size, -size, size), c); - Debug.DrawLine (p + new Vector3 (-size, size, -size), p + new Vector3 (size, -size, size), c); - } - - public void SimplifyPlanarGroup(Voxel v0, Voxel v1, Voxel v2, Voxel v3) { - - Voxel[] voxels = new Voxel[4]; - voxels [0] = v0; - voxels [1] = v1; - voxels [2] = v2; - voxels [3] = v3; - - int totalTriangles = 0; - Vector3 averageNormal = new Vector3 (0, 0, 0); - List triIndicies = new List(); - - foreach (Voxel v in voxels) { - if(v == null) - return; - if(v.trianglesIndicies.Count != 2)//only do planar groups right now - return; - totalTriangles += v.trianglesIndicies.Count; - foreach(int triIndex in v.trianglesIndicies) - averageNormal += normals[triangles[triIndex]]; - } - - averageNormal /= totalTriangles; - - //too contentious - if (averageNormal.magnitude < 0.75f) - return; - - //we have 4 voxel neighors with triangles - //see if the normals are within tolernace - - float variance = 0; - foreach (Voxel v in voxels) { - foreach(int triIndex in v.trianglesIndicies) { - variance += Vector3.SqrMagnitude(normals[triangles[triIndex]]-averageNormal); - triIndicies.Add(triIndex); - } - } - variance /= totalTriangles; - - if (variance > 0.05) - return; - - //we have triangles in a plane - - Vector3 avg = new Vector3 (); - foreach (int index in triIndicies) { - avg += vertices[triangles[index]]; - avg += vertices[triangles[index+1]]; - avg += vertices[triangles[index+2]]; - } - avg /= totalTriangles * 3; - - foreach (int index in triIndicies) { - bool remove = false; - if(Vector3.SqrMagnitude(vertices[triangles[index]]-avg) < 0.05f) { - remove = true; - } - if(Vector3.SqrMagnitude(vertices[triangles[index+1]]-avg) < 0.05f) { - remove = true; - } - if(Vector3.SqrMagnitude(vertices[triangles[index+2]]-avg) < 0.05f) { - remove = true; - } - - if(remove) { - triangles.RemoveAt(index); - triangles.RemoveAt(index+1); - triangles.RemoveAt(index+2); - } - } - - DebugDrawX (avg + transform.position, 0.01f, Color.magenta); - - //lets create the neighbor graph - - } - - public void SimplifyByVoxel(Voxel v) { - //this conditions te input to the polygonize, and make sure all the neighbors have valid entries - //if all input voxels are gauranteed to not be edge voxels, this may not be necessary. - Voxel v0 = v; - Voxel v1 = QueryVoxel(v.xID+1, v.yID, v.zID); - Voxel v2 = QueryVoxel(v.xID+1, v.yID+1, v.zID); - Voxel v3 = QueryVoxel(v.xID, v.yID+1, v.zID); - Voxel v4 = QueryVoxel(v.xID, v.yID, v.zID+1); - Voxel v5 = QueryVoxel(v.xID+1, v.yID, v.zID+1); - Voxel v6 = QueryVoxel(v.xID, v.yID+1, v.zID+1); - - //three planar directions.. diagonals aren't necessary? - SimplifyPlanarGroup (v0, v1, v2, v3); - SimplifyPlanarGroup (v0, v1, v4, v5); - SimplifyPlanarGroup (v0, v2, v3, v6); - } - - - public void SimplifyMesh() { - - -// for (int i = 0; i < 2; i++) { -// int index = UnityEngine.Random.Range(0,triangles.Count/3); -// index *= 3; -// triangles.RemoveAt(index); -// triangles.RemoveAt(index+1); -// triangles.RemoveAt(index+2); -// } -// return; - - - foreach (VoxelTree t in voxelStorage.GetEnumerable()) { - SimplifyByVoxel(t.Voxel); - } - } - - - public int RegenerateMesh() { - if (!isDirty) - return 0; - if (mf == null) - Debug.Log ("mesh is null"); - mf.mesh.Clear (); - vertices.Clear (); - triangles.Clear (); - normals.Clear (); - uvs.Clear (); - - PrepareVoxels (); - - foreach (VoxelTree t in voxelStorage.GetEnumerable()) { - if (t.Voxel == null) { - Debug.Log ("something is wrong, VoxelTree has null voxel"); - continue; - } - - if(CreateMarchingCube(t.Voxel)==0) { - //no triangles were created, consider deleting this voxel? - //just delecting, causes a lot of re-creation. need o be smarter - } - } - - //ComputeVoxelNormals (); - -// SimplifyMesh (); - - SetMesh (); - isDirty = false; - return 1; - } - - public void SetMesh() { - mf.mesh.Clear (); - mf.mesh.vertices = vertices.ToArray(); - mf.mesh.normals = normals.ToArray(); - mf.mesh.uv = uvs.ToArray (); - mf.mesh.triangles = triangles.ToArray(); - mf.mesh.RecalculateBounds (); - mf.mesh.Optimize (); - - GetComponent().sharedMesh = null; - GetComponent().sharedMesh = mf.mesh; - } - - public void Draw() { - for (int i =0; i < vertices.Count; i++) { - Vector3 p = transform.position + vertices[i]; - Debug.DrawLine (p,p + normals[i]*cellSize.x,Color.red); - } - } - - // Update is called once per frame - void Update () { - } -} diff --git a/ExperimentalProjects/MeshBuilder/Assets/Scripts/GlobalState.cs b/ExperimentalProjects/MeshBuilder/Assets/Scripts/GlobalState.cs deleted file mode 100644 index aa294b04..00000000 --- a/ExperimentalProjects/MeshBuilder/Assets/Scripts/GlobalState.cs +++ /dev/null @@ -1,369 +0,0 @@ -/* - * Copyright 2014 Google Inc. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -using UnityEngine; -using System.Collections; -using System.IO; -using System; -using Tango; -using System.Runtime.InteropServices; - -public class GlobalState : MonoBehaviour { - - public static GlobalState state; - public GameObject mainCamera; - -// private CustomTangoController cameraController; - - public string loadID = "2014_10_26_031617"; - - [HideInInspector] - public string applicationPath; - [HideInInspector] - public string debugText; - [HideInInspector] - public string debugText2; - [HideInInspector] - public string debugText3; - [HideInInspector] - public string debugText4; - - - private BinaryWriter depthFileWriter = null; - private BinaryReader depthFileReader = null; - - private BinaryWriter poseFileWriter = null; - private BinaryReader poseFileReader = null; - - private bool recordData = false; - [HideInInspector] - public bool playbackData = false; - - public int renderCount = 1000; - - float[] loadedRawPoints = new float[20000*3]; //get dynamcially allocated larger if there are more points - TangoXYZij depthFrame = new TangoXYZij(); - float[] depthPoints; - TangoPoseData currPose = new TangoPoseData(); - TangoPoseData tempPose = new TangoPoseData(); - - int maximumLinePositions = 120; - ArrayList linePositions = new ArrayList(); - - string sessionTimestamp; - - - void Awake() { - if(state == null) { - DontDestroyOnLoad(gameObject); - state = this; - } - else if(state != this) { - Destroy(gameObject); - } - - - - sessionTimestamp = DateTime.Now.ToString("yyyy_MM_dd_HHmmss"); - -// cameraController = mainCamera.GetComponent(); - - depthPoints = new float[3*renderCount]; - - /* - float quadscale = 0.02f; - /* - for(int i = 0; i < renderCount; i++) { - quads[i] = GameObject.CreatePrimitive(PrimitiveType.Quad); - quads[i].transform.parent = mainCamera.transform; - quads[i].transform.localScale = new Vector3(quadscale, quadscale, quadscale); - quads[i].renderer.material.color = new Color(1,0,0); - quads[i].renderer.material.shader = Shader.Find("Custom/UnlitColor"); - }*/ - - if(recordData) { - CreateLogFiles(); - } - - if(playbackData) { - LoadLogFiles(); - StepLoad(); - } - - - } - - // Use this for initialization - void Start () { - } - - - - public Color DistanceToColor(float d) { - - float sectionSize = 1; - if(d < sectionSize) { - return new Color(1, d/sectionSize, 0); - } - d -= sectionSize; - if(d < sectionSize) { - return new Color(1-d/sectionSize, 1, 0); - } - d -= sectionSize; - if(d < sectionSize) { - return new Color(0, 1, d/sectionSize); - } - - d -= sectionSize; - if(d < sectionSize) { - return new Color(0, 1-d/sectionSize,1); - } - return new Color(0,0,1); - - } - - public void CreateLogFiles() - { - string depthFilename = sessionTimestamp+"_depth.dat"; - depthFileWriter = new BinaryWriter(File.Open(Application.persistentDataPath + "/" + depthFilename, FileMode.Create)); - - string poseFilename = sessionTimestamp+"_pose.dat"; - poseFileWriter = new BinaryWriter(File.Open(Application.persistentDataPath + "/" + poseFilename, FileMode.Create)); - - debugText = "Saving to: " + depthFilename + " " + depthFileWriter.ToString(); - } - - public void WritePoseToLogFile(TangoPoseData pose) { - if(poseFileWriter == null) - return; - - poseFileWriter.Write("poseframe\n"); - poseFileWriter.Write(pose.timestamp+"\n"); - poseFileWriter.Write((int)pose.framePair.baseFrame); - poseFileWriter.Write((int)pose.framePair.targetFrame); - poseFileWriter.Write((int)pose.status_code); - poseFileWriter.Write(pose.translation[0]); - poseFileWriter.Write(pose.translation[1]); - poseFileWriter.Write(pose.translation[2]); - poseFileWriter.Write(pose.orientation[0]); - poseFileWriter.Write(pose.orientation[1]); - poseFileWriter.Write(pose.orientation[2]); - poseFileWriter.Write(pose.orientation[3]); - poseFileWriter.Flush(); - } - - - public int LoadPoseFromLogFile(BinaryReader reader, ref TangoPoseData pose) { - - if(reader == null) - return -1; - - string frameMarker; - try { - frameMarker = reader.ReadString(); - } catch (EndOfStreamException x) { - reader.BaseStream.Position = 0; - print ("Restarting log file: " + x.ToString()); - frameMarker = reader.ReadString(); - } - - if(frameMarker.CompareTo("poseframe\n") != 0) { - debugText = "Failed to load"; - return -1; - } - - pose.timestamp = double.Parse(reader.ReadString()); - - TangoCoordinateFramePair pair = new TangoCoordinateFramePair(); - pair.baseFrame = (Tango.TangoEnums.TangoCoordinateFrameType)reader.ReadInt32(); - pair.targetFrame = (Tango.TangoEnums.TangoCoordinateFrameType)reader.ReadInt32(); - pose.framePair = pair; - - pose.status_code = (Tango.TangoEnums.TangoPoseStatusType)reader.ReadInt32(); - pose.translation[0] = reader.ReadDouble(); - pose.translation[1] = reader.ReadDouble(); - pose.translation[2] = reader.ReadDouble(); - pose.orientation[0] = reader.ReadDouble(); - pose.orientation[1] = reader.ReadDouble(); - pose.orientation[2] = reader.ReadDouble(); - pose.orientation[3] = reader.ReadDouble(); - return 0; - } - - - public void WriteDepthToLogFile(TangoXYZij depth, float[] pointData, int[] indices, int rows, int cols) { - - if(!playbackData) - UpdatePoints(pointData, depth.xyz_count); - - if(depthFileWriter == null) - return; - debugText2 = "Writing Depth: " + depth.xyz_count.ToString(); - - depthFileWriter.Write("depthframe\n"); - depthFileWriter.Write(depth.timestamp+"\n"); - depthFileWriter.Write(depth.xyz_count+"\n"); - - for(int i = 0; i < depth.xyz_count; i++) { - depthFileWriter.Write(pointData[3*i]); - depthFileWriter.Write(pointData[3*i+1]); - depthFileWriter.Write(pointData[3*i+2]); - } - depthFileWriter.Flush(); - } - - - public int LoadDepthFromLogFile(BinaryReader reader, ref TangoXYZij depthFrame, ref float[] points) { - string frameMarker; - try { - frameMarker = reader.ReadString(); - } catch (EndOfStreamException x) { - reader.BaseStream.Position = 0; - print ("Restating log file: " + x.ToString()); - frameMarker = reader.ReadString(); - } - - if(frameMarker.CompareTo("depthframe\n") != 0) { - debugText = "Failed to load"; - return -1; - } - depthFrame.timestamp = double.Parse(reader.ReadString()); - depthFrame.xyz_count = int.Parse(reader.ReadString()); - debugText2 = depthFrame.timestamp.ToString(); - debugText3 = depthFrame.xyz_count.ToString(); - - - //if we are too small increase the memory array with some room to spare - if(depthFrame.xyz_count*3 > loadedRawPoints.Length) - loadedRawPoints = new float[2*3*depthFrame.xyz_count]; - - //load up the data - for(int i = 0; i < depthFrame.xyz_count; i++) { - loadedRawPoints[3*i] = reader.ReadSingle(); - loadedRawPoints[3*i+1] = reader.ReadSingle(); - loadedRawPoints[3*i+2] = reader.ReadSingle(); - } - - //randomly subsample - for(int i = 0; i < renderCount; i++) { - int srcIndex = UnityEngine.Random.Range (0,depthFrame.xyz_count-1); - points[3*i] = loadedRawPoints[3*srcIndex]; - points[3*i+1] = loadedRawPoints[3*srcIndex+1]; - points[3*i+2] = loadedRawPoints[3*srcIndex+2]; - } - return 0; - } - - public void LoadLogFiles() { - - string depthFilename = loadID + "_depth.dat"; - depthFileReader = new BinaryReader(File.Open(Application.persistentDataPath + "/" + depthFilename, FileMode.Open)); - string poseFilename = loadID + "_pose.dat"; - poseFileReader = new BinaryReader(File.Open(Application.persistentDataPath + "/" + poseFilename, FileMode.Open)); - debugText = "Loading from: " + Application.persistentDataPath + "/" + poseFilename; - } - - - public void LoadLogFile(string filename, ref TangoXYZij depthFrame, ref float[] points) { - depthFileReader = new BinaryReader(File.Open(Application.persistentDataPath + "/" + filename, FileMode.Open)); - debugText = "Loading from: " + filename + " " + depthFileReader.ToString(); - LoadDepthFromLogFile(depthFileReader, ref depthFrame, ref points); - } - - public void UpdatePoints(float[] points, int size) { - for( int i = 0; i < size; i++) { -// Vector3 pos = mainCamera.transform.TransformPoint(new Vector3(points[3*i],-points[3*i+1],points[3*i+2])); -// Vector3 ray = (mainCamera.transform.position-pos).normalized; -// dynamicMesh.Insert(pos, ray); - } - - } - - void OnApplicationQuit() { - if(depthFileWriter != null) - depthFileWriter.Close(); - - if(depthFileReader != null) - depthFileReader.Close(); - } - - // Update is called once per frame - void Update () { - - applicationPath = Application.persistentDataPath; - if(playbackData) { - StepLoad(); - } - - if(Input.GetKeyDown(KeyCode.Space)) - playbackData = !playbackData; - - - } - - void StepLoad() { - - if(depthFileReader != null) { - LoadDepthFromLogFile(depthFileReader,ref depthFrame, ref depthPoints); - } - - if(poseFileReader != null) { - //load up to 2 seconds of pose events until we are close are past the depth timestamp - for(int i = 0 ; i < 60; i++) { - currPose = new TangoPoseData(); - LoadPoseFromLogFile(poseFileReader, ref currPose); - if(currPose.timestamp > depthFrame.timestamp) - break; - } - -// tempPose = cameraController.InterpolateTangoPose(prevPose, currPose, depthFrame.timestamp,0,4); -// cameraController.UpdateUsingTangoPose(tempPose); -// cameraController.transform.RotateAround(cameraController.transform.position, cameraController.transform.right,-13); - - Vector3 p = mainCamera.transform.position; - p.y = 0.01f; - linePositions.Add(p); - if(linePositions.Count >= maximumLinePositions) - linePositions.RemoveAt(0); - - } - - UpdatePoints(depthPoints, renderCount); - - } - - void OnGUI() - { - GUI.Label(new Rect(10,50,1000,30), "FilePath: " + applicationPath); - GUI.Label(new Rect(10,70,1000,30), "PoseTimestamp: " + tempPose.timestamp); - GUI.Label(new Rect(10,90,1000,30), "DepthTimestamp: " + depthFrame.timestamp); - GUI.Label(new Rect(10,110,1000,30), "Debug: " + debugText); - GUI.Label(new Rect(10,130,1000,30), "Debug: " + debugText2); - GUI.Label(new Rect(10,150,1000,30), "Debug: " + debugText3); - GUI.Label(new Rect(10,170,1000,30), "Debug: " + debugText4); - - if(!playbackData && !recordData) { - if(GUI.Button(new Rect(50, Screen.height-200, 200,100),"Load Last Session")) { - playbackData = true; - LoadLogFiles(); - } - if(GUI.Button(new Rect(Screen.width - 250, Screen.height-200, 200,100),"Start Record")) { - recordData = true; - CreateLogFiles(); - } - } - } -} diff --git a/ExperimentalProjects/MeshBuilder/Assets/Scripts/Octree.cs b/ExperimentalProjects/MeshBuilder/Assets/Scripts/Octree.cs deleted file mode 100644 index 2c8e37ae..00000000 --- a/ExperimentalProjects/MeshBuilder/Assets/Scripts/Octree.cs +++ /dev/null @@ -1,333 +0,0 @@ -/* - * Copyright 2014 Google Inc. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -// ------------------------------------------------------------------------------ -// -// This code was generated by a tool. -// Mono Runtime Version: 4.0.30319.1 -// -// Changes to this file may cause incorrect behavior and will be lost if -// the code is regenerated. -// -// ------------------------------------------------------------------------------ -using System; -using UnityEngine; -using System.Collections; -using System.Collections.Generic; - - -public class Octree -{ - - private int childID; -// private Vector3 anchor; - private Vector3 center = new Vector3(); - private float size = 1; - - private Octree parent = null; - private Octree[] children = new Octree[8]; - private int depth = 0; - private float value = -1; - private Octree root = null; - private Vector3 normal; - private Vector3 average; - private int count; - private GameObject geometery; - private int globalID; - private bool occupied; - - int minimumForGeometery = 5; - int geometeryUpdateInterval = 10; - public Octree() { - } - - - public Octree (Vector3 center, float size) - { - this.center = center; - this.size = size; - } - - public Octree Parent { - get { - return parent; - } - } - - public bool Occupied { - get { - return occupied; - } - } - - public int ChildID { - get { - return childID; - } - } - - public void AdjustWeight(Vector3 p, Vector3 n, float weight) { - value += weight; - } - - public float Size { - get { - return size; - } - set { - size = value; - } - - } - - public Vector3 Center { - get { - return center; - } - set { - center = value; - } - } - - public Octree Root { - get { - return root; - } - set { - root = value; - } - } - - public Octree GetOrCreateChild(int index) { - if (children [index] == null) { - children[index] = new Octree(center, size/2); - Vector3 offset = new Vector3(-size/2, -size/2, -size/2); - if((index & 1)>0) - offset.x += size; - if((index & 2)>0) - offset.y += size; - if((index & 4)>0) - offset.z += size; - children[index].center += offset; - children[index].size = size/2; - children[index].childID = index; - children[index].parent = this; - children[index].depth = depth+1; - } - return children [index]; - } - - public Octree Insert(Vector3 p, Vector3 n, float weight, int level) { - if (depth == level) { - AdjustWeight (p, n, weight); - return this; - } - - int index = 0; - if (p.x > center.x) - index |= 1; - if (p.y > center.y) - index |= 2; - if (p.z > center.z) - index |= 4; - - return GetOrCreateChild (index).Insert (p, n, weight, level); - } - - public void Draw() { - Color c = Color.red; - Debug.DrawLine (new Vector3 (center.x - size, center.y, center.z), - new Vector3 (center.x + size, center.y, center.z), c); - Debug.DrawLine (new Vector3 (center.x , center.y - size, center.z), - new Vector3 (center.x , center.y + size, center.z), c); - Debug.DrawLine (new Vector3 (center.x, center.y, center.z - size), - new Vector3 (center.x, center.y, center.z + size), c); - - foreach (Octree o in children) { - if(o != null) - o.Draw(); - } - } - - public void Clear() { - - for(int i = 0; i < 8; i++) { - if(children[i] != null) - children[i].Clear(); - children[i] = null; - } - - occupied = false; - count = 0; - globalID = -1; - - if(geometery != null) - GameObject.Destroy(geometery); - - } - - - public void IncrementallyAddPoint(Vector3 point, Vector3 ray) { - - if(count == 0) { - average = point; - normal = ray; - return; - } - - float weight = 1.0f/(count+3);//the demoniator gives more wieght to the initial normal -// Vector3 a = point - average; -// Vector3 adjNormal = Vector3.Cross(a, Vector3.Cross(normal, a)).normalized; -// float err = Vector3.Dot (normal, a); -// normal = (normal*(1-weight) + weight*adjNormal).normalized; - average = average*(1-weight) + weight*point; - - } - - public void CreateLocalGeometery(){ - occupied = true; - geometery = GameObject.CreatePrimitive(PrimitiveType.Quad); -// geometery = GameObject.CreatePrimitive(PrimitiveType.Cube); - geometery.transform.position = average; - geometery.transform.rotation = Quaternion.LookRotation(-normal); -// geometery.transform.localScale = new Vector3(2*size, 2*size,2*size); - geometery.transform.localScale = new Vector3(size, size,size); - } - /* - public void CreateLocalMeshGeometery(int targetDepth, ref Vector3[] vertices, ref Vector3[] normals, ref int[] triangles, ref int triangleCount) { - CreateTriangles(targetDepth,ref vertices,ref normals,ref triangles,ref triangleCount); - - Octree leftCell = root.QueryPoint(center - new Vector3(2*size, 0, 0),targetDepth); - Octree rightCell = root.QueryPoint(center + new Vector3(2*size, 0, 0),targetDepth); - Octree frontCell = root.QueryPoint(center - new Vector3(0, 0, 2*size),targetDepth); - Octree backCell = root.QueryPoint(center + new Vector3(0, 0, 2*size),targetDepth); - Octree downCell = root.QueryPoint(center - new Vector3(0, 2*size, 0),targetDepth); - Octree upCell = root.QueryPoint(center + new Vector3(0, 2*size, 0),targetDepth); - - if(leftCell != null) - leftCell.CreateTriangles(targetDepth,ref vertices,ref normals,ref triangles,ref triangleCount); - if(rightCell != null) - rightCell.CreateTriangles(targetDepth,ref vertices,ref normals,ref triangles,ref triangleCount); - if(frontCell != null) - frontCell.CreateTriangles(targetDepth,ref vertices,ref normals,ref triangles,ref triangleCount); - if(backCell != null) - backCell.CreateTriangles(targetDepth,ref vertices,ref normals,ref triangles,ref triangleCount); - if(downCell != null) - downCell.CreateTriangles(targetDepth,ref vertices,ref normals,ref triangles,ref triangleCount); - if(upCell != null) - upCell.CreateTriangles(targetDepth,ref vertices,ref normals,ref triangles,ref triangleCount); - }*/ - - public bool Insert(Vector3 point, Vector3 observationRay, int maxdepth, ref Vector3[] vertices, ref Vector3[] normals, ref int[] triangles, ref int vertexCount, ref int triangleCount) { - IncrementallyAddPoint(point, observationRay); - count++; - - if(depth == maxdepth) { - if(count == minimumForGeometery) { - globalID = vertexCount; - occupied = true; - vertices[globalID] = average; - normals[globalID] = normal; - vertexCount++; - -// CreateLocalGeometery(); -// CreateLocalMeshGeometery(maxdepth, ref vertices, ref normals, ref triangles, ref triangleCount); - return true; - } - return false; - } - - int index = 0; - if(point.x > center.x) - index += 1; - if(point.y > center.y) - index += 2; - if(point.z > center.z) - index += 4; - return CreateChild(index).Insert(point, observationRay, maxdepth,ref vertices, ref normals, ref triangles, ref vertexCount, ref triangleCount); - } - - public bool Insert(Vector3 point, Vector3 observationRay, int maxdepth) { - - IncrementallyAddPoint(point, observationRay); - count++; - - if((count % geometeryUpdateInterval)== 0) { - if(geometery != null) { - geometery.transform.position = average; - geometery.transform.rotation = Quaternion.LookRotation(normal); - } - } - - if(depth == maxdepth) { - if(count == minimumForGeometery) { - CreateLocalGeometery(); - return true; - } - return false; - } - - int index = 0; - if(point.x > center.x) - index += 1; - if(point.y > center.y) - index += 2; - if(point.z > center.z) - index += 4; - return CreateChild(index).Insert(point, observationRay, maxdepth); - } - - public Octree QueryPoint(Vector3 point, int targetDepth) { - if(depth == targetDepth) - return this; - - int index = 0; - if(point.x > center.x) - index += 1; - if(point.y > center.y) - index += 2; - if(point.z > center.z) - index += 4; - - if(children[index] == null) - return null; - else - return children[index].QueryPoint(point,targetDepth); - } - - public Octree CreateChild(int index) { - - if(children[index] != null) - return children[index]; - - Octree o = new Octree(); - o.parent = this; - o.root = root; - o.childID = index; - o.Center = new Vector3(center.x -size/2 + size*(index & 1), center.y -size/2 + size*((index>>1) & 1),center.z -size/2 + size*((index>>2)& 1)); - o.Size = size/2; - o.depth = depth+1; - o.normal = normal; - - //find the closest point on the plane the center projects onto. - o.average = o.center - Vector3.Dot (o.Center - average, normal)*normal; - - children[index] = o; - return children[index]; - - } -} - diff --git a/ExperimentalProjects/MeshBuilder/Assets/Scripts/Octree.cs.meta b/ExperimentalProjects/MeshBuilder/Assets/Scripts/Octree.cs.meta deleted file mode 100644 index e454477e..00000000 --- a/ExperimentalProjects/MeshBuilder/Assets/Scripts/Octree.cs.meta +++ /dev/null @@ -1,12 +0,0 @@ -fileFormatVersion: 2 -<<<<<<< Updated upstream -guid: a85051c28ed57fa4eb3d92f9d25def0e -======= -guid: 14da040d27e6147909dd6e505300dd50 ->>>>>>> Stashed changes -MonoImporter: - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: diff --git a/ExperimentalProjects/MeshBuilder/Assets/Scripts/PointCloudGenerator.cs b/ExperimentalProjects/MeshBuilder/Assets/Scripts/PointCloudGenerator.cs deleted file mode 100644 index ccbe3be2..00000000 --- a/ExperimentalProjects/MeshBuilder/Assets/Scripts/PointCloudGenerator.cs +++ /dev/null @@ -1,65 +0,0 @@ -/* - * Copyright 2014 Google Inc. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -using UnityEngine; -using System.Collections; - -public class PointCloudGenerator : MonoBehaviour { - - - public Camera mainCamera = null; - public int insertionCount = 2000; - private DynamicMeshManager occupancyManager; - private int frameCount = 0; - - RaycastHit hitInfo = new RaycastHit (); - int virutalRoomLayer = 1 << 8; - - // Use this for initialization - void Start () { - occupancyManager = GetComponent (); - } - - // Update is called once per frame - void LateUpdate () { - frameCount++; - -#if UNITY_EDITOR - - if (Input.GetKeyDown (KeyCode.C)) { - occupancyManager.Clear(); - } - - if ((frameCount % 6) == 0) { - float start = Time.realtimeSinceStartup; - - for (int i = 0; i < insertionCount; i++) { - int x = UnityEngine.Random.Range (0, Screen.width); - int y = UnityEngine.Random.Range (0, Screen.height); - Ray ray = mainCamera.ScreenPointToRay (new Vector3 (x, y, 0)); - if (Physics.Raycast (ray, out hitInfo, 4, virutalRoomLayer)) { - occupancyManager.InsertPoint (hitInfo.point, ray.direction, 1.0f/(hitInfo.distance+1)); - } - } - occupancyManager.QueueDirtyMeshesForRegeneration (); - - float stop = Time.realtimeSinceStartup; - occupancyManager.InsertionTime = occupancyManager.InsertionTime*occupancyManager.Smoothing + (1.0f-occupancyManager.Smoothing)*(stop - start); - - } -#endif - } -} diff --git a/ExperimentalProjects/MeshBuilder/Assets/Scripts/Polygonizer.cs b/ExperimentalProjects/MeshBuilder/Assets/Scripts/Polygonizer.cs index 0ddc8e85..61f65b3b 100644 --- a/ExperimentalProjects/MeshBuilder/Assets/Scripts/Polygonizer.cs +++ b/ExperimentalProjects/MeshBuilder/Assets/Scripts/Polygonizer.cs @@ -28,405 +28,429 @@ using System.Collections; using System.Collections.Generic; +/** + * Polygonizer + * Class from transforming voxel data to mesh. Uses marching cubes algorithm. + */ public class Polygonizer { - //Marching cube implementation based on http://paulbourke.net/geometry/polygonise/ - static int[] vertexIndexTable = new int[12]; - static int cubeindex = 0; + //Marching cube implementation based on http://paulbourke.net/geometry/polygonise/ - private static int[] edgeTable = new int[256]{ - 0x0 , 0x109, 0x203, 0x30a, 0x406, 0x50f, 0x605, 0x70c, - 0x80c, 0x905, 0xa0f, 0xb06, 0xc0a, 0xd03, 0xe09, 0xf00, - 0x190, 0x99 , 0x393, 0x29a, 0x596, 0x49f, 0x795, 0x69c, - 0x99c, 0x895, 0xb9f, 0xa96, 0xd9a, 0xc93, 0xf99, 0xe90, - 0x230, 0x339, 0x33 , 0x13a, 0x636, 0x73f, 0x435, 0x53c, - 0xa3c, 0xb35, 0x83f, 0x936, 0xe3a, 0xf33, 0xc39, 0xd30, - 0x3a0, 0x2a9, 0x1a3, 0xaa , 0x7a6, 0x6af, 0x5a5, 0x4ac, - 0xbac, 0xaa5, 0x9af, 0x8a6, 0xfaa, 0xea3, 0xda9, 0xca0, - 0x460, 0x569, 0x663, 0x76a, 0x66 , 0x16f, 0x265, 0x36c, - 0xc6c, 0xd65, 0xe6f, 0xf66, 0x86a, 0x963, 0xa69, 0xb60, - 0x5f0, 0x4f9, 0x7f3, 0x6fa, 0x1f6, 0xff , 0x3f5, 0x2fc, - 0xdfc, 0xcf5, 0xfff, 0xef6, 0x9fa, 0x8f3, 0xbf9, 0xaf0, - 0x650, 0x759, 0x453, 0x55a, 0x256, 0x35f, 0x55 , 0x15c, - 0xe5c, 0xf55, 0xc5f, 0xd56, 0xa5a, 0xb53, 0x859, 0x950, - 0x7c0, 0x6c9, 0x5c3, 0x4ca, 0x3c6, 0x2cf, 0x1c5, 0xcc , - 0xfcc, 0xec5, 0xdcf, 0xcc6, 0xbca, 0xac3, 0x9c9, 0x8c0, - 0x8c0, 0x9c9, 0xac3, 0xbca, 0xcc6, 0xdcf, 0xec5, 0xfcc, - 0xcc , 0x1c5, 0x2cf, 0x3c6, 0x4ca, 0x5c3, 0x6c9, 0x7c0, - 0x950, 0x859, 0xb53, 0xa5a, 0xd56, 0xc5f, 0xf55, 0xe5c, - 0x15c, 0x55 , 0x35f, 0x256, 0x55a, 0x453, 0x759, 0x650, - 0xaf0, 0xbf9, 0x8f3, 0x9fa, 0xef6, 0xfff, 0xcf5, 0xdfc, - 0x2fc, 0x3f5, 0xff , 0x1f6, 0x6fa, 0x7f3, 0x4f9, 0x5f0, - 0xb60, 0xa69, 0x963, 0x86a, 0xf66, 0xe6f, 0xd65, 0xc6c, - 0x36c, 0x265, 0x16f, 0x66 , 0x76a, 0x663, 0x569, 0x460, - 0xca0, 0xda9, 0xea3, 0xfaa, 0x8a6, 0x9af, 0xaa5, 0xbac, - 0x4ac, 0x5a5, 0x6af, 0x7a6, 0xaa , 0x1a3, 0x2a9, 0x3a0, - 0xd30, 0xc39, 0xf33, 0xe3a, 0x936, 0x83f, 0xb35, 0xa3c, - 0x53c, 0x435, 0x73f, 0x636, 0x13a, 0x33 , 0x339, 0x230, - 0xe90, 0xf99, 0xc93, 0xd9a, 0xa96, 0xb9f, 0x895, 0x99c, - 0x69c, 0x795, 0x49f, 0x596, 0x29a, 0x393, 0x99 , 0x190, - 0xf00, 0xe09, 0xd03, 0xc0a, 0xb06, 0xa0f, 0x905, 0x80c, - 0x70c, 0x605, 0x50f, 0x406, 0x30a, 0x203, 0x109, 0x0 }; - - private static int[,] triTable = new int[256,16] - {{-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {0, 8, 3, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {0, 1, 9, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {1, 8, 3, 9, 8, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {1, 2, 10, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {0, 8, 3, 1, 2, 10, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {9, 2, 10, 0, 2, 9, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {2, 8, 3, 2, 10, 8, 10, 9, 8, -1, -1, -1, -1, -1, -1, -1}, - {3, 11, 2, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {0, 11, 2, 8, 11, 0, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {1, 9, 0, 2, 3, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {1, 11, 2, 1, 9, 11, 9, 8, 11, -1, -1, -1, -1, -1, -1, -1}, - {3, 10, 1, 11, 10, 3, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {0, 10, 1, 0, 8, 10, 8, 11, 10, -1, -1, -1, -1, -1, -1, -1}, - {3, 9, 0, 3, 11, 9, 11, 10, 9, -1, -1, -1, -1, -1, -1, -1}, - {9, 8, 10, 10, 8, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {4, 7, 8, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {4, 3, 0, 7, 3, 4, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {0, 1, 9, 8, 4, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {4, 1, 9, 4, 7, 1, 7, 3, 1, -1, -1, -1, -1, -1, -1, -1}, - {1, 2, 10, 8, 4, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {3, 4, 7, 3, 0, 4, 1, 2, 10, -1, -1, -1, -1, -1, -1, -1}, - {9, 2, 10, 9, 0, 2, 8, 4, 7, -1, -1, -1, -1, -1, -1, -1}, - {2, 10, 9, 2, 9, 7, 2, 7, 3, 7, 9, 4, -1, -1, -1, -1}, - {8, 4, 7, 3, 11, 2, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {11, 4, 7, 11, 2, 4, 2, 0, 4, -1, -1, -1, -1, -1, -1, -1}, - {9, 0, 1, 8, 4, 7, 2, 3, 11, -1, -1, -1, -1, -1, -1, -1}, - {4, 7, 11, 9, 4, 11, 9, 11, 2, 9, 2, 1, -1, -1, -1, -1}, - {3, 10, 1, 3, 11, 10, 7, 8, 4, -1, -1, -1, -1, -1, -1, -1}, - {1, 11, 10, 1, 4, 11, 1, 0, 4, 7, 11, 4, -1, -1, -1, -1}, - {4, 7, 8, 9, 0, 11, 9, 11, 10, 11, 0, 3, -1, -1, -1, -1}, - {4, 7, 11, 4, 11, 9, 9, 11, 10, -1, -1, -1, -1, -1, -1, -1}, - {9, 5, 4, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {9, 5, 4, 0, 8, 3, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {0, 5, 4, 1, 5, 0, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {8, 5, 4, 8, 3, 5, 3, 1, 5, -1, -1, -1, -1, -1, -1, -1}, - {1, 2, 10, 9, 5, 4, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {3, 0, 8, 1, 2, 10, 4, 9, 5, -1, -1, -1, -1, -1, -1, -1}, - {5, 2, 10, 5, 4, 2, 4, 0, 2, -1, -1, -1, -1, -1, -1, -1}, - {2, 10, 5, 3, 2, 5, 3, 5, 4, 3, 4, 8, -1, -1, -1, -1}, - {9, 5, 4, 2, 3, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {0, 11, 2, 0, 8, 11, 4, 9, 5, -1, -1, -1, -1, -1, -1, -1}, - {0, 5, 4, 0, 1, 5, 2, 3, 11, -1, -1, -1, -1, -1, -1, -1}, - {2, 1, 5, 2, 5, 8, 2, 8, 11, 4, 8, 5, -1, -1, -1, -1}, - {10, 3, 11, 10, 1, 3, 9, 5, 4, -1, -1, -1, -1, -1, -1, -1}, - {4, 9, 5, 0, 8, 1, 8, 10, 1, 8, 11, 10, -1, -1, -1, -1}, - {5, 4, 0, 5, 0, 11, 5, 11, 10, 11, 0, 3, -1, -1, -1, -1}, - {5, 4, 8, 5, 8, 10, 10, 8, 11, -1, -1, -1, -1, -1, -1, -1}, - {9, 7, 8, 5, 7, 9, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {9, 3, 0, 9, 5, 3, 5, 7, 3, -1, -1, -1, -1, -1, -1, -1}, - {0, 7, 8, 0, 1, 7, 1, 5, 7, -1, -1, -1, -1, -1, -1, -1}, - {1, 5, 3, 3, 5, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {9, 7, 8, 9, 5, 7, 10, 1, 2, -1, -1, -1, -1, -1, -1, -1}, - {10, 1, 2, 9, 5, 0, 5, 3, 0, 5, 7, 3, -1, -1, -1, -1}, - {8, 0, 2, 8, 2, 5, 8, 5, 7, 10, 5, 2, -1, -1, -1, -1}, - {2, 10, 5, 2, 5, 3, 3, 5, 7, -1, -1, -1, -1, -1, -1, -1}, - {7, 9, 5, 7, 8, 9, 3, 11, 2, -1, -1, -1, -1, -1, -1, -1}, - {9, 5, 7, 9, 7, 2, 9, 2, 0, 2, 7, 11, -1, -1, -1, -1}, - {2, 3, 11, 0, 1, 8, 1, 7, 8, 1, 5, 7, -1, -1, -1, -1}, - {11, 2, 1, 11, 1, 7, 7, 1, 5, -1, -1, -1, -1, -1, -1, -1}, - {9, 5, 8, 8, 5, 7, 10, 1, 3, 10, 3, 11, -1, -1, -1, -1}, - {5, 7, 0, 5, 0, 9, 7, 11, 0, 1, 0, 10, 11, 10, 0, -1}, - {11, 10, 0, 11, 0, 3, 10, 5, 0, 8, 0, 7, 5, 7, 0, -1}, - {11, 10, 5, 7, 11, 5, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {10, 6, 5, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {0, 8, 3, 5, 10, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {9, 0, 1, 5, 10, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {1, 8, 3, 1, 9, 8, 5, 10, 6, -1, -1, -1, -1, -1, -1, -1}, - {1, 6, 5, 2, 6, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {1, 6, 5, 1, 2, 6, 3, 0, 8, -1, -1, -1, -1, -1, -1, -1}, - {9, 6, 5, 9, 0, 6, 0, 2, 6, -1, -1, -1, -1, -1, -1, -1}, - {5, 9, 8, 5, 8, 2, 5, 2, 6, 3, 2, 8, -1, -1, -1, -1}, - {2, 3, 11, 10, 6, 5, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {11, 0, 8, 11, 2, 0, 10, 6, 5, -1, -1, -1, -1, -1, -1, -1}, - {0, 1, 9, 2, 3, 11, 5, 10, 6, -1, -1, -1, -1, -1, -1, -1}, - {5, 10, 6, 1, 9, 2, 9, 11, 2, 9, 8, 11, -1, -1, -1, -1}, - {6, 3, 11, 6, 5, 3, 5, 1, 3, -1, -1, -1, -1, -1, -1, -1}, - {0, 8, 11, 0, 11, 5, 0, 5, 1, 5, 11, 6, -1, -1, -1, -1}, - {3, 11, 6, 0, 3, 6, 0, 6, 5, 0, 5, 9, -1, -1, -1, -1}, - {6, 5, 9, 6, 9, 11, 11, 9, 8, -1, -1, -1, -1, -1, -1, -1}, - {5, 10, 6, 4, 7, 8, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {4, 3, 0, 4, 7, 3, 6, 5, 10, -1, -1, -1, -1, -1, -1, -1}, - {1, 9, 0, 5, 10, 6, 8, 4, 7, -1, -1, -1, -1, -1, -1, -1}, - {10, 6, 5, 1, 9, 7, 1, 7, 3, 7, 9, 4, -1, -1, -1, -1}, - {6, 1, 2, 6, 5, 1, 4, 7, 8, -1, -1, -1, -1, -1, -1, -1}, - {1, 2, 5, 5, 2, 6, 3, 0, 4, 3, 4, 7, -1, -1, -1, -1}, - {8, 4, 7, 9, 0, 5, 0, 6, 5, 0, 2, 6, -1, -1, -1, -1}, - {7, 3, 9, 7, 9, 4, 3, 2, 9, 5, 9, 6, 2, 6, 9, -1}, - {3, 11, 2, 7, 8, 4, 10, 6, 5, -1, -1, -1, -1, -1, -1, -1}, - {5, 10, 6, 4, 7, 2, 4, 2, 0, 2, 7, 11, -1, -1, -1, -1}, - {0, 1, 9, 4, 7, 8, 2, 3, 11, 5, 10, 6, -1, -1, -1, -1}, - {9, 2, 1, 9, 11, 2, 9, 4, 11, 7, 11, 4, 5, 10, 6, -1}, - {8, 4, 7, 3, 11, 5, 3, 5, 1, 5, 11, 6, -1, -1, -1, -1}, - {5, 1, 11, 5, 11, 6, 1, 0, 11, 7, 11, 4, 0, 4, 11, -1}, - {0, 5, 9, 0, 6, 5, 0, 3, 6, 11, 6, 3, 8, 4, 7, -1}, - {6, 5, 9, 6, 9, 11, 4, 7, 9, 7, 11, 9, -1, -1, -1, -1}, - {10, 4, 9, 6, 4, 10, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {4, 10, 6, 4, 9, 10, 0, 8, 3, -1, -1, -1, -1, -1, -1, -1}, - {10, 0, 1, 10, 6, 0, 6, 4, 0, -1, -1, -1, -1, -1, -1, -1}, - {8, 3, 1, 8, 1, 6, 8, 6, 4, 6, 1, 10, -1, -1, -1, -1}, - {1, 4, 9, 1, 2, 4, 2, 6, 4, -1, -1, -1, -1, -1, -1, -1}, - {3, 0, 8, 1, 2, 9, 2, 4, 9, 2, 6, 4, -1, -1, -1, -1}, - {0, 2, 4, 4, 2, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {8, 3, 2, 8, 2, 4, 4, 2, 6, -1, -1, -1, -1, -1, -1, -1}, - {10, 4, 9, 10, 6, 4, 11, 2, 3, -1, -1, -1, -1, -1, -1, -1}, - {0, 8, 2, 2, 8, 11, 4, 9, 10, 4, 10, 6, -1, -1, -1, -1}, - {3, 11, 2, 0, 1, 6, 0, 6, 4, 6, 1, 10, -1, -1, -1, -1}, - {6, 4, 1, 6, 1, 10, 4, 8, 1, 2, 1, 11, 8, 11, 1, -1}, - {9, 6, 4, 9, 3, 6, 9, 1, 3, 11, 6, 3, -1, -1, -1, -1}, - {8, 11, 1, 8, 1, 0, 11, 6, 1, 9, 1, 4, 6, 4, 1, -1}, - {3, 11, 6, 3, 6, 0, 0, 6, 4, -1, -1, -1, -1, -1, -1, -1}, - {6, 4, 8, 11, 6, 8, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {7, 10, 6, 7, 8, 10, 8, 9, 10, -1, -1, -1, -1, -1, -1, -1}, - {0, 7, 3, 0, 10, 7, 0, 9, 10, 6, 7, 10, -1, -1, -1, -1}, - {10, 6, 7, 1, 10, 7, 1, 7, 8, 1, 8, 0, -1, -1, -1, -1}, - {10, 6, 7, 10, 7, 1, 1, 7, 3, -1, -1, -1, -1, -1, -1, -1}, - {1, 2, 6, 1, 6, 8, 1, 8, 9, 8, 6, 7, -1, -1, -1, -1}, - {2, 6, 9, 2, 9, 1, 6, 7, 9, 0, 9, 3, 7, 3, 9, -1}, - {7, 8, 0, 7, 0, 6, 6, 0, 2, -1, -1, -1, -1, -1, -1, -1}, - {7, 3, 2, 6, 7, 2, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {2, 3, 11, 10, 6, 8, 10, 8, 9, 8, 6, 7, -1, -1, -1, -1}, - {2, 0, 7, 2, 7, 11, 0, 9, 7, 6, 7, 10, 9, 10, 7, -1}, - {1, 8, 0, 1, 7, 8, 1, 10, 7, 6, 7, 10, 2, 3, 11, -1}, - {11, 2, 1, 11, 1, 7, 10, 6, 1, 6, 7, 1, -1, -1, -1, -1}, - {8, 9, 6, 8, 6, 7, 9, 1, 6, 11, 6, 3, 1, 3, 6, -1}, - {0, 9, 1, 11, 6, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {7, 8, 0, 7, 0, 6, 3, 11, 0, 11, 6, 0, -1, -1, -1, -1}, - {7, 11, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {7, 6, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {3, 0, 8, 11, 7, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {0, 1, 9, 11, 7, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {8, 1, 9, 8, 3, 1, 11, 7, 6, -1, -1, -1, -1, -1, -1, -1}, - {10, 1, 2, 6, 11, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {1, 2, 10, 3, 0, 8, 6, 11, 7, -1, -1, -1, -1, -1, -1, -1}, - {2, 9, 0, 2, 10, 9, 6, 11, 7, -1, -1, -1, -1, -1, -1, -1}, - {6, 11, 7, 2, 10, 3, 10, 8, 3, 10, 9, 8, -1, -1, -1, -1}, - {7, 2, 3, 6, 2, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {7, 0, 8, 7, 6, 0, 6, 2, 0, -1, -1, -1, -1, -1, -1, -1}, - {2, 7, 6, 2, 3, 7, 0, 1, 9, -1, -1, -1, -1, -1, -1, -1}, - {1, 6, 2, 1, 8, 6, 1, 9, 8, 8, 7, 6, -1, -1, -1, -1}, - {10, 7, 6, 10, 1, 7, 1, 3, 7, -1, -1, -1, -1, -1, -1, -1}, - {10, 7, 6, 1, 7, 10, 1, 8, 7, 1, 0, 8, -1, -1, -1, -1}, - {0, 3, 7, 0, 7, 10, 0, 10, 9, 6, 10, 7, -1, -1, -1, -1}, - {7, 6, 10, 7, 10, 8, 8, 10, 9, -1, -1, -1, -1, -1, -1, -1}, - {6, 8, 4, 11, 8, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {3, 6, 11, 3, 0, 6, 0, 4, 6, -1, -1, -1, -1, -1, -1, -1}, - {8, 6, 11, 8, 4, 6, 9, 0, 1, -1, -1, -1, -1, -1, -1, -1}, - {9, 4, 6, 9, 6, 3, 9, 3, 1, 11, 3, 6, -1, -1, -1, -1}, - {6, 8, 4, 6, 11, 8, 2, 10, 1, -1, -1, -1, -1, -1, -1, -1}, - {1, 2, 10, 3, 0, 11, 0, 6, 11, 0, 4, 6, -1, -1, -1, -1}, - {4, 11, 8, 4, 6, 11, 0, 2, 9, 2, 10, 9, -1, -1, -1, -1}, - {10, 9, 3, 10, 3, 2, 9, 4, 3, 11, 3, 6, 4, 6, 3, -1}, - {8, 2, 3, 8, 4, 2, 4, 6, 2, -1, -1, -1, -1, -1, -1, -1}, - {0, 4, 2, 4, 6, 2, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {1, 9, 0, 2, 3, 4, 2, 4, 6, 4, 3, 8, -1, -1, -1, -1}, - {1, 9, 4, 1, 4, 2, 2, 4, 6, -1, -1, -1, -1, -1, -1, -1}, - {8, 1, 3, 8, 6, 1, 8, 4, 6, 6, 10, 1, -1, -1, -1, -1}, - {10, 1, 0, 10, 0, 6, 6, 0, 4, -1, -1, -1, -1, -1, -1, -1}, - {4, 6, 3, 4, 3, 8, 6, 10, 3, 0, 3, 9, 10, 9, 3, -1}, - {10, 9, 4, 6, 10, 4, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {4, 9, 5, 7, 6, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {0, 8, 3, 4, 9, 5, 11, 7, 6, -1, -1, -1, -1, -1, -1, -1}, - {5, 0, 1, 5, 4, 0, 7, 6, 11, -1, -1, -1, -1, -1, -1, -1}, - {11, 7, 6, 8, 3, 4, 3, 5, 4, 3, 1, 5, -1, -1, -1, -1}, - {9, 5, 4, 10, 1, 2, 7, 6, 11, -1, -1, -1, -1, -1, -1, -1}, - {6, 11, 7, 1, 2, 10, 0, 8, 3, 4, 9, 5, -1, -1, -1, -1}, - {7, 6, 11, 5, 4, 10, 4, 2, 10, 4, 0, 2, -1, -1, -1, -1}, - {3, 4, 8, 3, 5, 4, 3, 2, 5, 10, 5, 2, 11, 7, 6, -1}, - {7, 2, 3, 7, 6, 2, 5, 4, 9, -1, -1, -1, -1, -1, -1, -1}, - {9, 5, 4, 0, 8, 6, 0, 6, 2, 6, 8, 7, -1, -1, -1, -1}, - {3, 6, 2, 3, 7, 6, 1, 5, 0, 5, 4, 0, -1, -1, -1, -1}, - {6, 2, 8, 6, 8, 7, 2, 1, 8, 4, 8, 5, 1, 5, 8, -1}, - {9, 5, 4, 10, 1, 6, 1, 7, 6, 1, 3, 7, -1, -1, -1, -1}, - {1, 6, 10, 1, 7, 6, 1, 0, 7, 8, 7, 0, 9, 5, 4, -1}, - {4, 0, 10, 4, 10, 5, 0, 3, 10, 6, 10, 7, 3, 7, 10, -1}, - {7, 6, 10, 7, 10, 8, 5, 4, 10, 4, 8, 10, -1, -1, -1, -1}, - {6, 9, 5, 6, 11, 9, 11, 8, 9, -1, -1, -1, -1, -1, -1, -1}, - {3, 6, 11, 0, 6, 3, 0, 5, 6, 0, 9, 5, -1, -1, -1, -1}, - {0, 11, 8, 0, 5, 11, 0, 1, 5, 5, 6, 11, -1, -1, -1, -1}, - {6, 11, 3, 6, 3, 5, 5, 3, 1, -1, -1, -1, -1, -1, -1, -1}, - {1, 2, 10, 9, 5, 11, 9, 11, 8, 11, 5, 6, -1, -1, -1, -1}, - {0, 11, 3, 0, 6, 11, 0, 9, 6, 5, 6, 9, 1, 2, 10, -1}, - {11, 8, 5, 11, 5, 6, 8, 0, 5, 10, 5, 2, 0, 2, 5, -1}, - {6, 11, 3, 6, 3, 5, 2, 10, 3, 10, 5, 3, -1, -1, -1, -1}, - {5, 8, 9, 5, 2, 8, 5, 6, 2, 3, 8, 2, -1, -1, -1, -1}, - {9, 5, 6, 9, 6, 0, 0, 6, 2, -1, -1, -1, -1, -1, -1, -1}, - {1, 5, 8, 1, 8, 0, 5, 6, 8, 3, 8, 2, 6, 2, 8, -1}, - {1, 5, 6, 2, 1, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {1, 3, 6, 1, 6, 10, 3, 8, 6, 5, 6, 9, 8, 9, 6, -1}, - {10, 1, 0, 10, 0, 6, 9, 5, 0, 5, 6, 0, -1, -1, -1, -1}, - {0, 3, 8, 5, 6, 10, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {10, 5, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {11, 5, 10, 7, 5, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {11, 5, 10, 11, 7, 5, 8, 3, 0, -1, -1, -1, -1, -1, -1, -1}, - {5, 11, 7, 5, 10, 11, 1, 9, 0, -1, -1, -1, -1, -1, -1, -1}, - {10, 7, 5, 10, 11, 7, 9, 8, 1, 8, 3, 1, -1, -1, -1, -1}, - {11, 1, 2, 11, 7, 1, 7, 5, 1, -1, -1, -1, -1, -1, -1, -1}, - {0, 8, 3, 1, 2, 7, 1, 7, 5, 7, 2, 11, -1, -1, -1, -1}, - {9, 7, 5, 9, 2, 7, 9, 0, 2, 2, 11, 7, -1, -1, -1, -1}, - {7, 5, 2, 7, 2, 11, 5, 9, 2, 3, 2, 8, 9, 8, 2, -1}, - {2, 5, 10, 2, 3, 5, 3, 7, 5, -1, -1, -1, -1, -1, -1, -1}, - {8, 2, 0, 8, 5, 2, 8, 7, 5, 10, 2, 5, -1, -1, -1, -1}, - {9, 0, 1, 5, 10, 3, 5, 3, 7, 3, 10, 2, -1, -1, -1, -1}, - {9, 8, 2, 9, 2, 1, 8, 7, 2, 10, 2, 5, 7, 5, 2, -1}, - {1, 3, 5, 3, 7, 5, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {0, 8, 7, 0, 7, 1, 1, 7, 5, -1, -1, -1, -1, -1, -1, -1}, - {9, 0, 3, 9, 3, 5, 5, 3, 7, -1, -1, -1, -1, -1, -1, -1}, - {9, 8, 7, 5, 9, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {5, 8, 4, 5, 10, 8, 10, 11, 8, -1, -1, -1, -1, -1, -1, -1}, - {5, 0, 4, 5, 11, 0, 5, 10, 11, 11, 3, 0, -1, -1, -1, -1}, - {0, 1, 9, 8, 4, 10, 8, 10, 11, 10, 4, 5, -1, -1, -1, -1}, - {10, 11, 4, 10, 4, 5, 11, 3, 4, 9, 4, 1, 3, 1, 4, -1}, - {2, 5, 1, 2, 8, 5, 2, 11, 8, 4, 5, 8, -1, -1, -1, -1}, - {0, 4, 11, 0, 11, 3, 4, 5, 11, 2, 11, 1, 5, 1, 11, -1}, - {0, 2, 5, 0, 5, 9, 2, 11, 5, 4, 5, 8, 11, 8, 5, -1}, - {9, 4, 5, 2, 11, 3, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {2, 5, 10, 3, 5, 2, 3, 4, 5, 3, 8, 4, -1, -1, -1, -1}, - {5, 10, 2, 5, 2, 4, 4, 2, 0, -1, -1, -1, -1, -1, -1, -1}, - {3, 10, 2, 3, 5, 10, 3, 8, 5, 4, 5, 8, 0, 1, 9, -1}, - {5, 10, 2, 5, 2, 4, 1, 9, 2, 9, 4, 2, -1, -1, -1, -1}, - {8, 4, 5, 8, 5, 3, 3, 5, 1, -1, -1, -1, -1, -1, -1, -1}, - {0, 4, 5, 1, 0, 5, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {8, 4, 5, 8, 5, 3, 9, 0, 5, 0, 3, 5, -1, -1, -1, -1}, - {9, 4, 5, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {4, 11, 7, 4, 9, 11, 9, 10, 11, -1, -1, -1, -1, -1, -1, -1}, - {0, 8, 3, 4, 9, 7, 9, 11, 7, 9, 10, 11, -1, -1, -1, -1}, - {1, 10, 11, 1, 11, 4, 1, 4, 0, 7, 4, 11, -1, -1, -1, -1}, - {3, 1, 4, 3, 4, 8, 1, 10, 4, 7, 4, 11, 10, 11, 4, -1}, - {4, 11, 7, 9, 11, 4, 9, 2, 11, 9, 1, 2, -1, -1, -1, -1}, - {9, 7, 4, 9, 11, 7, 9, 1, 11, 2, 11, 1, 0, 8, 3, -1}, - {11, 7, 4, 11, 4, 2, 2, 4, 0, -1, -1, -1, -1, -1, -1, -1}, - {11, 7, 4, 11, 4, 2, 8, 3, 4, 3, 2, 4, -1, -1, -1, -1}, - {2, 9, 10, 2, 7, 9, 2, 3, 7, 7, 4, 9, -1, -1, -1, -1}, - {9, 10, 7, 9, 7, 4, 10, 2, 7, 8, 7, 0, 2, 0, 7, -1}, - {3, 7, 10, 3, 10, 2, 7, 4, 10, 1, 10, 0, 4, 0, 10, -1}, - {1, 10, 2, 8, 7, 4, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {4, 9, 1, 4, 1, 7, 7, 1, 3, -1, -1, -1, -1, -1, -1, -1}, - {4, 9, 1, 4, 1, 7, 0, 8, 1, 8, 7, 1, -1, -1, -1, -1}, - {4, 0, 3, 7, 4, 3, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {4, 8, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {9, 10, 8, 10, 11, 8, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {3, 0, 9, 3, 9, 11, 11, 9, 10, -1, -1, -1, -1, -1, -1, -1}, - {0, 1, 10, 0, 10, 8, 8, 10, 11, -1, -1, -1, -1, -1, -1, -1}, - {3, 1, 10, 11, 3, 10, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {1, 2, 11, 1, 11, 9, 9, 11, 8, -1, -1, -1, -1, -1, -1, -1}, - {3, 0, 9, 3, 9, 11, 1, 2, 9, 2, 11, 9, -1, -1, -1, -1}, - {0, 2, 11, 8, 0, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {3, 2, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {2, 3, 8, 2, 8, 10, 10, 8, 9, -1, -1, -1, -1, -1, -1, -1}, - {9, 10, 2, 0, 9, 2, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {2, 3, 8, 2, 8, 10, 0, 1, 8, 1, 10, 8, -1, -1, -1, -1}, - {1, 10, 2, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {1, 3, 8, 9, 1, 8, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {0, 9, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {0, 3, 8, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, - {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}}; + static int[] vertexIndexTable = new int[12]; + static int cubeindex = 0; + private static int[] edgeTable = new int[256]{ + 0x0 , 0x109, 0x203, 0x30a, 0x406, 0x50f, 0x605, 0x70c, + 0x80c, 0x905, 0xa0f, 0xb06, 0xc0a, 0xd03, 0xe09, 0xf00, + 0x190, 0x99 , 0x393, 0x29a, 0x596, 0x49f, 0x795, 0x69c, + 0x99c, 0x895, 0xb9f, 0xa96, 0xd9a, 0xc93, 0xf99, 0xe90, + 0x230, 0x339, 0x33 , 0x13a, 0x636, 0x73f, 0x435, 0x53c, + 0xa3c, 0xb35, 0x83f, 0x936, 0xe3a, 0xf33, 0xc39, 0xd30, + 0x3a0, 0x2a9, 0x1a3, 0xaa , 0x7a6, 0x6af, 0x5a5, 0x4ac, + 0xbac, 0xaa5, 0x9af, 0x8a6, 0xfaa, 0xea3, 0xda9, 0xca0, + 0x460, 0x569, 0x663, 0x76a, 0x66 , 0x16f, 0x265, 0x36c, + 0xc6c, 0xd65, 0xe6f, 0xf66, 0x86a, 0x963, 0xa69, 0xb60, + 0x5f0, 0x4f9, 0x7f3, 0x6fa, 0x1f6, 0xff , 0x3f5, 0x2fc, + 0xdfc, 0xcf5, 0xfff, 0xef6, 0x9fa, 0x8f3, 0xbf9, 0xaf0, + 0x650, 0x759, 0x453, 0x55a, 0x256, 0x35f, 0x55 , 0x15c, + 0xe5c, 0xf55, 0xc5f, 0xd56, 0xa5a, 0xb53, 0x859, 0x950, + 0x7c0, 0x6c9, 0x5c3, 0x4ca, 0x3c6, 0x2cf, 0x1c5, 0xcc , + 0xfcc, 0xec5, 0xdcf, 0xcc6, 0xbca, 0xac3, 0x9c9, 0x8c0, + 0x8c0, 0x9c9, 0xac3, 0xbca, 0xcc6, 0xdcf, 0xec5, 0xfcc, + 0xcc , 0x1c5, 0x2cf, 0x3c6, 0x4ca, 0x5c3, 0x6c9, 0x7c0, + 0x950, 0x859, 0xb53, 0xa5a, 0xd56, 0xc5f, 0xf55, 0xe5c, + 0x15c, 0x55 , 0x35f, 0x256, 0x55a, 0x453, 0x759, 0x650, + 0xaf0, 0xbf9, 0x8f3, 0x9fa, 0xef6, 0xfff, 0xcf5, 0xdfc, + 0x2fc, 0x3f5, 0xff , 0x1f6, 0x6fa, 0x7f3, 0x4f9, 0x5f0, + 0xb60, 0xa69, 0x963, 0x86a, 0xf66, 0xe6f, 0xd65, 0xc6c, + 0x36c, 0x265, 0x16f, 0x66 , 0x76a, 0x663, 0x569, 0x460, + 0xca0, 0xda9, 0xea3, 0xfaa, 0x8a6, 0x9af, 0xaa5, 0xbac, + 0x4ac, 0x5a5, 0x6af, 0x7a6, 0xaa , 0x1a3, 0x2a9, 0x3a0, + 0xd30, 0xc39, 0xf33, 0xe3a, 0x936, 0x83f, 0xb35, 0xa3c, + 0x53c, 0x435, 0x73f, 0x636, 0x13a, 0x33 , 0x339, 0x230, + 0xe90, 0xf99, 0xc93, 0xd9a, 0xa96, 0xb9f, 0x895, 0x99c, + 0x69c, 0x795, 0x49f, 0x596, 0x29a, 0x393, 0x99 , 0x190, + 0xf00, 0xe09, 0xd03, 0xc0a, 0xb06, 0xa0f, 0x905, 0x80c, + 0x70c, 0x605, 0x50f, 0x406, 0x30a, 0x203, 0x109, 0x0 }; + + private static int[,] triTable = new int[256,16] + {{-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {0, 8, 3, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {0, 1, 9, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {1, 8, 3, 9, 8, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {1, 2, 10, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {0, 8, 3, 1, 2, 10, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {9, 2, 10, 0, 2, 9, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {2, 8, 3, 2, 10, 8, 10, 9, 8, -1, -1, -1, -1, -1, -1, -1}, + {3, 11, 2, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {0, 11, 2, 8, 11, 0, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {1, 9, 0, 2, 3, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {1, 11, 2, 1, 9, 11, 9, 8, 11, -1, -1, -1, -1, -1, -1, -1}, + {3, 10, 1, 11, 10, 3, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {0, 10, 1, 0, 8, 10, 8, 11, 10, -1, -1, -1, -1, -1, -1, -1}, + {3, 9, 0, 3, 11, 9, 11, 10, 9, -1, -1, -1, -1, -1, -1, -1}, + {9, 8, 10, 10, 8, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {4, 7, 8, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {4, 3, 0, 7, 3, 4, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {0, 1, 9, 8, 4, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {4, 1, 9, 4, 7, 1, 7, 3, 1, -1, -1, -1, -1, -1, -1, -1}, + {1, 2, 10, 8, 4, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {3, 4, 7, 3, 0, 4, 1, 2, 10, -1, -1, -1, -1, -1, -1, -1}, + {9, 2, 10, 9, 0, 2, 8, 4, 7, -1, -1, -1, -1, -1, -1, -1}, + {2, 10, 9, 2, 9, 7, 2, 7, 3, 7, 9, 4, -1, -1, -1, -1}, + {8, 4, 7, 3, 11, 2, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {11, 4, 7, 11, 2, 4, 2, 0, 4, -1, -1, -1, -1, -1, -1, -1}, + {9, 0, 1, 8, 4, 7, 2, 3, 11, -1, -1, -1, -1, -1, -1, -1}, + {4, 7, 11, 9, 4, 11, 9, 11, 2, 9, 2, 1, -1, -1, -1, -1}, + {3, 10, 1, 3, 11, 10, 7, 8, 4, -1, -1, -1, -1, -1, -1, -1}, + {1, 11, 10, 1, 4, 11, 1, 0, 4, 7, 11, 4, -1, -1, -1, -1}, + {4, 7, 8, 9, 0, 11, 9, 11, 10, 11, 0, 3, -1, -1, -1, -1}, + {4, 7, 11, 4, 11, 9, 9, 11, 10, -1, -1, -1, -1, -1, -1, -1}, + {9, 5, 4, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {9, 5, 4, 0, 8, 3, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {0, 5, 4, 1, 5, 0, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {8, 5, 4, 8, 3, 5, 3, 1, 5, -1, -1, -1, -1, -1, -1, -1}, + {1, 2, 10, 9, 5, 4, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {3, 0, 8, 1, 2, 10, 4, 9, 5, -1, -1, -1, -1, -1, -1, -1}, + {5, 2, 10, 5, 4, 2, 4, 0, 2, -1, -1, -1, -1, -1, -1, -1}, + {2, 10, 5, 3, 2, 5, 3, 5, 4, 3, 4, 8, -1, -1, -1, -1}, + {9, 5, 4, 2, 3, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {0, 11, 2, 0, 8, 11, 4, 9, 5, -1, -1, -1, -1, -1, -1, -1}, + {0, 5, 4, 0, 1, 5, 2, 3, 11, -1, -1, -1, -1, -1, -1, -1}, + {2, 1, 5, 2, 5, 8, 2, 8, 11, 4, 8, 5, -1, -1, -1, -1}, + {10, 3, 11, 10, 1, 3, 9, 5, 4, -1, -1, -1, -1, -1, -1, -1}, + {4, 9, 5, 0, 8, 1, 8, 10, 1, 8, 11, 10, -1, -1, -1, -1}, + {5, 4, 0, 5, 0, 11, 5, 11, 10, 11, 0, 3, -1, -1, -1, -1}, + {5, 4, 8, 5, 8, 10, 10, 8, 11, -1, -1, -1, -1, -1, -1, -1}, + {9, 7, 8, 5, 7, 9, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {9, 3, 0, 9, 5, 3, 5, 7, 3, -1, -1, -1, -1, -1, -1, -1}, + {0, 7, 8, 0, 1, 7, 1, 5, 7, -1, -1, -1, -1, -1, -1, -1}, + {1, 5, 3, 3, 5, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {9, 7, 8, 9, 5, 7, 10, 1, 2, -1, -1, -1, -1, -1, -1, -1}, + {10, 1, 2, 9, 5, 0, 5, 3, 0, 5, 7, 3, -1, -1, -1, -1}, + {8, 0, 2, 8, 2, 5, 8, 5, 7, 10, 5, 2, -1, -1, -1, -1}, + {2, 10, 5, 2, 5, 3, 3, 5, 7, -1, -1, -1, -1, -1, -1, -1}, + {7, 9, 5, 7, 8, 9, 3, 11, 2, -1, -1, -1, -1, -1, -1, -1}, + {9, 5, 7, 9, 7, 2, 9, 2, 0, 2, 7, 11, -1, -1, -1, -1}, + {2, 3, 11, 0, 1, 8, 1, 7, 8, 1, 5, 7, -1, -1, -1, -1}, + {11, 2, 1, 11, 1, 7, 7, 1, 5, -1, -1, -1, -1, -1, -1, -1}, + {9, 5, 8, 8, 5, 7, 10, 1, 3, 10, 3, 11, -1, -1, -1, -1}, + {5, 7, 0, 5, 0, 9, 7, 11, 0, 1, 0, 10, 11, 10, 0, -1}, + {11, 10, 0, 11, 0, 3, 10, 5, 0, 8, 0, 7, 5, 7, 0, -1}, + {11, 10, 5, 7, 11, 5, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {10, 6, 5, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {0, 8, 3, 5, 10, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {9, 0, 1, 5, 10, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {1, 8, 3, 1, 9, 8, 5, 10, 6, -1, -1, -1, -1, -1, -1, -1}, + {1, 6, 5, 2, 6, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {1, 6, 5, 1, 2, 6, 3, 0, 8, -1, -1, -1, -1, -1, -1, -1}, + {9, 6, 5, 9, 0, 6, 0, 2, 6, -1, -1, -1, -1, -1, -1, -1}, + {5, 9, 8, 5, 8, 2, 5, 2, 6, 3, 2, 8, -1, -1, -1, -1}, + {2, 3, 11, 10, 6, 5, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {11, 0, 8, 11, 2, 0, 10, 6, 5, -1, -1, -1, -1, -1, -1, -1}, + {0, 1, 9, 2, 3, 11, 5, 10, 6, -1, -1, -1, -1, -1, -1, -1}, + {5, 10, 6, 1, 9, 2, 9, 11, 2, 9, 8, 11, -1, -1, -1, -1}, + {6, 3, 11, 6, 5, 3, 5, 1, 3, -1, -1, -1, -1, -1, -1, -1}, + {0, 8, 11, 0, 11, 5, 0, 5, 1, 5, 11, 6, -1, -1, -1, -1}, + {3, 11, 6, 0, 3, 6, 0, 6, 5, 0, 5, 9, -1, -1, -1, -1}, + {6, 5, 9, 6, 9, 11, 11, 9, 8, -1, -1, -1, -1, -1, -1, -1}, + {5, 10, 6, 4, 7, 8, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {4, 3, 0, 4, 7, 3, 6, 5, 10, -1, -1, -1, -1, -1, -1, -1}, + {1, 9, 0, 5, 10, 6, 8, 4, 7, -1, -1, -1, -1, -1, -1, -1}, + {10, 6, 5, 1, 9, 7, 1, 7, 3, 7, 9, 4, -1, -1, -1, -1}, + {6, 1, 2, 6, 5, 1, 4, 7, 8, -1, -1, -1, -1, -1, -1, -1}, + {1, 2, 5, 5, 2, 6, 3, 0, 4, 3, 4, 7, -1, -1, -1, -1}, + {8, 4, 7, 9, 0, 5, 0, 6, 5, 0, 2, 6, -1, -1, -1, -1}, + {7, 3, 9, 7, 9, 4, 3, 2, 9, 5, 9, 6, 2, 6, 9, -1}, + {3, 11, 2, 7, 8, 4, 10, 6, 5, -1, -1, -1, -1, -1, -1, -1}, + {5, 10, 6, 4, 7, 2, 4, 2, 0, 2, 7, 11, -1, -1, -1, -1}, + {0, 1, 9, 4, 7, 8, 2, 3, 11, 5, 10, 6, -1, -1, -1, -1}, + {9, 2, 1, 9, 11, 2, 9, 4, 11, 7, 11, 4, 5, 10, 6, -1}, + {8, 4, 7, 3, 11, 5, 3, 5, 1, 5, 11, 6, -1, -1, -1, -1}, + {5, 1, 11, 5, 11, 6, 1, 0, 11, 7, 11, 4, 0, 4, 11, -1}, + {0, 5, 9, 0, 6, 5, 0, 3, 6, 11, 6, 3, 8, 4, 7, -1}, + {6, 5, 9, 6, 9, 11, 4, 7, 9, 7, 11, 9, -1, -1, -1, -1}, + {10, 4, 9, 6, 4, 10, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {4, 10, 6, 4, 9, 10, 0, 8, 3, -1, -1, -1, -1, -1, -1, -1}, + {10, 0, 1, 10, 6, 0, 6, 4, 0, -1, -1, -1, -1, -1, -1, -1}, + {8, 3, 1, 8, 1, 6, 8, 6, 4, 6, 1, 10, -1, -1, -1, -1}, + {1, 4, 9, 1, 2, 4, 2, 6, 4, -1, -1, -1, -1, -1, -1, -1}, + {3, 0, 8, 1, 2, 9, 2, 4, 9, 2, 6, 4, -1, -1, -1, -1}, + {0, 2, 4, 4, 2, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {8, 3, 2, 8, 2, 4, 4, 2, 6, -1, -1, -1, -1, -1, -1, -1}, + {10, 4, 9, 10, 6, 4, 11, 2, 3, -1, -1, -1, -1, -1, -1, -1}, + {0, 8, 2, 2, 8, 11, 4, 9, 10, 4, 10, 6, -1, -1, -1, -1}, + {3, 11, 2, 0, 1, 6, 0, 6, 4, 6, 1, 10, -1, -1, -1, -1}, + {6, 4, 1, 6, 1, 10, 4, 8, 1, 2, 1, 11, 8, 11, 1, -1}, + {9, 6, 4, 9, 3, 6, 9, 1, 3, 11, 6, 3, -1, -1, -1, -1}, + {8, 11, 1, 8, 1, 0, 11, 6, 1, 9, 1, 4, 6, 4, 1, -1}, + {3, 11, 6, 3, 6, 0, 0, 6, 4, -1, -1, -1, -1, -1, -1, -1}, + {6, 4, 8, 11, 6, 8, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {7, 10, 6, 7, 8, 10, 8, 9, 10, -1, -1, -1, -1, -1, -1, -1}, + {0, 7, 3, 0, 10, 7, 0, 9, 10, 6, 7, 10, -1, -1, -1, -1}, + {10, 6, 7, 1, 10, 7, 1, 7, 8, 1, 8, 0, -1, -1, -1, -1}, + {10, 6, 7, 10, 7, 1, 1, 7, 3, -1, -1, -1, -1, -1, -1, -1}, + {1, 2, 6, 1, 6, 8, 1, 8, 9, 8, 6, 7, -1, -1, -1, -1}, + {2, 6, 9, 2, 9, 1, 6, 7, 9, 0, 9, 3, 7, 3, 9, -1}, + {7, 8, 0, 7, 0, 6, 6, 0, 2, -1, -1, -1, -1, -1, -1, -1}, + {7, 3, 2, 6, 7, 2, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {2, 3, 11, 10, 6, 8, 10, 8, 9, 8, 6, 7, -1, -1, -1, -1}, + {2, 0, 7, 2, 7, 11, 0, 9, 7, 6, 7, 10, 9, 10, 7, -1}, + {1, 8, 0, 1, 7, 8, 1, 10, 7, 6, 7, 10, 2, 3, 11, -1}, + {11, 2, 1, 11, 1, 7, 10, 6, 1, 6, 7, 1, -1, -1, -1, -1}, + {8, 9, 6, 8, 6, 7, 9, 1, 6, 11, 6, 3, 1, 3, 6, -1}, + {0, 9, 1, 11, 6, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {7, 8, 0, 7, 0, 6, 3, 11, 0, 11, 6, 0, -1, -1, -1, -1}, + {7, 11, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {7, 6, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {3, 0, 8, 11, 7, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {0, 1, 9, 11, 7, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {8, 1, 9, 8, 3, 1, 11, 7, 6, -1, -1, -1, -1, -1, -1, -1}, + {10, 1, 2, 6, 11, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {1, 2, 10, 3, 0, 8, 6, 11, 7, -1, -1, -1, -1, -1, -1, -1}, + {2, 9, 0, 2, 10, 9, 6, 11, 7, -1, -1, -1, -1, -1, -1, -1}, + {6, 11, 7, 2, 10, 3, 10, 8, 3, 10, 9, 8, -1, -1, -1, -1}, + {7, 2, 3, 6, 2, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {7, 0, 8, 7, 6, 0, 6, 2, 0, -1, -1, -1, -1, -1, -1, -1}, + {2, 7, 6, 2, 3, 7, 0, 1, 9, -1, -1, -1, -1, -1, -1, -1}, + {1, 6, 2, 1, 8, 6, 1, 9, 8, 8, 7, 6, -1, -1, -1, -1}, + {10, 7, 6, 10, 1, 7, 1, 3, 7, -1, -1, -1, -1, -1, -1, -1}, + {10, 7, 6, 1, 7, 10, 1, 8, 7, 1, 0, 8, -1, -1, -1, -1}, + {0, 3, 7, 0, 7, 10, 0, 10, 9, 6, 10, 7, -1, -1, -1, -1}, + {7, 6, 10, 7, 10, 8, 8, 10, 9, -1, -1, -1, -1, -1, -1, -1}, + {6, 8, 4, 11, 8, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {3, 6, 11, 3, 0, 6, 0, 4, 6, -1, -1, -1, -1, -1, -1, -1}, + {8, 6, 11, 8, 4, 6, 9, 0, 1, -1, -1, -1, -1, -1, -1, -1}, + {9, 4, 6, 9, 6, 3, 9, 3, 1, 11, 3, 6, -1, -1, -1, -1}, + {6, 8, 4, 6, 11, 8, 2, 10, 1, -1, -1, -1, -1, -1, -1, -1}, + {1, 2, 10, 3, 0, 11, 0, 6, 11, 0, 4, 6, -1, -1, -1, -1}, + {4, 11, 8, 4, 6, 11, 0, 2, 9, 2, 10, 9, -1, -1, -1, -1}, + {10, 9, 3, 10, 3, 2, 9, 4, 3, 11, 3, 6, 4, 6, 3, -1}, + {8, 2, 3, 8, 4, 2, 4, 6, 2, -1, -1, -1, -1, -1, -1, -1}, + {0, 4, 2, 4, 6, 2, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {1, 9, 0, 2, 3, 4, 2, 4, 6, 4, 3, 8, -1, -1, -1, -1}, + {1, 9, 4, 1, 4, 2, 2, 4, 6, -1, -1, -1, -1, -1, -1, -1}, + {8, 1, 3, 8, 6, 1, 8, 4, 6, 6, 10, 1, -1, -1, -1, -1}, + {10, 1, 0, 10, 0, 6, 6, 0, 4, -1, -1, -1, -1, -1, -1, -1}, + {4, 6, 3, 4, 3, 8, 6, 10, 3, 0, 3, 9, 10, 9, 3, -1}, + {10, 9, 4, 6, 10, 4, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {4, 9, 5, 7, 6, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {0, 8, 3, 4, 9, 5, 11, 7, 6, -1, -1, -1, -1, -1, -1, -1}, + {5, 0, 1, 5, 4, 0, 7, 6, 11, -1, -1, -1, -1, -1, -1, -1}, + {11, 7, 6, 8, 3, 4, 3, 5, 4, 3, 1, 5, -1, -1, -1, -1}, + {9, 5, 4, 10, 1, 2, 7, 6, 11, -1, -1, -1, -1, -1, -1, -1}, + {6, 11, 7, 1, 2, 10, 0, 8, 3, 4, 9, 5, -1, -1, -1, -1}, + {7, 6, 11, 5, 4, 10, 4, 2, 10, 4, 0, 2, -1, -1, -1, -1}, + {3, 4, 8, 3, 5, 4, 3, 2, 5, 10, 5, 2, 11, 7, 6, -1}, + {7, 2, 3, 7, 6, 2, 5, 4, 9, -1, -1, -1, -1, -1, -1, -1}, + {9, 5, 4, 0, 8, 6, 0, 6, 2, 6, 8, 7, -1, -1, -1, -1}, + {3, 6, 2, 3, 7, 6, 1, 5, 0, 5, 4, 0, -1, -1, -1, -1}, + {6, 2, 8, 6, 8, 7, 2, 1, 8, 4, 8, 5, 1, 5, 8, -1}, + {9, 5, 4, 10, 1, 6, 1, 7, 6, 1, 3, 7, -1, -1, -1, -1}, + {1, 6, 10, 1, 7, 6, 1, 0, 7, 8, 7, 0, 9, 5, 4, -1}, + {4, 0, 10, 4, 10, 5, 0, 3, 10, 6, 10, 7, 3, 7, 10, -1}, + {7, 6, 10, 7, 10, 8, 5, 4, 10, 4, 8, 10, -1, -1, -1, -1}, + {6, 9, 5, 6, 11, 9, 11, 8, 9, -1, -1, -1, -1, -1, -1, -1}, + {3, 6, 11, 0, 6, 3, 0, 5, 6, 0, 9, 5, -1, -1, -1, -1}, + {0, 11, 8, 0, 5, 11, 0, 1, 5, 5, 6, 11, -1, -1, -1, -1}, + {6, 11, 3, 6, 3, 5, 5, 3, 1, -1, -1, -1, -1, -1, -1, -1}, + {1, 2, 10, 9, 5, 11, 9, 11, 8, 11, 5, 6, -1, -1, -1, -1}, + {0, 11, 3, 0, 6, 11, 0, 9, 6, 5, 6, 9, 1, 2, 10, -1}, + {11, 8, 5, 11, 5, 6, 8, 0, 5, 10, 5, 2, 0, 2, 5, -1}, + {6, 11, 3, 6, 3, 5, 2, 10, 3, 10, 5, 3, -1, -1, -1, -1}, + {5, 8, 9, 5, 2, 8, 5, 6, 2, 3, 8, 2, -1, -1, -1, -1}, + {9, 5, 6, 9, 6, 0, 0, 6, 2, -1, -1, -1, -1, -1, -1, -1}, + {1, 5, 8, 1, 8, 0, 5, 6, 8, 3, 8, 2, 6, 2, 8, -1}, + {1, 5, 6, 2, 1, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {1, 3, 6, 1, 6, 10, 3, 8, 6, 5, 6, 9, 8, 9, 6, -1}, + {10, 1, 0, 10, 0, 6, 9, 5, 0, 5, 6, 0, -1, -1, -1, -1}, + {0, 3, 8, 5, 6, 10, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {10, 5, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {11, 5, 10, 7, 5, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {11, 5, 10, 11, 7, 5, 8, 3, 0, -1, -1, -1, -1, -1, -1, -1}, + {5, 11, 7, 5, 10, 11, 1, 9, 0, -1, -1, -1, -1, -1, -1, -1}, + {10, 7, 5, 10, 11, 7, 9, 8, 1, 8, 3, 1, -1, -1, -1, -1}, + {11, 1, 2, 11, 7, 1, 7, 5, 1, -1, -1, -1, -1, -1, -1, -1}, + {0, 8, 3, 1, 2, 7, 1, 7, 5, 7, 2, 11, -1, -1, -1, -1}, + {9, 7, 5, 9, 2, 7, 9, 0, 2, 2, 11, 7, -1, -1, -1, -1}, + {7, 5, 2, 7, 2, 11, 5, 9, 2, 3, 2, 8, 9, 8, 2, -1}, + {2, 5, 10, 2, 3, 5, 3, 7, 5, -1, -1, -1, -1, -1, -1, -1}, + {8, 2, 0, 8, 5, 2, 8, 7, 5, 10, 2, 5, -1, -1, -1, -1}, + {9, 0, 1, 5, 10, 3, 5, 3, 7, 3, 10, 2, -1, -1, -1, -1}, + {9, 8, 2, 9, 2, 1, 8, 7, 2, 10, 2, 5, 7, 5, 2, -1}, + {1, 3, 5, 3, 7, 5, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {0, 8, 7, 0, 7, 1, 1, 7, 5, -1, -1, -1, -1, -1, -1, -1}, + {9, 0, 3, 9, 3, 5, 5, 3, 7, -1, -1, -1, -1, -1, -1, -1}, + {9, 8, 7, 5, 9, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {5, 8, 4, 5, 10, 8, 10, 11, 8, -1, -1, -1, -1, -1, -1, -1}, + {5, 0, 4, 5, 11, 0, 5, 10, 11, 11, 3, 0, -1, -1, -1, -1}, + {0, 1, 9, 8, 4, 10, 8, 10, 11, 10, 4, 5, -1, -1, -1, -1}, + {10, 11, 4, 10, 4, 5, 11, 3, 4, 9, 4, 1, 3, 1, 4, -1}, + {2, 5, 1, 2, 8, 5, 2, 11, 8, 4, 5, 8, -1, -1, -1, -1}, + {0, 4, 11, 0, 11, 3, 4, 5, 11, 2, 11, 1, 5, 1, 11, -1}, + {0, 2, 5, 0, 5, 9, 2, 11, 5, 4, 5, 8, 11, 8, 5, -1}, + {9, 4, 5, 2, 11, 3, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {2, 5, 10, 3, 5, 2, 3, 4, 5, 3, 8, 4, -1, -1, -1, -1}, + {5, 10, 2, 5, 2, 4, 4, 2, 0, -1, -1, -1, -1, -1, -1, -1}, + {3, 10, 2, 3, 5, 10, 3, 8, 5, 4, 5, 8, 0, 1, 9, -1}, + {5, 10, 2, 5, 2, 4, 1, 9, 2, 9, 4, 2, -1, -1, -1, -1}, + {8, 4, 5, 8, 5, 3, 3, 5, 1, -1, -1, -1, -1, -1, -1, -1}, + {0, 4, 5, 1, 0, 5, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {8, 4, 5, 8, 5, 3, 9, 0, 5, 0, 3, 5, -1, -1, -1, -1}, + {9, 4, 5, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {4, 11, 7, 4, 9, 11, 9, 10, 11, -1, -1, -1, -1, -1, -1, -1}, + {0, 8, 3, 4, 9, 7, 9, 11, 7, 9, 10, 11, -1, -1, -1, -1}, + {1, 10, 11, 1, 11, 4, 1, 4, 0, 7, 4, 11, -1, -1, -1, -1}, + {3, 1, 4, 3, 4, 8, 1, 10, 4, 7, 4, 11, 10, 11, 4, -1}, + {4, 11, 7, 9, 11, 4, 9, 2, 11, 9, 1, 2, -1, -1, -1, -1}, + {9, 7, 4, 9, 11, 7, 9, 1, 11, 2, 11, 1, 0, 8, 3, -1}, + {11, 7, 4, 11, 4, 2, 2, 4, 0, -1, -1, -1, -1, -1, -1, -1}, + {11, 7, 4, 11, 4, 2, 8, 3, 4, 3, 2, 4, -1, -1, -1, -1}, + {2, 9, 10, 2, 7, 9, 2, 3, 7, 7, 4, 9, -1, -1, -1, -1}, + {9, 10, 7, 9, 7, 4, 10, 2, 7, 8, 7, 0, 2, 0, 7, -1}, + {3, 7, 10, 3, 10, 2, 7, 4, 10, 1, 10, 0, 4, 0, 10, -1}, + {1, 10, 2, 8, 7, 4, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {4, 9, 1, 4, 1, 7, 7, 1, 3, -1, -1, -1, -1, -1, -1, -1}, + {4, 9, 1, 4, 1, 7, 0, 8, 1, 8, 7, 1, -1, -1, -1, -1}, + {4, 0, 3, 7, 4, 3, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {4, 8, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {9, 10, 8, 10, 11, 8, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {3, 0, 9, 3, 9, 11, 11, 9, 10, -1, -1, -1, -1, -1, -1, -1}, + {0, 1, 10, 0, 10, 8, 8, 10, 11, -1, -1, -1, -1, -1, -1, -1}, + {3, 1, 10, 11, 3, 10, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {1, 2, 11, 1, 11, 9, 9, 11, 8, -1, -1, -1, -1, -1, -1, -1}, + {3, 0, 9, 3, 9, 11, 1, 2, 9, 2, 11, 9, -1, -1, -1, -1}, + {0, 2, 11, 8, 0, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {3, 2, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {2, 3, 8, 2, 8, 10, 10, 8, 9, -1, -1, -1, -1, -1, -1, -1}, + {9, 10, 2, 0, 9, 2, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {2, 3, 8, 2, 8, 10, 0, 1, 8, 1, 10, 8, -1, -1, -1, -1}, + {1, 10, 2, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {1, 3, 8, 9, 1, 8, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {0, 9, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {0, 3, 8, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}, + {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}}; - public Polygonizer () - { - } - public static int Process( float isolevel, float v0, float v1, float v2, float v3, float v4, float v5, float v6, float v7, - Vector3 p0,Vector3 p1,Vector3 p2,Vector3 p3,Vector3 p4,Vector3 p5,Vector3 p6,Vector3 p7, - ref List vertices, ref List triangles) { - cubeindex = 0; - if (v0 < isolevel) cubeindex |= 1; - if (v1 < isolevel) cubeindex |= 2; - if (v2 < isolevel) cubeindex |= 4; - if (v3 < isolevel) cubeindex |= 8; - if (v4 < isolevel) cubeindex |= 16; - if (v5 < isolevel) cubeindex |= 32; - if (v6 < isolevel) cubeindex |= 64; - if (v7 < isolevel) cubeindex |= 128; + public Polygonizer () + { + } - /* Cube is entirely in/out of the surface */ - if (edgeTable[cubeindex] == 0) - return(0); + /** + * Processing voxel weights, and produces vertices that are turned into triangles + * @param isolevel Isolevel of the reconsturcted surface, typically 0 + * @param v0 value of voxel 0 + * @param v1 value of voxel 1 + * @param v2 value of voxel 2 + * @param v3 value of voxel 3 + * @param v4 value of voxel 4 + * @param v5 value of voxel 5 + * @param v6 value of voxel 6 + * @param v7 value of voxel 7 + * @param p0 position of voxel 0 + * @param p1 position of voxel 1 + * @param p2 position of voxel 2 + * @param p3 position of voxel 3 + * @param p4 position of voxel 4 + * @param p5 position of voxel 5 + * @param p6 position of voxel 6 + * @param p7 position of voxel 7 + * @param vertices list of vertices to append + * @param triangles list of triangles to append + */ + public static int Process( float isolevel, float v0, float v1, float v2, float v3, float v4, float v5, float v6, float v7, + Vector3 p0,Vector3 p1,Vector3 p2,Vector3 p3,Vector3 p4,Vector3 p5,Vector3 p6,Vector3 p7, + ref List vertices, ref List triangles) { + cubeindex = 0; + if (v0 < isolevel) cubeindex |= 1; + if (v1 < isolevel) cubeindex |= 2; + if (v2 < isolevel) cubeindex |= 4; + if (v3 < isolevel) cubeindex |= 8; + if (v4 < isolevel) cubeindex |= 16; + if (v5 < isolevel) cubeindex |= 32; + if (v6 < isolevel) cubeindex |= 64; + if (v7 < isolevel) cubeindex |= 128; - /* Find the vertices where the surface intersects the cube */ - if ((edgeTable [cubeindex] & 1) > 0) { - vertexIndexTable[0] = vertices.Count; - vertices.Add (VertexInterp (isolevel, p0, p1, v0, v1)); - } - if ((edgeTable [cubeindex] & 2) > 0) { - vertexIndexTable[1] = vertices.Count; - vertices.Add (VertexInterp (isolevel, p1, p2, v1, v2)); - } - if ((edgeTable[cubeindex] & 4) > 0) { - vertexIndexTable[2] = vertices.Count; - vertices.Add(VertexInterp(isolevel, p2, p3, v2, v3)); - } - if ((edgeTable[cubeindex] & 8) > 0) { - vertexIndexTable[3] = vertices.Count; - vertices.Add(VertexInterp(isolevel, p3, p0, v3, v0)); - } - if ((edgeTable[cubeindex] & 16) > 0) { - vertexIndexTable[4] = vertices.Count; - vertices.Add(VertexInterp(isolevel, p4, p5, v4, v5)); - } - if ((edgeTable[cubeindex] & 32) > 0) { - vertexIndexTable[5] = vertices.Count; - vertices.Add(VertexInterp(isolevel, p5, p6, v5, v6)); - } - if ((edgeTable[cubeindex] & 64) > 0) { - vertexIndexTable[6] = vertices.Count; - vertices.Add(VertexInterp(isolevel, p6, p7, v6, v7)); - } - if ((edgeTable[cubeindex] & 128) > 0) { - vertexIndexTable[7] = vertices.Count; - vertices.Add(VertexInterp(isolevel, p7, p4, v7, v4)); - } - if ((edgeTable[cubeindex] & 256) > 0) { - vertexIndexTable[8] = vertices.Count; - vertices.Add(VertexInterp(isolevel, p0, p4, v0, v4)); - } - if ((edgeTable[cubeindex] & 512) > 0) { - vertexIndexTable[9] = vertices.Count; - vertices.Add(VertexInterp(isolevel, p1, p5, v1, v5)); - } - if ((edgeTable[cubeindex] & 1024) > 0) { - vertexIndexTable[10] = vertices.Count; - vertices.Add(VertexInterp(isolevel, p2, p6, v2, v6)); - } - if ((edgeTable[cubeindex] & 2048) > 0) { - vertexIndexTable[11] = vertices.Count; - vertices.Add(VertexInterp(isolevel, p3, p7, v3, v7)); - } + /* Cube is entirely in/out of the surface */ + if (edgeTable[cubeindex] == 0) + return(0); - /* Create the triangles */ - int triangleIndex = triangles.Count; - for (int i = 0; triTable[cubeindex, i] != -1; i += 3) { - triangles.Add(vertexIndexTable[triTable[cubeindex, i]]); - triangles.Add(vertexIndexTable[triTable[cubeindex, i+1]]); - triangles.Add(vertexIndexTable[triTable[cubeindex, i+2]]); - } - - return triangles.Count - triangleIndex; - } - - /* - Linearly interpolate the position where an isosurface cuts - an edge between two vertices, each with their own scalar value -*/ - static Vector3 VertexInterp(float isolevel, Vector3 p1, Vector3 p2, float v1, float v2) { - if (Math.Abs (isolevel-v1) < 0.00001) - return(p1); - if (Math.Abs(isolevel-v2) < 0.00001) - return(p2); - if (Math.Abs(v1-v2) < 0.00001) - return(p1); - float mu = (isolevel - v1) / ((float)(v2 - v1)); - return Vector3.Lerp (p1, p2, mu); - } -} + /* Find the vertices where the surface intersects the cube */ + if ((edgeTable [cubeindex] & 1) > 0) { + vertexIndexTable[0] = vertices.Count; + vertices.Add (VertexInterp (isolevel, p0, p1, v0, v1)); + } + if ((edgeTable [cubeindex] & 2) > 0) { + vertexIndexTable[1] = vertices.Count; + vertices.Add (VertexInterp (isolevel, p1, p2, v1, v2)); + } + if ((edgeTable[cubeindex] & 4) > 0) { + vertexIndexTable[2] = vertices.Count; + vertices.Add(VertexInterp(isolevel, p2, p3, v2, v3)); + } + if ((edgeTable[cubeindex] & 8) > 0) { + vertexIndexTable[3] = vertices.Count; + vertices.Add(VertexInterp(isolevel, p3, p0, v3, v0)); + } + if ((edgeTable[cubeindex] & 16) > 0) { + vertexIndexTable[4] = vertices.Count; + vertices.Add(VertexInterp(isolevel, p4, p5, v4, v5)); + } + if ((edgeTable[cubeindex] & 32) > 0) { + vertexIndexTable[5] = vertices.Count; + vertices.Add(VertexInterp(isolevel, p5, p6, v5, v6)); + } + if ((edgeTable[cubeindex] & 64) > 0) { + vertexIndexTable[6] = vertices.Count; + vertices.Add(VertexInterp(isolevel, p6, p7, v6, v7)); + } + if ((edgeTable[cubeindex] & 128) > 0) { + vertexIndexTable[7] = vertices.Count; + vertices.Add(VertexInterp(isolevel, p7, p4, v7, v4)); + } + if ((edgeTable[cubeindex] & 256) > 0) { + vertexIndexTable[8] = vertices.Count; + vertices.Add(VertexInterp(isolevel, p0, p4, v0, v4)); + } + if ((edgeTable[cubeindex] & 512) > 0) { + vertexIndexTable[9] = vertices.Count; + vertices.Add(VertexInterp(isolevel, p1, p5, v1, v5)); + } + if ((edgeTable[cubeindex] & 1024) > 0) { + vertexIndexTable[10] = vertices.Count; + vertices.Add(VertexInterp(isolevel, p2, p6, v2, v6)); + } + if ((edgeTable[cubeindex] & 2048) > 0) { + vertexIndexTable[11] = vertices.Count; + vertices.Add(VertexInterp(isolevel, p3, p7, v3, v7)); + } + /* Create the triangles */ + int triangleIndex = triangles.Count; + for (int i = 0; triTable[cubeindex, i] != -1; i += 3) { + triangles.Add(vertexIndexTable[triTable[cubeindex, i]]); + triangles.Add(vertexIndexTable[triTable[cubeindex, i+1]]); + triangles.Add(vertexIndexTable[triTable[cubeindex, i+2]]); + } + return triangles.Count - triangleIndex; + } + /** + * Linearly interpolate the position where an isosurface cuts + * an edge between two vertices, each with their own scalar value + */ + static Vector3 VertexInterp(float isolevel, Vector3 p1, Vector3 p2, float v1, float v2) { + if (Math.Abs (isolevel-v1) < 0.00001) + return(p1); + if (Math.Abs(isolevel-v2) < 0.00001) + return(p2); + if (Math.Abs(v1-v2) < 0.00001) + return(p1); + float mu = (isolevel - v1) / ((float)(v2 - v1)); + return Vector3.Lerp (p1, p2, mu); + } +} \ No newline at end of file diff --git a/ExperimentalProjects/MeshBuilder/Assets/Scripts/PoseController.cs b/ExperimentalProjects/MeshBuilder/Assets/Scripts/PoseController.cs new file mode 100644 index 00000000..c805d68b --- /dev/null +++ b/ExperimentalProjects/MeshBuilder/Assets/Scripts/PoseController.cs @@ -0,0 +1,136 @@ +using UnityEngine; +using System.Collections; +using Tango; +using System; + +public class PoseController : MonoBehaviour , ITangoPose { + private TangoApplication m_tangoApplication; // Instance for Tango Client + private Vector3 m_tangoPosition; // Position from Pose Callback + private Quaternion m_tangoRotation; // Rotation from Pose Callback + private Vector3 m_startPosition; // Start Position of the camera + + + // Matrix for Tango coordinate frame to Unity coordinate frame conversion. + // Start of service frame with respect to Unity world frame. + private Matrix4x4 m_uwTss; + // Unity camera frame with respect to device frame. + private Matrix4x4 m_dTuc; + + + // Use this for initialization + void Start () + { + // Initialize some variables + m_tangoRotation = Quaternion.Euler(90,0,0); + m_tangoPosition = Vector3.zero; + m_startPosition = transform.position; + m_tangoApplication = FindObjectOfType(); + if(m_tangoApplication != null) + { + // Request Tango permissions + m_tangoApplication.RegisterPermissionsCallback(PermissionsCallback); + m_tangoApplication.RequestNecessaryPermissionsAndConnect(); + m_tangoApplication.Register(this); + } + else + { + Debug.Log("No Tango Manager found in scene."); + } + + m_uwTss = new Matrix4x4(); + m_uwTss.SetColumn (0, new Vector4 (1.0f, 0.0f, 0.0f, 0.0f)); + m_uwTss.SetColumn (1, new Vector4 (0.0f, 0.0f, 1.0f, 0.0f)); + m_uwTss.SetColumn (2, new Vector4 (0.0f, 1.0f, 0.0f, 0.0f)); + m_uwTss.SetColumn (3, new Vector4 (0.0f, 0.0f, 0.0f, 1.0f)); + + m_dTuc = new Matrix4x4(); + m_dTuc.SetColumn (0, new Vector4 (1.0f, 0.0f, 0.0f, 0.0f)); + m_dTuc.SetColumn (1, new Vector4 (0.0f, 1.0f, 0.0f, 0.0f)); + m_dTuc.SetColumn (2, new Vector4 (0.0f, 0.0f, -1.0f, 0.0f)); + m_dTuc.SetColumn (3, new Vector4 (0.0f, 0.0f, 0.0f, 1.0f)); + + + Application.targetFrameRate = 60; + + } + + // Permissions callback + private void PermissionsCallback(bool success) + { + if(success) + { + m_tangoApplication.InitApplication(); // Initialize Tango Client + m_tangoApplication.InitProviders(string.Empty); // Initialize listeners + m_tangoApplication.ConnectToService(); // Connect to Tango Service + } + else + { + AndroidHelper.ShowAndroidToastMessage("Motion Tracking Permissions Needed", true); + } + } + + // Pose callbacks from Project Tango + public void OnTangoPoseAvailable(Tango.TangoPoseData pose) + { + // Do nothing if we don't get a pose + if (pose == null) + { + Debug.Log("TangoPoseData is null."); + return; + } + // The callback pose is for device with respect to start of service pose. + if (pose.framePair.baseFrame == TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE && + pose.framePair.targetFrame == TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE) + { + if (pose.status_code == TangoEnums.TangoPoseStatusType.TANGO_POSE_VALID) + { + + // Cache the position and rotation to be set in the update function. + m_tangoPosition = new Vector3((float)pose.translation [0], + (float)pose.translation [1], + (float)pose.translation [2]); + + m_tangoRotation = new Quaternion((float)pose.orientation [0], + (float)pose.orientation [1], + (float)pose.orientation [2], + (float)pose.orientation [3]); +// Debug.Log("Tango VALID pose: " + m_tangoPosition + " " + m_tangoRotation); + } + } + } + + /// + /// Transforms the Tango pose which is in Start of Service to Device frame to Unity coordinate system. + /// + /// The Tango Pose in unity coordinate system. + /// Translation. + /// Rotation. + /// Scale. + Matrix4x4 TransformTangoPoseToUnityCoordinateSystem(Vector3 translation, Quaternion rotation, Vector3 scale) + { + Matrix4x4 ssTd = Matrix4x4.TRS(translation, rotation, scale); + return m_uwTss * ssTd * m_dTuc; + } + + // Update is called once per frame + void Update() + { +// Debug.Log("Tango update: " + m_tangoPosition + " " + m_tangoRotation); + + #if UNITY_EDITOR + PoseProvider.GetMouseEmulation(ref m_tangoPosition, ref m_tangoRotation); + transform.position = m_tangoPosition + m_startPosition; + transform.rotation = m_tangoRotation; +#else + + Matrix4x4 uwTuc = TransformTangoPoseToUnityCoordinateSystem(m_tangoPosition, m_tangoRotation, Vector3.one); + // Extract new local position + transform.position = (uwTuc.GetColumn(3)); + transform.position = transform.position + m_startPosition; + + // Extract new local rotation + transform.rotation = Quaternion.LookRotation(uwTuc.GetColumn(2), uwTuc.GetColumn(1)); +#endif + + } +} \ No newline at end of file diff --git a/ExperimentalProjects/MeshBuilder/Assets/Scripts/PoseController.cs.meta b/ExperimentalProjects/MeshBuilder/Assets/Scripts/PoseController.cs.meta new file mode 100644 index 00000000..bb883e37 --- /dev/null +++ b/ExperimentalProjects/MeshBuilder/Assets/Scripts/PoseController.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 7facb976d0d70471b8284b04a99008ae +timeCreated: 1433568934 +licenseType: Pro +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/MeshBuilder/Assets/Scripts/TopDownFollow.cs b/ExperimentalProjects/MeshBuilder/Assets/Scripts/TopDownFollow.cs new file mode 100644 index 00000000..01394081 --- /dev/null +++ b/ExperimentalProjects/MeshBuilder/Assets/Scripts/TopDownFollow.cs @@ -0,0 +1,35 @@ +using UnityEngine; +using System.Collections; + + +/** + * Follows that target from above, for top down view of the main camera + */ +public class TopDownFollow : MonoBehaviour { + + public GameObject followTarget; + public bool followYaw = false; + private Vector3 pos; + + private Vector3 rotation; + + // Use this for initialization + void Start () { + transform.parent = null; + pos = transform.position; + } + + // Update is called once per frame + void Update () { + pos.x = followTarget.transform.position.x; + pos.z = followTarget.transform.position.z; + transform.position = pos; + + if (followYaw) { + rotation = followTarget.transform.rotation.eulerAngles; + rotation.x = 90; + rotation.z = 0; + transform.rotation = Quaternion.Euler(rotation); + } + } +} diff --git a/ExperimentalProjects/MeshBuilder/Assets/Scripts/TopDownFollow.cs.meta b/ExperimentalProjects/MeshBuilder/Assets/Scripts/TopDownFollow.cs.meta new file mode 100644 index 00000000..968b6e13 --- /dev/null +++ b/ExperimentalProjects/MeshBuilder/Assets/Scripts/TopDownFollow.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: a274f97454e054d4b95b94bd50e701ad +timeCreated: 1433657406 +licenseType: Pro +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/MeshBuilder/Assets/Scripts/VolumetricHashTree.cs b/ExperimentalProjects/MeshBuilder/Assets/Scripts/VolumetricHashTree.cs new file mode 100644 index 00000000..1f41a7c8 --- /dev/null +++ b/ExperimentalProjects/MeshBuilder/Assets/Scripts/VolumetricHashTree.cs @@ -0,0 +1,418 @@ +/* + * Copyright 2014 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +using UnityEngine; +using System; +using System.Collections; +using System.Collections.Generic; + + +/** + * Volumetric Hash Tree + * A binary tree datastructure that uses a hashkey based on the 3D coordinates. + * Space surrounding the origin is divided into 1 meter cubes. The hashkey is a + * reversible index into that volume. allows quick indexing, and ray marching + * through space. Supports a 1000m x 1000m x 1000m volume centered at the origin. + */ +public class VolumetricHashTree { + + /** + * Left subtree. + */ + private VolumetricHashTree m_leftHashTree = null; + + /** + * Right subtree. + */ + private VolumetricHashTree m_rightHashTree = null; + + /** + * Pointer to the root node of the tree. + */ + private VolumetricHashTree m_rootHashTree = null; + + /** + * Prefab that will be instantiated for each tree node + */ + private GameObject m_meshPrefab = null; + + /** + * Dynamic Meshing class that will handle the data processing + */ + private DynamicMeshCube m_dynamicMeshCube = null; + + /** + * Unpacked spatial volume index of the position of this tree node + */ + private int[] m_volumeIndex = new int[3]; + + /** + * HashKey of the position of this tree node + */ + private int m_hashKey = 0; + + /** + * Maximum dimension of 3D the hashkey space + */ + private int m_maximumVolumeIndexDimension = 1000;//supports +/- 500m from origin along each axis + + /** + * Epsilon tolerance for boundary insertions + */ + private float m_epsilon = 0.01f; + + /** + * Create a new tree node with a specified parent and hashkey + * @param parent The parent tree node. + * @param hashkey The spatial hashkey for this tree node. + */ + public VolumetricHashTree(VolumetricHashTree parent, int hashkey) { + if (parent == null) + m_rootHashTree = this; + else + m_rootHashTree = parent; + + m_hashKey = hashkey; + } + + /** + * Get the DynamicMeshCube that contains the mesh data + */ + public DynamicMeshCube DynamicMeshCube { + get { + return m_dynamicMeshCube; + } + } + + /** + * Instantiate the Unity Prefab that will exist at this node location + * @param hashkey The spatial hashkey for this tree node. + * @param prefab The Unity Prefab object. + * @param parent The Unity transform of the GameObject parent of the prefab. + * @param voxelResolution The voxel resolution of the meshing cube. + * @return void + */ + private void InstantiatePrefab(int hashkey, GameObject prefab, Transform parent, int voxelResolution) { + int x, y, z; + ReverseHashKey(hashkey, out x, out y, out z); + m_meshPrefab = (GameObject)GameObject.Instantiate (prefab); + m_meshPrefab.transform.position = new Vector3 (x, y, z); + m_meshPrefab.transform.parent = parent; + m_dynamicMeshCube = m_meshPrefab.GetComponent (); + if (m_meshPrefab == null) + Debug.LogError ("Game Object does not have the dynamic mesh component"); + m_dynamicMeshCube.SetProperties (voxelResolution); + m_dynamicMeshCube.Key = hashkey; + } + + + /** + * Enumeration function for iterating through the entire tree structure + */ + public IEnumerable GetEnumerable() + { + if (m_leftHashTree != null) + foreach(VolumetricHashTree n in m_leftHashTree.GetEnumerable()) + yield return n; + yield return this; + if (m_rightHashTree != null) + foreach (VolumetricHashTree n in m_rightHashTree.GetEnumerable()) + yield return n; + } + + /** + * Computes the spatial hashkey given a 3D point + * @param p Point for hashing into the key space. + * @return the hashkey value for the point. + */ + public int GetHashKey(Vector3 p) { + return (int)Mathf.Floor (p.x) + (int)(m_maximumVolumeIndexDimension * Mathf.Floor (p.y)) + (int)(m_maximumVolumeIndexDimension*m_maximumVolumeIndexDimension * Mathf.Floor (p.z)); + } + + /** + * Computes the new spatial hashkey given an integer offset in the 3D volume + * @return the hashkey value for the new position + */ + public int OffsetHashKey(int startKey, int xOffset, int yOffset, int zOffset) + { + return startKey + xOffset + m_maximumVolumeIndexDimension * yOffset + m_maximumVolumeIndexDimension*m_maximumVolumeIndexDimension * zOffset; + } + + /** + * Computes the x, y, z integer coordinates that coorespond to a given hashkey + * @param hashKey the key to reverse + * @param x the output x position + * @param y the output y position + * @param z the output z position + * @return void + */ + private void ReverseHashKey(int hashKey, out int x, out int y, out int z) + { + int flipLimit = m_maximumVolumeIndexDimension / 2; + int temp = hashKey; + + x = temp % m_maximumVolumeIndexDimension; + if (x > flipLimit) //x is negative, but opposite sign of y + x = x - m_maximumVolumeIndexDimension; + if (x < -flipLimit) //x is positive, but opposite sign of y + x = m_maximumVolumeIndexDimension + x; + temp -= x; + temp /= m_maximumVolumeIndexDimension; + + y = temp % m_maximumVolumeIndexDimension; + if (y > flipLimit) + y = y - m_maximumVolumeIndexDimension;//y is negative, but opposite sign of z + if (y < -flipLimit) + y = m_maximumVolumeIndexDimension + y;//y is positive, but opposite sign of z + + temp -= y; + z = temp/m_maximumVolumeIndexDimension; + } + + /** + * Insert 3D point into the hash storage. Creates a new meshing cube at the location if needed. + * @param p the 3D point + * @param obs observation vector from the camera to the point + * @param weight weight of the observation + * @param prefab Unity Prefab to be instantiated at this node location if needed + * @param tranform Unity transform of the parent object for the prefab created at this node location + * @param voxelResolution Resolution of the voxels for this meshing cube + * @return the value of the voxel that received the insertion + */ + public float InsertPoint(Vector3 p, Vector3 obs, float weight, GameObject prefab, Transform parent, int voxelResolution) { + int hashKey = GetHashKey(p); + return InsertPoint (hashKey, p, obs, weight, prefab, parent, voxelResolution); + } + + /** + * Insert 3D point into the hash storage. Creates a new meshing cube at the location if needed. + * @param hashkey hashkey index of the target node + * @param p the 3D point + * @param obs observation vector from the camera to the point + * @param weight weight of the observation + * @param prefab Unity Prefab to be instantiated at this node location if needed + * @param tranform Unity transform of the parent object for the prefab created at this node location + * @param voxelResolution Resolution of the voxels for this meshing cube + * @return the value of the voxel that received the insertion + */ + private float InsertPoint(int hashkey, Vector3 p, Vector3 obs, float weight, GameObject prefab, Transform parent, int voxelResolution) + { + if (m_hashKey == hashkey) + { + if(m_meshPrefab == null) { + InstantiatePrefab(hashkey, prefab, parent, voxelResolution); + } + + if(m_meshPrefab == null) + m_dynamicMeshCube = m_meshPrefab.GetComponent (); + if(m_meshPrefab == null) { + Debug.Log ("Error: cannot find DynamicMeshVolume"); + return 0; + } + + if(m_dynamicMeshCube.IsRegenerating) + return 0; + + //adjust weight of mutiple voxels along observation ray + float result = m_dynamicMeshCube.InsertPoint(p, obs, weight, ref m_volumeIndex); + Vector3 closerPoint = p-obs*m_dynamicMeshCube.VoxelSize; + Vector3 furtherPoint = p+obs*m_dynamicMeshCube.VoxelSize; + //voxel was inside the surface, back out one, and insert in the next closest voxel + if(result > 0) + m_dynamicMeshCube.InsertPoint(closerPoint, p, obs, weight); + else + m_dynamicMeshCube.InsertPoint(furtherPoint, p, obs, weight); + + + if(m_volumeIndex[0] == 0) { + int neighborHashKey = hashkey - 1; + result = m_rootHashTree.InsertPoint(neighborHashKey, p,obs,weight,prefab,parent,voxelResolution); + } + if(m_volumeIndex[1] == 0) { + int neighborHashKey = hashkey - m_maximumVolumeIndexDimension; + result = m_rootHashTree.InsertPoint(neighborHashKey, p,obs,weight,prefab,parent,voxelResolution); + } + if(m_volumeIndex[2] == 0) { + int neighborHashKey = hashkey - m_maximumVolumeIndexDimension*m_maximumVolumeIndexDimension; + result = m_rootHashTree.InsertPoint(neighborHashKey, p,obs,weight,prefab,parent,voxelResolution); + } + + return result; + } + + if(hashkey < m_hashKey) { + if(m_leftHashTree == null) + m_leftHashTree = new VolumetricHashTree(m_rootHashTree, hashkey); + return m_leftHashTree.InsertPoint(hashkey, p, obs, weight, prefab, parent, voxelResolution); + } else { + if(m_rightHashTree == null) + m_rightHashTree = new VolumetricHashTree(m_rootHashTree, hashkey); + return m_rightHashTree.InsertPoint(hashkey, p, obs, weight, prefab, parent, voxelResolution); + } + } + + /** + * Raycast through the volume to quickly determine the list of voxels intersected. + * @param start start point of the ray. + * @param stop stop point of the ray. + * @return list of populated voxels the ray intersects. + */ + public List RaycastVoxelHitlist(Vector3 start, Vector3 stop) + { + Vector3 dir = (stop - start).normalized; + List volumeHitKeys = new List(); + volumeHitKeys.Add(GetHashKey(start)); + + + //x crosses + if (dir.x > 0) + { + for (float x = Mathf.Ceil(start.x)+m_epsilon; x < stop.x; x += 1) { + float scale = (x - start.x) / dir.x; + volumeHitKeys.Add (GetHashKey (start + scale * dir)); + } + } + else + { + for (float x = Mathf.Floor(start.x)-m_epsilon; x > stop.x; x -= 1) { + float scale = (x - start.x) / dir.x; + volumeHitKeys.Add (GetHashKey (start + scale * dir)); + } + } + + //y crosses + if (dir.y > 0) + { + for (float y = Mathf.Ceil(start.y)+m_epsilon; y < stop.y; y += 1) { + float scale = (y - start.y) / dir.y; + volumeHitKeys.Add (GetHashKey (start + scale * dir)); + } + } + else + { + for (float y = Mathf.Floor(start.y)-m_epsilon; y > stop.y; y -= 1) { + float scale = (y - start.y) / dir.y; + volumeHitKeys.Add (GetHashKey (start + scale * dir)); + } + } + + //z crosses + if (dir.z > 0) + { + for (float z = Mathf.Ceil(start.z)+m_epsilon; z < stop.z; z += 1) { + float scale = (z - start.z) / dir.z; + volumeHitKeys.Add (GetHashKey (start + scale * dir)); + } + } + else + { + for (float z = Mathf.Floor(start.z)-m_epsilon; z > stop.z; z -= 1) { + float scale = (z - start.z) / dir.z; + volumeHitKeys.Add (GetHashKey (start + scale * dir)); + } + } + + List voxelHits = new List (); + + foreach (int volumeKey in volumeHitKeys) { + VolumetricHashTree result = Query(volumeKey); + if(result == null) + continue; + if(result.m_meshPrefab == null) + continue; + List voxels = result.m_dynamicMeshCube.RayCastVoxelHitlist(start, stop, dir); + foreach(Voxel v in voxels){ + voxelHits.Add(v); + } + } + + return voxelHits; + } + + /** + * Query for the existence of a node at a hashKey location + * @return the node if it exists, null if it does not. + */ + public VolumetricHashTree Query(int hashKey) { + if (hashKey == m_hashKey) { + return this; + } + if(hashKey < m_hashKey) { + if(m_leftHashTree != null) + return m_leftHashTree.Query(hashKey); + } else { + if(m_rightHashTree != null) + return m_rightHashTree.Query(hashKey); + } + return null; + } + + /** + * Clears the contents of this tree node and its subtrees + */ + + public void Clear() { + if (m_leftHashTree != null) { + m_leftHashTree.Clear (); + m_leftHashTree = null; + } + if (m_rightHashTree != null) { + m_rightHashTree.Clear (); + m_rightHashTree = null; + } + + if (m_dynamicMeshCube != null) { + m_dynamicMeshCube.Clear (); + } + + if (m_meshPrefab != null) { + GameObject.DestroyImmediate (m_meshPrefab); + m_meshPrefab = null; + } + } + + /** + * Calculates statistics about this tree node and its subtrees + * @param vertCount vertex counter + * @param triangleCount triangle counter + * @param nodeCount tree node counter + */ + public void ComputeStats(ref int vertCount, ref int triangleCount, ref int nodeCount) { + if (m_leftHashTree != null) + m_leftHashTree.ComputeStats(ref vertCount, ref triangleCount, ref nodeCount); + if (m_meshPrefab != null) { + vertCount += m_dynamicMeshCube.Vertices.Count; + triangleCount += m_dynamicMeshCube.Triangles.Count; + } + nodeCount++; + + if (m_rightHashTree != null) + m_rightHashTree.ComputeStats(ref vertCount, ref triangleCount, ref nodeCount); + } + + /** + * Debug Draw will draw debug lines outlining the populated volumes + */ + public void DebugDraw() { + if (m_leftHashTree != null) + m_leftHashTree.DebugDraw(); + if (m_dynamicMeshCube != null) { + m_dynamicMeshCube.DebugDrawNormals(); + } + if (m_rightHashTree != null) + m_rightHashTree.DebugDraw(); + } +} diff --git a/ExperimentalProjects/MeshBuilder/Assets/Scripts/VolumetricHashTree.cs.meta b/ExperimentalProjects/MeshBuilder/Assets/Scripts/VolumetricHashTree.cs.meta new file mode 100644 index 00000000..fde07645 --- /dev/null +++ b/ExperimentalProjects/MeshBuilder/Assets/Scripts/VolumetricHashTree.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: d04c2e473598046d8869accb67ba5b76 +timeCreated: 1433699071 +licenseType: Pro +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/MeshBuilder/Assets/Scripts/Voxel.cs b/ExperimentalProjects/MeshBuilder/Assets/Scripts/Voxel.cs index 2fba51e9..4b7437e7 100644 --- a/ExperimentalProjects/MeshBuilder/Assets/Scripts/Voxel.cs +++ b/ExperimentalProjects/MeshBuilder/Assets/Scripts/Voxel.cs @@ -18,159 +18,81 @@ using System.Collections; using System.Collections.Generic; +/** + * Voxel class for storing voxel data and state + */ + public class Voxel { - public int xID; - public int yID; - public int zID; - public float value; - public float weight; - public float lastMeshedValue; - public Vector3 anchor; - public Vector3 size; - public Vector3 normal; - public List trianglesIndicies = new List(); - - public Voxel() { - - } -} - -public class VoxelTree { - - private int key = -1; - private Voxel voxel = null; - private VoxelTree leftTree = null; - private VoxelTree rightTree = null; - private VoxelTree parent = null; - - public VoxelTree() {} - - public void Clear() { - key = -1; -// voxel.trianglesIndicies.Clear ();//causes a hang? perhaps GC hangs? - //voxel.trianglesIndicies = null; - voxel = null; - parent = null; - if(leftTree != null) { - leftTree.Clear(); - leftTree = null; - } - if(rightTree != null) { - rightTree.Clear(); - rightTree = null; - } - } - - public Voxel Voxel { - get { - return voxel; - } - } - - //IEnumerator and IEnumerable require these methods. - public IEnumerable GetEnumerable() - { - if (leftTree != null) - foreach(VoxelTree n in leftTree.GetEnumerable()) - yield return n; - yield return this; - if (rightTree != null) - foreach (VoxelTree n in rightTree.GetEnumerable()) - yield return n; - } - - VoxelTree GetMinKey() { - if (leftTree == null) { - return this; - } else { - return leftTree.GetMinKey (); - } - } - - public bool Delete() { - return Delete (key); - } - - public bool Delete(int hashkey) { - - if (hashkey == key) { - if((leftTree != null)&&(rightTree != null)) { - //we have left and right trees, - //copy the right's minimum tree into this tree - //delete from right tree - VoxelTree target = rightTree.GetMinKey(); - voxel = target.voxel; - key = target.key; - rightTree.Delete(key); - } else if(parent.leftTree == this) { - //point parent directly at child - //depends on GC to remove this? - parent.leftTree = (leftTree != null) ? leftTree : rightTree; - } else if(parent.rightTree == this) { - //point parent directly at child - //depends on GC to remove this? - parent.rightTree = (leftTree != null) ? leftTree : rightTree; - } - return true; - } - - if (hashkey < key) { - if (leftTree == null) - return false; - return leftTree.Delete(hashkey); - } else { - if (rightTree == null) - return false; - return rightTree.Delete(hashkey); - } - } - - public void Insert(Voxel voxel, int hashkey) { - if (key == -1) { - key = hashkey; - this.voxel = voxel; - return; - } - if (hashkey == key) { - this.voxel = voxel; - return; - } - if(hashkey < key) { - if(leftTree == null) { - leftTree = new VoxelTree(); - leftTree.key = hashkey; - leftTree.voxel = voxel; - leftTree.parent = this; - } - else - leftTree.Insert(voxel, hashkey); - } else { - if(rightTree == null){ - rightTree = new VoxelTree(); - rightTree.key = hashkey; - rightTree.voxel = voxel; - rightTree.parent = this; - } - else - rightTree.Insert(voxel, hashkey); - } - } - - public Voxel Query(int hashkey) { - if(hashkey == key) - return voxel; - if(hashkey < key) { - if(leftTree == null) - return null; - else - return leftTree.Query(hashkey); - } else { - if(rightTree == null) - return null; - else - return rightTree.Query(hashkey); - } - } - -} + /** + * x position index within the hash volume + */ + public int xID; + + /** + * y position index within the hash volume + */ + public int yID; + + /** + * z position index within the hash volume + */ + public int zID; + + /** + * signed distance value of the voxel + */ + public float value; + + /** + * signed distance weight of the voxel + */ + public float weight; + + /** + * previous signed distance wieght of the voxel + */ + public float lastMeshedValue; + + /** + * 3D point position of the voxel + */ + public Vector3 anchor; + + /** + * size of the voxel + */ + public float size; + + /** + * estaimte normal of the voxel surface + */ + public Vector3 normal; + + /** + * Unity object that own this voxel + */ + public Transform parent; + + /** + * flags for preprocessing neighbors + */ + public bool neighborsCreated; + + /** + * indices of triangles this voxel participated in + */ + public List trianglesIndicies = new List(); + + /** + * neighbor voxels for faster meshing + */ + public Voxel v1; + public Voxel v2; + public Voxel v3; + public Voxel v4; + public Voxel v5; + public Voxel v6; + public Voxel v7; + +} \ No newline at end of file diff --git a/ExperimentalProjects/MeshBuilder/Assets/Scripts/VoxelHashTree.cs b/ExperimentalProjects/MeshBuilder/Assets/Scripts/VoxelHashTree.cs new file mode 100644 index 00000000..47595ae4 --- /dev/null +++ b/ExperimentalProjects/MeshBuilder/Assets/Scripts/VoxelHashTree.cs @@ -0,0 +1,216 @@ +/* + * Copyright 2014 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +using UnityEngine; +using System.Collections; +using System.Collections.Generic; + + +/** + * Voxel Hash Tree + * A binary tree datastructure that uses a hashkey based on the 3D coordinates. + * Space with within the cube is divided into a regular grid of voxels. The hashkey is a + * reversible index into that volume. allows quick indexing, and ray marching + * through the cube. + */ + +public class VoxelHashTree { + + /** + * hashkey for this tree node + */ + private int m_hashKey = int.MinValue; + + /** + * voxel data at this node + */ + private Voxel m_voxel = null; + + /** + * Left subtree. + */ + private VoxelHashTree m_leftHashTree = null; + + /** + * Right subtree. + */ + private VoxelHashTree m_rightHashTree = null; + + /** + * Parent tree. + */ + private VoxelHashTree m_parentHashTree = null; + + /** + * Initalize the tree + */ + public VoxelHashTree() {} + + /** + * Clear the tree and subtrees + */ + public void Clear() { + m_hashKey = int.MinValue; + + m_voxel = null; + m_parentHashTree = null; + if(m_leftHashTree != null) { + m_leftHashTree.Clear(); + m_leftHashTree = null; + } + if(m_rightHashTree != null) { + m_rightHashTree.Clear(); + m_rightHashTree = null; + } + } + + /** + * Gets the voxel at this node + */ + public Voxel Voxel { + get { + return m_voxel; + } + } + + /** + * Gets the hashkey of this node + */ + public int Key { + get { + return m_hashKey; + } + } + + /** + * Allows iterating through all nodes in the tree + */ + public IEnumerable GetEnumerable() { + if (m_leftHashTree != null) + foreach(VoxelHashTree n in m_leftHashTree.GetEnumerable()) + yield return n; + yield return this; + if (m_rightHashTree != null) + foreach (VoxelHashTree n in m_rightHashTree.GetEnumerable()) + yield return n; + } + + /** + * gets the minimum key value in the tree + */ + VoxelHashTree GetMinKey() { + if (m_leftHashTree == null) { + return this; + } else { + return m_leftHashTree.GetMinKey (); + } + } + + /** + * Delete this node from tree. + */ + public bool Delete() { + return Delete (m_hashKey); + } + + /** + * Delete node with specific haskey from tree. + */ + public bool Delete(int hashkey) { + + if (hashkey == m_hashKey) { + if((m_leftHashTree != null)&&(m_rightHashTree != null)) { + //we have left and right trees, + //copy the right's minimum tree into this tree + //delete from right tree + VoxelHashTree target = m_rightHashTree.GetMinKey(); + m_voxel = target.m_voxel; + m_hashKey = target.m_hashKey; + m_rightHashTree.Delete(m_hashKey); + } else if(m_parentHashTree.m_leftHashTree == this) { + //point parent directly at child + //depends on GC to remove this? + m_parentHashTree.m_leftHashTree = (m_leftHashTree != null) ? m_leftHashTree : m_rightHashTree; + } else if(m_parentHashTree.m_rightHashTree == this) { + //point parent directly at child + //depends on GC to remove this? + m_parentHashTree.m_rightHashTree = (m_leftHashTree != null) ? m_leftHashTree : m_rightHashTree; + } + return true; + } + + if (hashkey < m_hashKey) { + if (m_leftHashTree == null) + return false; + return m_leftHashTree.Delete(hashkey); + } else { + if (m_rightHashTree == null) + return false; + return m_rightHashTree.Delete(hashkey); + } + } + + /** + * Insert new voxel with hashkey into the hashtree + * @param voxel voxel to be inserted + * @param hashkey hashkey of the voxel + */ + public void Insert(Voxel voxel, int hashkey) { + if (m_hashKey == int.MinValue) { + m_hashKey = hashkey; + this.m_voxel = voxel; + return; + } + if (m_hashKey == hashkey) { + this.m_voxel = voxel; + return; + } + if(hashkey < m_hashKey) { + if(m_leftHashTree == null) { + m_leftHashTree = new VoxelHashTree(); + m_leftHashTree.m_parentHashTree = this; + } + m_leftHashTree.Insert(voxel, hashkey); + } else { + if(m_rightHashTree == null){ + m_rightHashTree = new VoxelHashTree(); + m_rightHashTree.m_parentHashTree = this; + } + m_rightHashTree.Insert(voxel, hashkey); + } + } + + /** + * Query for spefici voxel using hashkey + * @param hashkey haskey of the target voxel + * @return the voxel if it exsits, otherwise null + */ + public Voxel Query(int hashkey) { + if(hashkey == m_hashKey) + return m_voxel; + if(hashkey < m_hashKey) { + if(m_leftHashTree == null) + return null; + else + return m_leftHashTree.Query(hashkey); + } else { + if(m_rightHashTree == null) + return null; + else + return m_rightHashTree.Query(hashkey); + } + } +} diff --git a/ExperimentalProjects/MeshBuilder/Assets/Scripts/VoxelHashTree.cs.meta b/ExperimentalProjects/MeshBuilder/Assets/Scripts/VoxelHashTree.cs.meta new file mode 100644 index 00000000..58af74dd --- /dev/null +++ b/ExperimentalProjects/MeshBuilder/Assets/Scripts/VoxelHashTree.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 4c07882249ac34c19a0b31dd9a09d07a +timeCreated: 1433700677 +licenseType: Pro +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/MeshBuilder/Assets/TangoSDK.meta b/ExperimentalProjects/MeshBuilder/Assets/TangoSDK.meta index a2512ffc..a82e16eb 100644 --- a/ExperimentalProjects/MeshBuilder/Assets/TangoSDK.meta +++ b/ExperimentalProjects/MeshBuilder/Assets/TangoSDK.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: f24904c8b29354d40994455141edc875 folderAsset: yes -timeCreated: 1433548905 -licenseType: Free +timeCreated: 1434565528 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/MeshBuilder/Assets/TangoSDK/Core.meta b/ExperimentalProjects/MeshBuilder/Assets/TangoSDK/Core.meta index 443b13cd..48d0a1fb 100644 --- a/ExperimentalProjects/MeshBuilder/Assets/TangoSDK/Core.meta +++ b/ExperimentalProjects/MeshBuilder/Assets/TangoSDK/Core.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: b80c15ce37a1447f69e465cf133f71b6 folderAsset: yes -timeCreated: 1433548905 -licenseType: Free +timeCreated: 1434565528 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/MeshBuilder/Assets/TangoSDK/Core/Prefabs.meta b/ExperimentalProjects/MeshBuilder/Assets/TangoSDK/Core/Prefabs.meta index 1840dc42..685249f0 100644 --- a/ExperimentalProjects/MeshBuilder/Assets/TangoSDK/Core/Prefabs.meta +++ b/ExperimentalProjects/MeshBuilder/Assets/TangoSDK/Core/Prefabs.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: ceb5ea0e0a3d4435a8173d62c903e8b3 folderAsset: yes -timeCreated: 1433548905 -licenseType: Free +timeCreated: 1434565528 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/MeshBuilder/Assets/TangoSDK/Core/Scripts.meta b/ExperimentalProjects/MeshBuilder/Assets/TangoSDK/Core/Scripts.meta index 5c8b3fa7..f18f0520 100644 --- a/ExperimentalProjects/MeshBuilder/Assets/TangoSDK/Core/Scripts.meta +++ b/ExperimentalProjects/MeshBuilder/Assets/TangoSDK/Core/Scripts.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: 8e63f857443034fb6b291e8ff42a6c60 folderAsset: yes -timeCreated: 1433548905 -licenseType: Free +timeCreated: 1434565528 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/MeshBuilder/Assets/TangoSDK/Core/Scripts/Common.meta b/ExperimentalProjects/MeshBuilder/Assets/TangoSDK/Core/Scripts/Common.meta index fc1242bd..e0849176 100644 --- a/ExperimentalProjects/MeshBuilder/Assets/TangoSDK/Core/Scripts/Common.meta +++ b/ExperimentalProjects/MeshBuilder/Assets/TangoSDK/Core/Scripts/Common.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: a96639d914c7d4c11aa8634e9e475b09 folderAsset: yes -timeCreated: 1433548905 -licenseType: Free +timeCreated: 1434565528 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/MeshBuilder/Assets/TangoSDK/Core/Scripts/Interfaces.meta b/ExperimentalProjects/MeshBuilder/Assets/TangoSDK/Core/Scripts/Interfaces.meta index 729aa4a2..fae8c99e 100644 --- a/ExperimentalProjects/MeshBuilder/Assets/TangoSDK/Core/Scripts/Interfaces.meta +++ b/ExperimentalProjects/MeshBuilder/Assets/TangoSDK/Core/Scripts/Interfaces.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: f5d37fb7ce64947f28ab06d0dbf90ce4 folderAsset: yes -timeCreated: 1433548905 -licenseType: Free +timeCreated: 1434565528 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/MeshBuilder/Assets/TangoSDK/Core/Scripts/Listeners.meta b/ExperimentalProjects/MeshBuilder/Assets/TangoSDK/Core/Scripts/Listeners.meta index 2a89c8b6..0a3de865 100644 --- a/ExperimentalProjects/MeshBuilder/Assets/TangoSDK/Core/Scripts/Listeners.meta +++ b/ExperimentalProjects/MeshBuilder/Assets/TangoSDK/Core/Scripts/Listeners.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: f2e1e806634414f10ad59d9b84c3130c folderAsset: yes -timeCreated: 1433548905 -licenseType: Free +timeCreated: 1434565528 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/MeshBuilder/Assets/TangoSDK/Core/Scripts/TangoWrappers.meta b/ExperimentalProjects/MeshBuilder/Assets/TangoSDK/Core/Scripts/TangoWrappers.meta index e490ee16..393dcbd8 100644 --- a/ExperimentalProjects/MeshBuilder/Assets/TangoSDK/Core/Scripts/TangoWrappers.meta +++ b/ExperimentalProjects/MeshBuilder/Assets/TangoSDK/Core/Scripts/TangoWrappers.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: 4fc55f6870f0443b986d0ef797cec697 folderAsset: yes -timeCreated: 1433548905 -licenseType: Free +timeCreated: 1434565528 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/MeshBuilder/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoApplication.cs b/ExperimentalProjects/MeshBuilder/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoApplication.cs index ea626dda..140f3d2c 100644 --- a/ExperimentalProjects/MeshBuilder/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoApplication.cs +++ b/ExperimentalProjects/MeshBuilder/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoApplication.cs @@ -49,9 +49,10 @@ private enum PermissionsTypes public bool m_motionTrackingAutoReset = true; public bool m_enableAreaLearning = false; public bool m_enableUXLibrary = true; - public bool m_drawDefaultUXExceptions = true; + public bool m_drawDefaultUXExceptions = true; public bool m_useExperimentalVideoOverlay = true; public bool m_useExperimentalADF = false; + public bool m_useLowLatencyIMUIntegration = true; private static string m_tangoServiceVersion = string.Empty; private const string CLASS_NAME = "TangoApplication"; private const string ANDROID_PRO_LABEL_TEXT = "Tango plugin requires Unity Android Pro!"; @@ -572,6 +573,7 @@ private void _InitializeMotionTracking(string UUID) _SetMotionTrackingCallbacks(framePairs.ToArray()); } + TangoConfig.SetBool(TangoConfig.Keys.ENABLE_LOW_LATENCY_IMU_INTEGRATION, m_useLowLatencyIMUIntegration); TangoConfig.SetBool(TangoConfig.Keys.ENABLE_MOTION_TRACKING_AUTO_RECOVERY_BOOL, m_motionTrackingAutoReset); } diff --git a/ExperimentalProjects/MeshBuilder/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoConfig.cs b/ExperimentalProjects/MeshBuilder/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoConfig.cs index d8d50ac1..b2c0bb3a 100644 --- a/ExperimentalProjects/MeshBuilder/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoConfig.cs +++ b/ExperimentalProjects/MeshBuilder/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoConfig.cs @@ -37,6 +37,7 @@ public struct Keys // Motion Tracking public static readonly string ENABLE_MOTION_TRACKING_BOOL = "config_enable_motion_tracking"; public static readonly string ENABLE_MOTION_TRACKING_AUTO_RECOVERY_BOOL = "config_enable_auto_recovery"; + public static readonly string ENABLE_LOW_LATENCY_IMU_INTEGRATION = "config_enable_low_latency_imu_integration"; // Area Learning public static readonly string ENABLE_AREA_LEARNING_BOOL = "config_enable_learning_mode"; diff --git a/ExperimentalProjects/MeshBuilder/Assets/TangoSDK/Core/Tango.dat b/ExperimentalProjects/MeshBuilder/Assets/TangoSDK/Core/Tango.dat index 8ada7cd4..9972dda5 100644 --- a/ExperimentalProjects/MeshBuilder/Assets/TangoSDK/Core/Tango.dat +++ b/ExperimentalProjects/MeshBuilder/Assets/TangoSDK/Core/Tango.dat @@ -1 +1 @@ - 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assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/Editor/TangoInspector.cs b/ExperimentalProjects/PersistentState/Assets/Editor/TangoInspector.cs index 7c7c1e0f..66194cd3 100644 --- a/ExperimentalProjects/PersistentState/Assets/Editor/TangoInspector.cs +++ b/ExperimentalProjects/PersistentState/Assets/Editor/TangoInspector.cs @@ -60,6 +60,9 @@ private void _DrawMotionTrackingOptions(TangoApplication tangoApplication) EditorGUI.indentLevel++; tangoApplication.m_motionTrackingAutoReset = EditorGUILayout.Toggle("Auto Reset", tangoApplication.m_motionTrackingAutoReset); + + tangoApplication.m_useLowLatencyIMUIntegration = EditorGUILayout.Toggle("Low Latency Pose", + tangoApplication.m_useLowLatencyIMUIntegration); tangoApplication.m_enableAreaLearning = EditorGUILayout.Toggle("Area Learning", tangoApplication.m_enableAreaLearning); diff --git a/ExperimentalProjects/PersistentState/Assets/Google-Unity.meta b/ExperimentalProjects/PersistentState/Assets/Google-Unity.meta index 84f30574..9bf5af1e 100644 --- a/ExperimentalProjects/PersistentState/Assets/Google-Unity.meta +++ b/ExperimentalProjects/PersistentState/Assets/Google-Unity.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: 555248d8e830e425b89d0506c0bc5b16 folderAsset: yes -timeCreated: 1433549153 -licenseType: Free +timeCreated: 1434565708 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/Google-Unity/Sample.meta b/ExperimentalProjects/PersistentState/Assets/Google-Unity/Sample.meta index 964f2fcf..fdc84712 100644 --- a/ExperimentalProjects/PersistentState/Assets/Google-Unity/Sample.meta +++ b/ExperimentalProjects/PersistentState/Assets/Google-Unity/Sample.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: 73a4a6d02bd9b45b9934c1414443c9d0 folderAsset: yes -timeCreated: 1433549153 -licenseType: Free +timeCreated: 1434565708 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/Google-Unity/Sample/Scenes.meta b/ExperimentalProjects/PersistentState/Assets/Google-Unity/Sample/Scenes.meta index 4e8ee882..b6c46b09 100644 --- a/ExperimentalProjects/PersistentState/Assets/Google-Unity/Sample/Scenes.meta +++ b/ExperimentalProjects/PersistentState/Assets/Google-Unity/Sample/Scenes.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: b77a92dcaef51492b91db4267192903e folderAsset: yes -timeCreated: 1433549153 -licenseType: Free +timeCreated: 1434565708 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/Google-Unity/Scripts.meta b/ExperimentalProjects/PersistentState/Assets/Google-Unity/Scripts.meta index 3a1ed12d..8ea80d20 100644 --- a/ExperimentalProjects/PersistentState/Assets/Google-Unity/Scripts.meta +++ b/ExperimentalProjects/PersistentState/Assets/Google-Unity/Scripts.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: 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100644 --- a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-java-lib/bin/classes/com/google/atap/tangoservice/TangoCameraIntrinsics.class.meta +++ b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-java-lib/bin/classes/com/google/atap/tangoservice/TangoCameraIntrinsics.class.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: c374e29d07e2d48299fd85a7a2ceb01a +guid: 3a41cff4e849b432e8c7e33ec860f6c3 DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-java-lib/bin/classes/com/google/atap/tangoservice/TangoCameraPreview$MainRenderer.class.meta b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-java-lib/bin/classes/com/google/atap/tangoservice/TangoCameraPreview$MainRenderer.class.meta index aa971a02..67895ca5 100644 --- 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b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-java-lib/bin/classes/com/google/atap/tangoservice/TangoCameraPreview.class.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 17427ada3dbc343afb157f44dd189674 +guid: 57ac20f708a634c709c2da8d1f59f97a DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-java-lib/bin/classes/com/google/atap/tangoservice/TangoConfig$1.class.meta b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-java-lib/bin/classes/com/google/atap/tangoservice/TangoConfig$1.class.meta index 27227642..6388f244 100644 --- a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-java-lib/bin/classes/com/google/atap/tangoservice/TangoConfig$1.class.meta +++ b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-java-lib/bin/classes/com/google/atap/tangoservice/TangoConfig$1.class.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 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100644 --- a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-java-lib/bin/classes/com/google/atap/tangoservice/TangoErrorException.class.meta +++ b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-java-lib/bin/classes/com/google/atap/tangoservice/TangoErrorException.class.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 689ca5b15521b4f7c84b2a5cf6da496d +guid: e952d30cbb9984b79a285aa572cdee34 DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-java-lib/bin/classes/com/google/atap/tangoservice/TangoEvent$1.class.meta b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-java-lib/bin/classes/com/google/atap/tangoservice/TangoEvent$1.class.meta index 6f91f136..80aa4198 100644 --- a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-java-lib/bin/classes/com/google/atap/tangoservice/TangoEvent$1.class.meta +++ 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b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-java-lib/bin/classes/com/google/atap/tangoservice/TangoOutOfDateException.class.meta index 26fa7f16..c72736c4 100644 --- a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-java-lib/bin/classes/com/google/atap/tangoservice/TangoOutOfDateException.class.meta +++ b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-java-lib/bin/classes/com/google/atap/tangoservice/TangoOutOfDateException.class.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: bb8a4667925d14b5d830ce994e38a81b +guid: ae170fc4ddad848c7bca07581ebded70 DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-java-lib/bin/classes/com/google/atap/tangoservice/TangoPoseData$1.class.meta b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-java-lib/bin/classes/com/google/atap/tangoservice/TangoPoseData$1.class.meta index e553741a..cfdf2cae 100644 --- a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-java-lib/bin/classes/com/google/atap/tangoservice/TangoPoseData$1.class.meta +++ b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-java-lib/bin/classes/com/google/atap/tangoservice/TangoPoseData$1.class.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: df41627a8dd864e23b5ad50f1730719f +guid: 94a1d51fefef84aae910c5e6e0c112f5 DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-java-lib/bin/classes/com/google/atap/tangoservice/TangoPoseData.class.meta b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-java-lib/bin/classes/com/google/atap/tangoservice/TangoPoseData.class.meta index 62fe1a12..2a455cf7 100644 --- a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-java-lib/bin/classes/com/google/atap/tangoservice/TangoPoseData.class.meta +++ b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-java-lib/bin/classes/com/google/atap/tangoservice/TangoPoseData.class.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 4cf42f3735fc74d90bead00b5ef68fe8 +guid: 80a6c6c3c44034d9297e4097a5a6ead0 DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-java-lib/bin/classes/com/google/atap/tangoservice/TangoTextureCameraPreview.class.meta b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-java-lib/bin/classes/com/google/atap/tangoservice/TangoTextureCameraPreview.class.meta index 7a1b66e5..5655aa0a 100644 --- a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-java-lib/bin/classes/com/google/atap/tangoservice/TangoTextureCameraPreview.class.meta +++ b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-java-lib/bin/classes/com/google/atap/tangoservice/TangoTextureCameraPreview.class.meta @@ -1,5 +1,5 @@ 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a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-java-lib/bin/classes/com/google/atap/tangoservice/experimental.meta +++ b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-java-lib/bin/classes/com/google/atap/tangoservice/experimental.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: 80cb9c621c08c41d1bf457684e061a41 folderAsset: yes -timeCreated: 1433549153 -licenseType: Free +timeCreated: 1434565708 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-java-lib/bin/classes/com/google/atap/tangoservice/experimental/TangoMesh.class.meta b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-java-lib/bin/classes/com/google/atap/tangoservice/experimental/TangoMesh.class.meta index 32d91b7f..ae288b60 100644 --- a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-java-lib/bin/classes/com/google/atap/tangoservice/experimental/TangoMesh.class.meta +++ b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-java-lib/bin/classes/com/google/atap/tangoservice/experimental/TangoMesh.class.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: de9b6a3fadd114aaa8028249a0eb2908 +guid: c06456bceb49b4bae95ce13124fb6142 DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-java-lib/bin/classes/com/google/atap/tangoservice/experimental/TangoMeshVector$1.class.meta b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-java-lib/bin/classes/com/google/atap/tangoservice/experimental/TangoMeshVector$1.class.meta index 67fda75b..b8c8af79 100644 --- a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-java-lib/bin/classes/com/google/atap/tangoservice/experimental/TangoMeshVector$1.class.meta +++ 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index 365cdc7c..d5ed8266 100644 --- a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/classes/com/google/atap/tango/ux/components/TangoUx$2.class.meta +++ b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/classes/com/google/atap/tango/ux/components/TangoUx$2.class.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 374ab1a39211b4c8d8533a53189321ce +guid: a424875532d2247e389cd5ab90e5b939 DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/classes/com/google/atap/tango/ux/components/TangoUx.class.meta b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/classes/com/google/atap/tango/ux/components/TangoUx.class.meta index 5decdd3e..aa1e1689 100644 --- 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b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/classes/com/google/atap/tango/ux/data/TangoExceptionInfo$Group.class.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: d3d70ec08c3ab4b58b3d1b8a127a1821 +guid: e101e2e8faadf496d80f05f0b4916dfe DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/classes/com/google/atap/tango/ux/data/TangoExceptionInfo.class.meta b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/classes/com/google/atap/tango/ux/data/TangoExceptionInfo.class.meta index a4290c95..f687be11 100644 --- a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/classes/com/google/atap/tango/ux/data/TangoExceptionInfo.class.meta +++ 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4fae4930..a4a5f864 100644 --- a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/classes/com/google/atap/tango/ux/package-info.class.meta +++ b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/classes/com/google/atap/tango/ux/package-info.class.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: bfcd0f2ddc1a044449b7f09b76182934 +guid: 59a482b1e61b346788b8dd6ea3b73308 DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/classes/com/google/atap/tango/uxsupportlibrary.meta b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/classes/com/google/atap/tango/uxsupportlibrary.meta index 9a525873..dde07a54 100644 --- a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/classes/com/google/atap/tango/uxsupportlibrary.meta +++ 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-1,5 +1,5 @@ fileFormatVersion: 2 -guid: 907cf26f83505489296db7d892f3f9b5 +guid: 7cbfe92abcdc945c8a79bffe02a5346b DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/classes/com/google/atap/tango/uxsupportlibrary/R$color.class.meta b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/classes/com/google/atap/tango/uxsupportlibrary/R$color.class.meta index e661f7b0..0d0eedad 100644 --- a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/classes/com/google/atap/tango/uxsupportlibrary/R$color.class.meta +++ b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/classes/com/google/atap/tango/uxsupportlibrary/R$color.class.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 6dd1f1ee2652e4bdd89d0bd83003370c +guid: f4dd5f09e571448f7aace0300707602a DefaultImporter: userData: assetBundleName: 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b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/classes/com/google/atap/tango/uxsupportlibrary/R$layout.class.meta index 6d2c67cf..6073571e 100644 --- a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/classes/com/google/atap/tango/uxsupportlibrary/R$layout.class.meta +++ b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/classes/com/google/atap/tango/uxsupportlibrary/R$layout.class.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 3f8aa5866da9d4080adc4b19684de9db +guid: 54e413989a39d4b83be38700ab2795cd DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/classes/com/google/atap/tango/uxsupportlibrary/R$string.class.meta b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/classes/com/google/atap/tango/uxsupportlibrary/R$string.class.meta index c602212a..67dfbe8e 100644 --- a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/classes/com/google/atap/tango/uxsupportlibrary/R$string.class.meta +++ b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/classes/com/google/atap/tango/uxsupportlibrary/R$string.class.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 160d658a6309942b0b57c5da49dc9ccc +guid: 8500efcf74a9a41e69c9295b66809ac5 DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/classes/com/google/atap/tango/uxsupportlibrary/R$style.class.meta b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/classes/com/google/atap/tango/uxsupportlibrary/R$style.class.meta index 8292d1b7..bb4b3c64 100644 --- a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/classes/com/google/atap/tango/uxsupportlibrary/R$style.class.meta +++ b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/classes/com/google/atap/tango/uxsupportlibrary/R$style.class.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 6eedfd4de6a544bc984b0c50269051f1 +guid: ed7e59518d5d242d6a108cb8bf855d97 DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/classes/com/google/atap/tango/uxsupportlibrary/R.class.meta b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/classes/com/google/atap/tango/uxsupportlibrary/R.class.meta index 4fce9626..54aac117 100644 --- a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/classes/com/google/atap/tango/uxsupportlibrary/R.class.meta +++ b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/classes/com/google/atap/tango/uxsupportlibrary/R.class.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 0d1f3cd88cb87493c8598128668f002b +guid: 43b67abf93f9948e9b6bfd0b1f8c6420 DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res.meta b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res.meta index 4a1396b6..96945a0d 100644 --- a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res.meta +++ b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: 96d79e81e397344da83727ec1b3441ab folderAsset: yes -timeCreated: 1433549153 -licenseType: Free +timeCreated: 1434565708 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch.meta b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch.meta index 69beb7a4..ebaa2a01 100644 --- a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch.meta +++ b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: ad417e60f348345e8805d4468e6be46c folderAsset: yes -timeCreated: 1433549153 -licenseType: Free +timeCreated: 1434565708 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi.meta b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi.meta index 35f3fbb8..5393fac4 100644 --- a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi.meta +++ b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: 8fb6a57c6c7fc4e2f91da6e8989f3302 folderAsset: yes -timeCreated: 1433549153 -licenseType: Free +timeCreated: 1434565708 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/exception_container_shadow.png.meta b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/exception_container_shadow.png.meta index 880a1845..9f5a8ff3 100644 --- a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/exception_container_shadow.png.meta +++ b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/exception_container_shadow.png.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 5330d8c9601aa40f88b19158870801dc +guid: 097899d50271048efa6ea393bd1dfb9f DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_exception_i_am_dizzy.png.meta b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_exception_i_am_dizzy.png.meta index 8e216a4c..8daa8aa7 100644 --- a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_exception_i_am_dizzy.png.meta +++ b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_exception_i_am_dizzy.png.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 7af12c077c9c84bb688bf56d694aa5b9 +guid: 9f4a32e3b45d84abbb339d5c6738acff DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_exception_i_am_lost.png.meta b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_exception_i_am_lost.png.meta index cbe976a6..00100bf5 100644 --- a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_exception_i_am_lost.png.meta +++ b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_exception_i_am_lost.png.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 8047ce9bd4cbb4a85ab05e3151b1d269 +guid: 610dc5d7bdcf041ccbfbd52a9142a71d DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_exception_i_cant_see.png.meta b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_exception_i_cant_see.png.meta index d9c54211..f0e414b1 100644 --- a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_exception_i_cant_see.png.meta +++ b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_exception_i_cant_see.png.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 95e90b016b24f4104921d9aed8260a85 +guid: 459a0b5e051f84274b2d221a7b17c945 DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_exception_system.png.meta b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_exception_system.png.meta index 7907b2af..f42ddc53 100644 --- a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_exception_system.png.meta +++ b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_exception_system.png.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: c4ce8f0f390b94e94a2a15775fb48583 +guid: a8015c85f8acf47d4a20b92e88b65e8a DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_shake_background.png.meta b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_shake_background.png.meta index ba1d8ea1..9a67a29e 100644 --- a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_shake_background.png.meta +++ b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_shake_background.png.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 9b7cc3fa9bd954b519f3ea98bcb048be +guid: 8b5d446d42f604ebcb55670f8091dd09 DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_shake_err.png.meta b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_shake_err.png.meta index 3fb137df..02210763 100644 --- a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_shake_err.png.meta +++ b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_shake_err.png.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: fb90c7a45b43642c6b57ae250cda8d44 +guid: 78c09be38e2b64f5b8e242c8e01c098a DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_shake_ok.png.meta b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_shake_ok.png.meta index c3c03841..b398d3ca 100644 --- a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_shake_ok.png.meta +++ b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_shake_ok.png.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 5e0142022614043faaf8a2e5099c149b +guid: d5468e731c4e34fcab3db035ace32c61 DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_shake_ok_tick.png.meta b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_shake_ok_tick.png.meta index 007d3b2b..e05390fc 100644 --- a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_shake_ok_tick.png.meta +++ b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/ic_shake_ok_tick.png.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 157ddf164c3eb4c1aa762668d661e42f +guid: ac1e222b87bd04be2a91f9fda9bb3a11 DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/splash_logo.png.meta b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/splash_logo.png.meta index 83bc96f3..63bf66e8 100644 --- a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/splash_logo.png.meta +++ b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/splash_logo.png.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 6c7d3bd6b6ece40148936eeecfe057b0 +guid: 6a138b9ddfed5441fb6b01c7cb73c3d8 DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/splash_logo_experiments.png.meta b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/splash_logo_experiments.png.meta index 2ba48fc0..f85f60a6 100644 --- a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/splash_logo_experiments.png.meta +++ b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xhdpi/splash_logo_experiments.png.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 36ca211de69d94b0395b3c7038deb841 +guid: e824966c822ac43cd9452f10b2289646 DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xxhdpi.meta b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xxhdpi.meta index 16982cad..690f8a28 100644 --- a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xxhdpi.meta +++ b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xxhdpi.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: 087c092f4e3104317aa3b89af5c69d9a folderAsset: yes -timeCreated: 1433549153 -licenseType: Free +timeCreated: 1434565708 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xxhdpi/ic_tango.png.meta b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xxhdpi/ic_tango.png.meta index f68c7d64..c5413c0e 100644 --- a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xxhdpi/ic_tango.png.meta +++ b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/res/crunch/drawable-xxhdpi/ic_tango.png.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: b500e14c5d5d743c6a705f6e3279fa19 +guid: c473724aa21f0404bafd61ba28100153 DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/tango-ux-support-library.jar.meta b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/tango-ux-support-library.jar.meta index 60363c92..31a66279 100644 --- a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/tango-ux-support-library.jar.meta +++ b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/bin/tango-ux-support-library.jar.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: d951adff6cabd40f98d279f381e1acd1 +guid: b6a2e799727434304959026d52329ed6 DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/project.properties.meta b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/project.properties.meta index 6b2926ca..71312573 100644 --- a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/project.properties.meta +++ b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/project.properties.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: b1f5ce819e7274074bbcec31874d630d +guid: fe5d8964865d04d36be1e036999551ee DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/res.meta b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/res.meta index 64d821b8..cb34285b 100644 --- a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/res.meta +++ b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/res.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: fd9dcf3597e5d4387b74288b2f31442a folderAsset: yes -timeCreated: 1433549153 -licenseType: Free +timeCreated: 1434565708 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/res/drawable-xhdpi.meta b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/res/drawable-xhdpi.meta index b1b53205..824a5337 100644 --- a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/res/drawable-xhdpi.meta +++ b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/res/drawable-xhdpi.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: 8b284ef68867845fdba8889f5242a41e folderAsset: yes -timeCreated: 1433549153 -licenseType: Free +timeCreated: 1434565708 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/res/drawable-xhdpi/exception_container_shadow.png.meta b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/res/drawable-xhdpi/exception_container_shadow.png.meta index 6af0b3ff..1087db11 100644 --- a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/res/drawable-xhdpi/exception_container_shadow.png.meta +++ b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/res/drawable-xhdpi/exception_container_shadow.png.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 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b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/res/layout/layout_splash.xml.meta index 817343c8..95fde481 100644 --- a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/res/layout/layout_splash.xml.meta +++ b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/res/layout/layout_splash.xml.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 8f03859da4db24d9c8210c4ff3fe91e1 +guid: 63813967518014746b907ac0a6cfae33 DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/res/layout/layout_tango_ux.xml.meta b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/res/layout/layout_tango_ux.xml.meta index 7e0b7650..804e1c83 100644 --- a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/res/layout/layout_tango_ux.xml.meta +++ 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a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/res/values/dimens.xml.meta +++ b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/res/values/dimens.xml.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 3fc71dd92ba604d5ea9f706e5819b0e8 +guid: 6a2d3bf9c6a2c4b4b9c5df1447aa95b5 DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/res/values/strings.xml.meta b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/res/values/strings.xml.meta index bcd4f243..3c7db7fb 100644 --- a/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/res/values/strings.xml.meta +++ b/ExperimentalProjects/PersistentState/Assets/Plugins/Android/tango-ux-support-library/res/values/strings.xml.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 5198aa5a96886423aa4b43cf676055aa +guid: 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100644 --- a/ExperimentalProjects/PersistentState/Assets/TangoSDK/Core/Prefabs.meta +++ b/ExperimentalProjects/PersistentState/Assets/TangoSDK/Core/Prefabs.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: ceb5ea0e0a3d4435a8173d62c903e8b3 folderAsset: yes -timeCreated: 1433549153 -licenseType: Free +timeCreated: 1434565708 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/TangoSDK/Core/Scripts.meta b/ExperimentalProjects/PersistentState/Assets/TangoSDK/Core/Scripts.meta index 686d0df5..2aedd651 100644 --- a/ExperimentalProjects/PersistentState/Assets/TangoSDK/Core/Scripts.meta +++ b/ExperimentalProjects/PersistentState/Assets/TangoSDK/Core/Scripts.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: 8e63f857443034fb6b291e8ff42a6c60 folderAsset: yes -timeCreated: 1433549153 -licenseType: Free +timeCreated: 1434565708 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/TangoSDK/Core/Scripts/Common.meta b/ExperimentalProjects/PersistentState/Assets/TangoSDK/Core/Scripts/Common.meta index 10545e94..ae1f6d72 100644 --- a/ExperimentalProjects/PersistentState/Assets/TangoSDK/Core/Scripts/Common.meta +++ b/ExperimentalProjects/PersistentState/Assets/TangoSDK/Core/Scripts/Common.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: a96639d914c7d4c11aa8634e9e475b09 folderAsset: yes -timeCreated: 1433549153 -licenseType: Free +timeCreated: 1434565708 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/TangoSDK/Core/Scripts/Interfaces.meta b/ExperimentalProjects/PersistentState/Assets/TangoSDK/Core/Scripts/Interfaces.meta index ef77bd33..7c9da8f5 100644 --- a/ExperimentalProjects/PersistentState/Assets/TangoSDK/Core/Scripts/Interfaces.meta +++ b/ExperimentalProjects/PersistentState/Assets/TangoSDK/Core/Scripts/Interfaces.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: f5d37fb7ce64947f28ab06d0dbf90ce4 folderAsset: yes -timeCreated: 1433549153 -licenseType: Free +timeCreated: 1434565708 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/TangoSDK/Core/Scripts/Listeners.meta b/ExperimentalProjects/PersistentState/Assets/TangoSDK/Core/Scripts/Listeners.meta index 9003fbe3..d9078c7a 100644 --- a/ExperimentalProjects/PersistentState/Assets/TangoSDK/Core/Scripts/Listeners.meta +++ b/ExperimentalProjects/PersistentState/Assets/TangoSDK/Core/Scripts/Listeners.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: f2e1e806634414f10ad59d9b84c3130c folderAsset: yes -timeCreated: 1433549153 -licenseType: Free +timeCreated: 1434565708 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/TangoSDK/Core/Scripts/TangoWrappers.meta b/ExperimentalProjects/PersistentState/Assets/TangoSDK/Core/Scripts/TangoWrappers.meta index 5d57b1f1..4eb2258e 100644 --- a/ExperimentalProjects/PersistentState/Assets/TangoSDK/Core/Scripts/TangoWrappers.meta +++ b/ExperimentalProjects/PersistentState/Assets/TangoSDK/Core/Scripts/TangoWrappers.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: 4fc55f6870f0443b986d0ef797cec697 folderAsset: yes -timeCreated: 1433549153 -licenseType: Free +timeCreated: 1434565708 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoApplication.cs b/ExperimentalProjects/PersistentState/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoApplication.cs index ea626dda..140f3d2c 100644 --- a/ExperimentalProjects/PersistentState/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoApplication.cs +++ b/ExperimentalProjects/PersistentState/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoApplication.cs @@ -49,9 +49,10 @@ private enum PermissionsTypes public bool m_motionTrackingAutoReset = true; public bool m_enableAreaLearning = false; public bool m_enableUXLibrary = true; - public bool m_drawDefaultUXExceptions = true; + public bool m_drawDefaultUXExceptions = true; public bool m_useExperimentalVideoOverlay = true; public bool m_useExperimentalADF = false; + public bool m_useLowLatencyIMUIntegration = true; private static string m_tangoServiceVersion = string.Empty; private const string CLASS_NAME = "TangoApplication"; private const string ANDROID_PRO_LABEL_TEXT = "Tango plugin requires Unity Android Pro!"; @@ -572,6 +573,7 @@ private void _InitializeMotionTracking(string UUID) _SetMotionTrackingCallbacks(framePairs.ToArray()); } + TangoConfig.SetBool(TangoConfig.Keys.ENABLE_LOW_LATENCY_IMU_INTEGRATION, m_useLowLatencyIMUIntegration); TangoConfig.SetBool(TangoConfig.Keys.ENABLE_MOTION_TRACKING_AUTO_RECOVERY_BOOL, m_motionTrackingAutoReset); } diff --git a/ExperimentalProjects/PersistentState/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoConfig.cs b/ExperimentalProjects/PersistentState/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoConfig.cs index d8d50ac1..b2c0bb3a 100644 --- a/ExperimentalProjects/PersistentState/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoConfig.cs +++ b/ExperimentalProjects/PersistentState/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoConfig.cs @@ -37,6 +37,7 @@ public struct Keys // Motion Tracking public static readonly string ENABLE_MOTION_TRACKING_BOOL = "config_enable_motion_tracking"; public static readonly string ENABLE_MOTION_TRACKING_AUTO_RECOVERY_BOOL = "config_enable_auto_recovery"; + public static readonly string ENABLE_LOW_LATENCY_IMU_INTEGRATION = "config_enable_low_latency_imu_integration"; // Area Learning public static readonly string ENABLE_AREA_LEARNING_BOOL = "config_enable_learning_mode"; diff --git a/ExperimentalProjects/PersistentState/Assets/TangoSDK/Core/Tango.dat b/ExperimentalProjects/PersistentState/Assets/TangoSDK/Core/Tango.dat index 8ada7cd4..9972dda5 100644 --- a/ExperimentalProjects/PersistentState/Assets/TangoSDK/Core/Tango.dat +++ b/ExperimentalProjects/PersistentState/Assets/TangoSDK/Core/Tango.dat @@ -1 +1 @@ - undefined95ae20895ae208) \ No newline at end of file + undefinedc4c1f52 release/quine \ No newline at end of file diff --git a/ExperimentalProjects/PersistentState/Assets/TangoSDK/Core/Tango.dat.meta b/ExperimentalProjects/PersistentState/Assets/TangoSDK/Core/Tango.dat.meta index 3dec5064..f72fd8c9 100644 --- a/ExperimentalProjects/PersistentState/Assets/TangoSDK/Core/Tango.dat.meta +++ b/ExperimentalProjects/PersistentState/Assets/TangoSDK/Core/Tango.dat.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 872b99255d9a745b1857299086556624 +guid: c5a3f9a1974004c0abcb47f3720ad1fd DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/PersistentState/ProjectSettings/ProjectSettings.asset b/ExperimentalProjects/PersistentState/ProjectSettings/ProjectSettings.asset index 41c3381bf974f34bc0e00bfc69fb4067fb5ac751..09fefbe055ecc177528ef8cd7e9c49434cbf2031 100644 GIT binary patch delta 80 zcmaFU$8@8QiGzWm-iU#rJz^urpE^d4$*lF+(rgS24DR{)={czk3<5xQKx$EOW^qYs jUWvkFyB68Wd+IkcnoTZfkYE&;+}R+<$gp`u!x1(B(2yBW delta 129 zcmcc7$MmL;iGzWm-iU#rJ!d1wpE^dF$*lF+#-a=i4DR{)={c!73IRp=S*gh-3L%Mk z>G?o$VIU4jEh^3|E=kQR2`))2NexLYE}6{OAUSzO{bokf$uSKQ3j9D-f + /// Raises the enable event. + /// + private void OnEnable() + { + m_tangoApplication = (TangoApplication)target; + } + + /// + /// Raises the inspector GUI event. + /// + public override void OnInspectorGUI() + { + _DrawMotionTrackingOptions(m_tangoApplication); + _DrawDepthOptions(m_tangoApplication); + _DrawVideoOverlayOptions(m_tangoApplication); + _DrawUXLibraryOptions(m_tangoApplication); + + if (GUI.changed) + { + EditorUtility.SetDirty(m_tangoApplication); + } + } + + /// + /// Draw motion tracking options. + /// + /// Tango application. + private void _DrawMotionTrackingOptions(TangoApplication tangoApplication) + { + tangoApplication.m_enableMotionTracking = EditorGUILayout.Toggle("Enable Motion Tracking", + tangoApplication.m_enableMotionTracking); + if (tangoApplication.m_enableMotionTracking) + { + EditorGUI.indentLevel++; + tangoApplication.m_motionTrackingAutoReset = EditorGUILayout.Toggle("Auto Reset", + tangoApplication.m_motionTrackingAutoReset); + + tangoApplication.m_useLowLatencyIMUIntegration = EditorGUILayout.Toggle("Low Latency Pose", + tangoApplication.m_useLowLatencyIMUIntegration); + + tangoApplication.m_enableAreaLearning = EditorGUILayout.Toggle("Area Learning", + tangoApplication.m_enableAreaLearning); + if (tangoApplication.m_enableAreaLearning) + { + EditorGUI.indentLevel++; + tangoApplication.m_useExperimentalADF = EditorGUILayout.Toggle("High Accuracy (Experimental)", + tangoApplication.m_useExperimentalADF); + EditorGUI.indentLevel--; + } + + EditorGUI.indentLevel--; + } + EditorGUILayout.Space(); + } + + /// + /// Draw depth options. + /// + /// Tango application. + private void _DrawDepthOptions(TangoApplication tangoApplication) + { + tangoApplication.m_enableDepth = EditorGUILayout.Toggle("Enable Depth", tangoApplication.m_enableDepth); + EditorGUILayout.Space(); + } + + /// + /// Draw video overlay options. + /// + /// Tango application. + private void _DrawVideoOverlayOptions(TangoApplication tangoApplication) + { + tangoApplication.m_enableVideoOverlay = EditorGUILayout.Toggle("Enable Video Overlay", + tangoApplication.m_enableVideoOverlay); + if (tangoApplication.m_enableVideoOverlay) + { + EditorGUI.indentLevel++; + tangoApplication.m_useExperimentalVideoOverlay = EditorGUILayout.Toggle("GPU Accelerated (Experimental)", + tangoApplication.m_useExperimentalVideoOverlay); + EditorGUI.indentLevel--; + } + EditorGUILayout.Space(); + } + + /// + /// Draw UX library options. + /// + /// Tango application. + private void _DrawUXLibraryOptions(TangoApplication tangoApplication) + { + tangoApplication.m_enableUXLibrary = EditorGUILayout.Toggle("Enable UX Library", tangoApplication.m_enableUXLibrary); + if (tangoApplication.m_enableUXLibrary) + { + tangoApplication.m_drawDefaultUXExceptions = EditorGUILayout.Toggle("Show default UX popups", + tangoApplication.m_drawDefaultUXExceptions); + } + } +} \ No newline at end of file diff --git a/ExperimentalProjects/MeshBuilder/Assets/Scripts/PointCloudGenerator.cs.meta b/ExperimentalProjects/VirtualReality/Assets/Editor/TangoInspector.cs.meta similarity index 62% rename from ExperimentalProjects/MeshBuilder/Assets/Scripts/PointCloudGenerator.cs.meta rename to ExperimentalProjects/VirtualReality/Assets/Editor/TangoInspector.cs.meta index 4bd2b8a1..6019d8d8 100644 --- a/ExperimentalProjects/MeshBuilder/Assets/Scripts/PointCloudGenerator.cs.meta +++ b/ExperimentalProjects/VirtualReality/Assets/Editor/TangoInspector.cs.meta @@ -1,8 +1,10 @@ fileFormatVersion: 2 -guid: e72b645b96f68485480a6f53f07c5eb5 +guid: 51c3630edf1ad4d78b32db78f6d719c5 MonoImporter: serializedVersion: 2 defaultReferences: [] executionOrder: 0 icon: {instanceID: 0} userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/VirtualReality/Assets/Editor/TangoMenu.cs b/ExperimentalProjects/VirtualReality/Assets/Editor/TangoMenu.cs new file mode 100644 index 00000000..e97da219 --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/Editor/TangoMenu.cs @@ -0,0 +1,34 @@ +/* + * Copyright 2014 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +using UnityEngine; +using UnityEditor; +using System.Collections; + +/// +/// Tango developer tools menu. +/// +public class TangoMenu +{ + /// + /// Opens the default web browser and navigates to the + /// Tango developer page. + /// + [MenuItem("Tango/Documentation")] + public static void ShowDocumentation() + { + Application.OpenURL("https://developers.google.com/project-tango/developer-overview"); + } +} diff --git a/ExperimentalProjects/MeshBuilder/Assets/Scripts/CustomTangoMotionController.cs.meta b/ExperimentalProjects/VirtualReality/Assets/Editor/TangoMenu.cs.meta similarity index 62% rename from ExperimentalProjects/MeshBuilder/Assets/Scripts/CustomTangoMotionController.cs.meta rename to ExperimentalProjects/VirtualReality/Assets/Editor/TangoMenu.cs.meta index 0db60b53..bfccc9ed 100644 --- a/ExperimentalProjects/MeshBuilder/Assets/Scripts/CustomTangoMotionController.cs.meta +++ b/ExperimentalProjects/VirtualReality/Assets/Editor/TangoMenu.cs.meta @@ -1,8 +1,10 @@ fileFormatVersion: 2 -guid: cc9db2af05d51477f8314d07a9746ad1 +guid: 0c2b681c8f7054bd39d4589b21b33820 MonoImporter: serializedVersion: 2 defaultReferences: [] executionOrder: 0 icon: {instanceID: 0} userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/VirtualReality/Assets/Editor/TangoSDKAbout.cs b/ExperimentalProjects/VirtualReality/Assets/Editor/TangoSDKAbout.cs new file mode 100644 index 00000000..c3819c81 --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/Editor/TangoSDKAbout.cs @@ -0,0 +1,74 @@ +/* + * Copyright 2014 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +using System.Collections; +using UnityEditor; +using UnityEngine; +using System.IO; + +/// +/// Tango SDK about window. +/// +public class TangoSDKAbout : EditorWindow +{ + public static readonly string TANGO_VERSION_DATA_PATH = "/TangoSDK/Core/Tango.dat"; + public string m_branch = string.Empty; + public string m_versionTag = string.Empty; + public string m_gitHash = string.Empty; + public bool m_validData = false; + + /// + /// Show the About Tango Window + /// + [MenuItem("Tango/About SDK")] + public static void GetSDKVersion() + { + EditorWindow thisWindow = EditorWindow.GetWindow(typeof(TangoSDKAbout)); + + ((TangoSDKAbout)thisWindow).ReadVersionFile(); + } + + /// + /// Reads the version file. + /// + public void ReadVersionFile() + { + if(File.Exists(Application.dataPath + TANGO_VERSION_DATA_PATH)) + { + BinaryReader binaryReader = new BinaryReader(File.Open(Application.dataPath + TANGO_VERSION_DATA_PATH, FileMode.Open)); + m_versionTag = binaryReader.ReadString(); + m_gitHash = binaryReader.ReadString(); + m_branch = binaryReader.ReadString(); + m_validData = true; + } + } + + /// + /// Raises the GU event. + /// + void OnGUI() + { + if(m_validData) + { + EditorGUILayout.LabelField("Version: ", m_versionTag); + EditorGUILayout.LabelField("Branch: ", m_branch); + EditorGUILayout.LabelField("Hash: ", m_gitHash); + } + else + { + EditorGUILayout.LabelField("Version data not found"); + } + } +} diff --git a/ExperimentalProjects/AugmentedRealityUnity/Assets/Scripts/PoseController.cs.meta b/ExperimentalProjects/VirtualReality/Assets/Editor/TangoSDKAbout.cs.meta similarity index 62% rename from ExperimentalProjects/AugmentedRealityUnity/Assets/Scripts/PoseController.cs.meta rename to ExperimentalProjects/VirtualReality/Assets/Editor/TangoSDKAbout.cs.meta index 99f26889..56e43c70 100644 --- a/ExperimentalProjects/AugmentedRealityUnity/Assets/Scripts/PoseController.cs.meta +++ b/ExperimentalProjects/VirtualReality/Assets/Editor/TangoSDKAbout.cs.meta @@ -1,8 +1,10 @@ fileFormatVersion: 2 -guid: 128ae9bf0245a419a98a670b35a56249 +guid: d36f3d711149d4d11bc2a83dfeb4551d MonoImporter: serializedVersion: 2 defaultReferences: [] executionOrder: 0 icon: {instanceID: 0} userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/VirtualReality/Assets/Google-Unity.meta b/ExperimentalProjects/VirtualReality/Assets/Google-Unity.meta new file mode 100644 index 00000000..c97b2f6e --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/Google-Unity.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: 555248d8e830e425b89d0506c0bc5b16 +folderAsset: yes +timeCreated: 1434565928 +licenseType: Pro +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/VirtualReality/Assets/Google-Unity/Sample.meta b/ExperimentalProjects/VirtualReality/Assets/Google-Unity/Sample.meta new file mode 100644 index 00000000..5f78ddb7 --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/Google-Unity/Sample.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: 73a4a6d02bd9b45b9934c1414443c9d0 +folderAsset: yes +timeCreated: 1434565928 +licenseType: Pro +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/AreaLearningUnity/Assets/Google-Unity/Sample/Scenes.meta b/ExperimentalProjects/VirtualReality/Assets/Google-Unity/Sample/Scenes.meta similarity index 78% rename from AreaLearningUnity/Assets/Google-Unity/Sample/Scenes.meta rename to ExperimentalProjects/VirtualReality/Assets/Google-Unity/Sample/Scenes.meta index f9840f24..51279624 100644 --- a/AreaLearningUnity/Assets/Google-Unity/Sample/Scenes.meta +++ b/ExperimentalProjects/VirtualReality/Assets/Google-Unity/Sample/Scenes.meta @@ -1,8 +1,8 @@ fileFormatVersion: 2 guid: b77a92dcaef51492b91db4267192903e folderAsset: yes -timeCreated: 1433548041 -licenseType: Free +timeCreated: 1434565928 +licenseType: Pro DefaultImporter: userData: assetBundleName: diff --git a/ExperimentalProjects/VirtualReality/Assets/Google-Unity/Scripts.meta b/ExperimentalProjects/VirtualReality/Assets/Google-Unity/Scripts.meta new file mode 100644 index 00000000..235942f0 --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/Google-Unity/Scripts.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: ec3f31cb3fcac424ea1629761b78f663 +folderAsset: yes +timeCreated: 1434565928 +licenseType: Pro +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/VirtualReality/Assets/Google-Unity/Scripts/AndroidHelper.cs b/ExperimentalProjects/VirtualReality/Assets/Google-Unity/Scripts/AndroidHelper.cs new file mode 100644 index 00000000..0ba4a89e --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/Google-Unity/Scripts/AndroidHelper.cs @@ -0,0 +1,383 @@ +#if UNITY_ANDROID && !UNITY_EDITOR +#define ANDROID_DEVICE +#endif +/* + * Copyright 2014 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +using System; +using System.Collections; +using UnityEngine; + +/// +/// Helper functions for common android functionality. +/// +public partial class AndroidHelper : MonoBehaviour +{ +#pragma warning disable 414 + private static AndroidJavaObject m_unityActivity = null; +#pragma warning restore 414 + + private static AndroidLifecycleCallbacks m_callbacks; + + /// + /// Registers for the Android pause event. + /// + /// On pause. + public static void RegisterPauseEvent(OnPauseEventHandler onPause) + { + #if ANDROID_DEVICE + if(m_callbacks == null) + { + RegisterCallbacks(); + } + + m_callbacks.RegisterOnPause(onPause); + #endif + } + + /// + /// Registers for the Android resume event. + /// + /// On resume. + public static void RegisterResumeEvent(OnResumeEventHandler onResume) + { + #if ANDROID_DEVICE + if(m_callbacks == null) + { + RegisterCallbacks(); + } + + m_callbacks.RegisterOnResume(onResume); + #endif + } + + /// + /// Registers for the Android on activity result event. + /// + /// On activity result. + public static void RegisterOnActivityResultEvent(OnActivityResultEventHandler onActivityResult) + { + #if ANDROID_DEVICE + if(m_callbacks == null) + { + RegisterCallbacks(); + } + + m_callbacks.RegisterOnActivityResult(onActivityResult); + #endif + } + + /// + /// Inializes the AndroidJavaProxy for the Android lifecycle callbacks. + /// + private static void RegisterCallbacks() + { + #if ANDROID_DEVICE + m_callbacks = new AndroidLifecycleCallbacks(); + + m_unityActivity = GetUnityActivity(); + if(m_unityActivity != null) + { + Debug.Log("AndroidLifecycle callback set"); + m_unityActivity.Call("attachLifecycleListener", m_callbacks); + } + #endif + } + + /// + /// Gets the unity activity. + /// + /// The unity activity. + public static AndroidJavaObject GetUnityActivity() + { + #if ANDROID_DEVICE + if(m_unityActivity == null) + { + try + { + AndroidJavaClass unityPlayer = new AndroidJavaClass("com.unity3d.player.UnityPlayer"); + m_unityActivity = unityPlayer.GetStatic("currentActivity"); + } + catch(AndroidJavaException e) + { + Debug.Log("AndroidJavaException : " + e.Message); + m_unityActivity = null; + } + } + return m_unityActivity; + #else + return null; + #endif + } + + /// + /// Gets the current application label. + /// + /// The current application label. + public static string GetCurrentApplicationLabel() + { + string applicationLabelName = "Not Set"; + AndroidJavaObject unityActivity = GetUnityActivity(); + + if(unityActivity != null) + { + try + { + string currentPackageName = GetCurrentPackageName(); + AndroidJavaObject packageManager = unityActivity.Call("getPackageManager"); + AndroidJavaObject packageInfo = packageManager.Call("getPackageInfo", currentPackageName, 0); + AndroidJavaObject applicationInfo = packageInfo.Get("applicationInfo"); + AndroidJavaObject applicationLabel = packageManager.Call("getApplicationLabel", applicationInfo); + applicationLabelName = applicationLabel.Call("toString"); + } + catch(AndroidJavaException e) + { + Debug.Log("AndroidJavaException : " + e.Message); + applicationLabelName = string.Empty; + } + } + + return applicationLabelName; + } + + /// + /// Gets the name of the current package. + /// + /// The current package name. + public static string GetCurrentPackageName() + { + string packageName = "Not Set"; + AndroidJavaObject unityActivity = GetUnityActivity(); + + if(unityActivity != null) + { + try + { + packageName = unityActivity.Call("getPackageName"); + } + catch(AndroidJavaException e) + { + Debug.Log("AndroidJavaException : " + e.Message); + } + } + + return packageName; + } + + /// + /// Gets the package info. + /// + /// The package info. + /// Package name. + public static AndroidJavaObject GetPackageInfo(string packageName) + { + AndroidJavaObject unityActivity = GetUnityActivity(); + if(unityActivity != null && !string.IsNullOrEmpty(packageName)) + { + AndroidJavaObject packageManager = unityActivity.Call("getPackageManager"); + AndroidJavaObject packageInfo = null; + + try + { + packageInfo = packageManager.Call("getPackageInfo", packageName, 0); + } + catch(AndroidJavaException e) + { + Debug.Log("AndroidJavaException : " + e.Message); + packageInfo = null; + } + + return packageInfo; + } + + return null; + } + + /// + /// Used for performance logging from the Android side. + /// + /// Message. + public static void PerformanceLog(string message) + { + AndroidJavaObject unityActivity = GetUnityActivity(); + if(unityActivity != null) + { + try + { + unityActivity.Call("logAndroidErrorMessage", message); + } + catch(AndroidJavaException e) + { + Debug.Log("AndroidJavaException : " + e.Message); + } + } + } + + /// + /// Gets the name of the version. + /// + /// The version name. + /// Package name. + public static string GetVersionName(string packageName) + { + string versionName = "Not Set"; + AndroidJavaObject unityActivity = GetUnityActivity(); + + if(unityActivity != null && !string.IsNullOrEmpty(packageName)) + { + try + { + AndroidJavaObject packageInfo = GetPackageInfo(packageName); + versionName = packageInfo.Get("versionName"); + } + catch(AndroidJavaException e) + { + Debug.Log("AndroidJavaException : " + e.Message); + versionName = string.Empty; + } + } + + return versionName; + } + + /// + /// Gets the version code. + /// + /// The version code. + /// Package name. + public static int GetVersionCode(string packageName) + { + int versionCode = -1; + AndroidJavaObject unityActivity = GetUnityActivity(); + + if(unityActivity != null && !string.IsNullOrEmpty(packageName)) + { + try + { + AndroidJavaObject packageInfo = GetPackageInfo(packageName); + versionCode = packageInfo.Get("versionCode"); + } + catch(AndroidJavaException e) + { + Debug.Log("AndroidJavaException : " + e.Message); + versionCode = -1; + } + } + + return -1; + } + + /// + /// Starts the activity for the provided class name. + /// + /// Class name. + public static void StartActivity(string className) + { + AndroidJavaObject unityActivity = GetUnityActivity(); + + if(unityActivity != null) + { + try + { + string packageName = GetCurrentPackageName(); + AndroidJavaObject intentObject = new AndroidJavaObject("android.content.Intent"); + intentObject.Call("setClassName", packageName, className); + unityActivity.Call("startActivity", intentObject); + } + catch(AndroidJavaException e) + { + Debug.Log("AndroidJavaException : " + e.Message); + } + } + } + + /// + /// Shows the android toast message. + /// + /// Message. + /// If set to true call finish on the unity activity. + public static void ShowAndroidToastMessage(string message, bool callFinish) + { + ShowAndroidToastMessage(message); + + if(callFinish) + { + AndroidFinish(); + } + } + + /// + /// Shows the android toast message. + /// + /// Message. + public static void ShowAndroidToastMessage(string message) + { + AndroidJavaObject unityActivity = GetUnityActivity(); + + if(unityActivity != null) + { + try + { + AndroidJavaClass toastClass = new AndroidJavaClass("android.widget.Toast"); + unityActivity.Call("runOnUiThread", new AndroidJavaRunnable(() => { + AndroidJavaObject toastObject = toastClass.CallStatic("makeText", unityActivity, message, 0x00000001); + toastObject.Call("show"); + })); + } + catch(AndroidJavaException e) + { + Debug.Log("AndroidJavaException : " + e.Message); + } + } + } + + /// + /// Calls finish on the Unity Activity. + /// + public static void AndroidFinish() + { + AndroidJavaObject unityActivity = GetUnityActivity(); + + if(unityActivity != null) + { + try + { + unityActivity.Call("finish"); + } + catch(AndroidJavaException e) + { + Debug.Log("AndroidJavaException : " + e.Message); + } + } + } + + /// + /// Calls quit on the Unity Activity. + /// + public static void AndroidQuit() + { + #if ANDROID_DEVICE + try + { + AndroidJavaClass system = new AndroidJavaClass("java.lang.System"); + system.CallStatic("exit", 0); + } + catch(AndroidJavaException e) + { + Debug.Log("AndroidJavaException : " + e.Message); + } + #endif + } +} diff --git a/ExperimentalProjects/MeshBuilder/Assets/Scripts/GlobalState.cs.meta b/ExperimentalProjects/VirtualReality/Assets/Google-Unity/Scripts/AndroidHelper.cs.meta similarity index 62% rename from ExperimentalProjects/MeshBuilder/Assets/Scripts/GlobalState.cs.meta rename to ExperimentalProjects/VirtualReality/Assets/Google-Unity/Scripts/AndroidHelper.cs.meta index 058e40d8..0d88b7ee 100644 --- a/ExperimentalProjects/MeshBuilder/Assets/Scripts/GlobalState.cs.meta +++ b/ExperimentalProjects/VirtualReality/Assets/Google-Unity/Scripts/AndroidHelper.cs.meta @@ -1,8 +1,10 @@ fileFormatVersion: 2 -guid: bb814db7e1d064f429344d56b4ef7943 +guid: a800d66c9d9544fda84b80e8e66abc55 MonoImporter: serializedVersion: 2 defaultReferences: [] executionOrder: 0 icon: {instanceID: 0} userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/VirtualReality/Assets/Google-Unity/Scripts/AndroidLifecycle.cs b/ExperimentalProjects/VirtualReality/Assets/Google-Unity/Scripts/AndroidLifecycle.cs new file mode 100644 index 00000000..45099863 --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/Google-Unity/Scripts/AndroidLifecycle.cs @@ -0,0 +1,144 @@ +/* + * Copyright 2014 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +using UnityEngine; +using System.Collections; + +public delegate void OnPauseEventHandler(); +public delegate void OnResumeEventHandler(); +public delegate void OnActivityResultEventHandler(int requestCode, int resultCode, AndroidJavaObject data); + +/// +/// Binds callbacks directly to Android lifecycle. +/// +public class AndroidLifecycleCallbacks : AndroidJavaProxy +{ + public AndroidLifecycleCallbacks() : base("com.google.unity.GoogleUnityActivity$AndroidLifecycleListener"){} + + private static event OnPauseEventHandler m_onPause; + private static event OnResumeEventHandler m_onResume; + private static event OnActivityResultEventHandler m_onActivityResult; + + /// + /// Registers the on pause callback to Android. + /// + /// On pause. + public void RegisterOnPause(OnPauseEventHandler onPause) + { + if(onPause != null) + { + m_onPause += onPause; + } + } + + /// + /// Registers the on resume callback to Android. + /// + /// On resume. + public void RegisterOnResume(OnResumeEventHandler onResume) + { + if(onResume != null) + { + m_onResume += onResume; + } + } + + /// + /// Registers the on onActivityResult callback to Android. + /// + /// On activity result. + public void RegisterOnActivityResult(OnActivityResultEventHandler onActivityResult) + { + if(onActivityResult != null) + { + m_onActivityResult += onActivityResult; + } + } + + /// + /// Unregisters the on pause callback to Android. + /// + /// On pause. + public void UnregisterOnPause(OnPauseEventHandler onPause) + { + if(onPause != null) + { + m_onPause -= onPause; + } + } + + /// + /// Unregisters the on resume callback to Android. + /// + /// On resume. + public void UnregisterOnResume(OnResumeEventHandler onResume) + { + if(onResume != null) + { + m_onResume -= onResume; + } + } + + /// + /// Unregisters the on onActivityResult callback to Android. + /// + /// On activity result. + public void UnregisterOnActivityResult(OnActivityResultEventHandler onActivityResult) + { + if(onActivityResult != null) + { + m_onActivityResult -= onActivityResult; + } + } + + /// + /// Implements the Android onPause. + /// + protected void onPause() + { + if(m_onPause != null) + { + Debug.Log("Unity got the Java onPause"); + m_onPause(); + } + } + + /// + /// Implements the Android onResume. + /// + protected void onResume() + { + if(m_onResume != null) + { + Debug.Log("Unity got the Java onResume"); + m_onResume(); + } + } + + /// + /// Implements the Android onActivityResult. + /// + /// Request code. + /// Result code. + /// Data. + protected void onActivityResult(int requestCode, int resultCode, AndroidJavaObject data) + { + if(m_onActivityResult != null) + { + Debug.Log("Unity got the Java onActivityResult"); + m_onActivityResult(requestCode, resultCode, data); + } + } +} diff --git a/ExperimentalProjects/VirtualReality/Assets/Google-Unity/Scripts/AndroidLifecycle.cs.meta b/ExperimentalProjects/VirtualReality/Assets/Google-Unity/Scripts/AndroidLifecycle.cs.meta new file mode 100644 index 00000000..542bf55f --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/Google-Unity/Scripts/AndroidLifecycle.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: b8a2c78648ff54d73b8c4cc6c17c740c +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git 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not modify this file -- YOUR CHANGES WILL BE ERASED! +# +# This file must be checked in Version Control Systems. +# +# To customize properties used by the Ant build system edit +# "ant.properties", and override values to adapt the script to your +# project structure. +# +# To enable ProGuard to shrink and obfuscate your code, uncomment this (available properties: sdk.dir, user.home): +#proguard.config=${sdk.dir}/tools/proguard/proguard-android.txt:proguard-project.txt + +# Project target. +target=android-19 +android.library=true diff --git a/ExperimentalProjects/VirtualReality/Assets/Plugins/Android/tango-java-lib/project.properties.meta b/ExperimentalProjects/VirtualReality/Assets/Plugins/Android/tango-java-lib/project.properties.meta new file mode 100644 index 00000000..436a510f --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/Plugins/Android/tango-java-lib/project.properties.meta @@ -0,0 +1,6 @@ +fileFormatVersion: 2 +guid: 30c42496119a04082921557fc3ee0a67 +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/VirtualReality/Assets/Plugins/Android/tango-unity-helper.meta b/ExperimentalProjects/VirtualReality/Assets/Plugins/Android/tango-unity-helper.meta new file mode 100644 index 00000000..33d62dba --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/Plugins/Android/tango-unity-helper.meta @@ -0,0 +1,17 @@ +fileFormatVersion: 2 +guid: f705abf8201ff40638aa69a24d1ce796 +folderAsset: yes +timeCreated: 1434565928 +licenseType: Pro +PluginImporter: + serializedVersion: 1 + iconMap: {} + executionOrder: {} + isPreloaded: 0 + platformData: + Any: + enabled: 1 + settings: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/VirtualReality/Assets/Plugins/Android/tango-unity-helper/AndroidManifest.xml b/ExperimentalProjects/VirtualReality/Assets/Plugins/Android/tango-unity-helper/AndroidManifest.xml new file mode 100644 index 00000000..cd3dd1b9 --- 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b/ExperimentalProjects/VirtualReality/Assets/Plugins/Android/tango-unity-helper/bin.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: cc38d60f942cd45e4bd434d18ff6bf92 +folderAsset: yes +timeCreated: 1434565928 +licenseType: Pro +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/VirtualReality/Assets/Plugins/Android/tango-unity-helper/bin/AndroidManifest.xml b/ExperimentalProjects/VirtualReality/Assets/Plugins/Android/tango-unity-helper/bin/AndroidManifest.xml new file mode 100644 index 00000000..cd3dd1b9 --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/Plugins/Android/tango-unity-helper/bin/AndroidManifest.xml @@ -0,0 +1,16 @@ + + + + + + + \ No newline at end of file diff --git a/ExperimentalProjects/VirtualReality/Assets/Plugins/Android/tango-unity-helper/bin/AndroidManifest.xml.meta b/ExperimentalProjects/VirtualReality/Assets/Plugins/Android/tango-unity-helper/bin/AndroidManifest.xml.meta new file mode 100644 index 00000000..825dcfd8 --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/Plugins/Android/tango-unity-helper/bin/AndroidManifest.xml.meta @@ -0,0 +1,6 @@ +fileFormatVersion: 2 +guid: c0a2fbfd9b52f4310955e2431982707f +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/VirtualReality/Assets/Plugins/Android/tango-unity-helper/bin/R.txt b/ExperimentalProjects/VirtualReality/Assets/Plugins/Android/tango-unity-helper/bin/R.txt new file mode 100644 index 00000000..b47867a0 --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/Plugins/Android/tango-unity-helper/bin/R.txt @@ -0,0 +1,105 @@ +int color gray_dark 0x7f040000 +int color grey_light_list 0x7f040003 +int color tango_blue 0x7f040005 +int color tango_green 0x7f040004 +int color tango_yellow 0x7f040006 +int color text_exception_action_required 0x7f040002 +int color text_exception_description 0x7f040001 +int dimen connection_progress_bar_sub_margin 0x7f050000 +int dimen exception_component_height 0x7f050001 +int dimen exception_status_component_size 0x7f050002 +int dimen shake_ok_tick_height 0x7f050004 +int dimen shake_ok_tick_translation_x 0x7f050005 +int dimen shake_ok_tick_translation_y 0x7f050006 +int dimen shake_ok_tick_width 0x7f050003 +int drawable exception_container_shadow 0x7f020000 +int drawable gradient_line 0x7f020001 +int drawable ic_exception_i_am_dizzy 0x7f020002 +int drawable ic_exception_i_am_lost 0x7f020003 +int drawable ic_exception_i_cant_see 0x7f020004 +int drawable ic_exception_system 0x7f020005 +int drawable ic_shake_background 0x7f020006 +int drawable ic_shake_err 0x7f020007 +int drawable ic_shake_ok 0x7f020008 +int drawable ic_shake_ok_tick 0x7f020009 +int drawable ic_tango 0x7f02000a +int drawable splash_logo 0x7f02000b +int drawable splash_logo_experiments 0x7f02000c +int id connection_layout 0x7f08000d +int id connection_text 0x7f08000a +int id dashboardListView 0x7f080000 +int id exception_container 0x7f08000c +int id exception_description 0x7f080003 +int id exception_icon 0x7f080001 +int id exception_status 0x7f080004 +int id exception_title 0x7f080002 +int id group_shake_icon 0x7f080007 +int id image_shake_err 0x7f080009 +int id image_shake_ok_tick 0x7f080008 +int id layout_exceptions 0x7f08000e +int id map_id 0x7f080006 +int id map_name 0x7f080005 +int id splash_logo 0x7f08000b +int layout activity_select_adf 0x7f030000 +int layout exception_component 0x7f030001 +int layout item_adf 0x7f030002 +int layout layout_connection 0x7f030003 +int layout layout_splash 0x7f030004 +int layout layout_tango_ux 0x7f030005 +int layout tango_ux_exceptions 0x7f030006 +int string action_required 0x7f06001d +int string adf_select 0x7f060020 +int string confidential_label 0x7f060021 +int string connection_layout_description 0x7f06001f +int string connection_layout_message 0x7f06001e +int string device_not_responding_description 0x7f060014 +int string device_not_responding_title 0x7f060013 +int string hold_still_description 0x7f060002 +int string hold_still_title 0x7f060001 +int string lying_on_surface_description 0x7f060018 +int string lying_on_surface_title 0x7f060017 +int string motion_track_description 0x7f06001a +int string motion_track_title 0x7f060019 +int string moving_too_fast_description 0x7f060004 +int string moving_too_fast_title 0x7f060003 +int string need_more_area_info_description 0x7f06000c +int string need_more_area_info_title 0x7f06000b +int string not_enough_light_description 0x7f060010 +int string not_enough_light_title 0x7f06000f +int string project_tango 0x7f060000 +int string run_time_mismatch_description 0x7f06001c +int string run_time_mismatch_title 0x7f06001b +int string service_updated_description 0x7f060016 +int string service_updated_title 0x7f060015 +int string space_not_recognized_description 0x7f06000e +int string space_not_recognized_title 0x7f06000d +int string too_close_description 0x7f060006 +int string too_close_title 0x7f060005 +int string too_far_description 0x7f060008 +int string too_far_title 0x7f060007 +int string too_much_light_description 0x7f060012 +int string too_much_light_title 0x7f060011 +int string unable_to_detect_surface_description 0x7f06000a +int string unable_to_detect_surface_title 0x7f060009 +int string ux_exception_1 0x7f060023 +int string ux_exception_10 0x7f06002c +int string ux_exception_11 0x7f06002d +int string ux_exception_2 0x7f060024 +int string ux_exception_3 0x7f060025 +int string ux_exception_4 0x7f060026 +int string ux_exception_5 0x7f060027 +int string ux_exception_6 0x7f060028 +int string ux_exception_7 0x7f060029 +int string ux_exception_8 0x7f06002a +int string ux_exception_9 0x7f06002b +int string ux_exception_listener 0x7f060022 +int style ConnectionLayoutSubtext 0x7f070003 +int style ConnectionLayoutText 0x7f070002 +int style ExceptionActionRequired 0x7f070006 +int style ExceptionDescription 0x7f070005 +int style ExceptionTitle 0x7f070004 +int style Text20GrayDarkLight 0x7f070001 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drawable exception_container_shadow 0x7f020000 +int drawable gradient_line 0x7f020001 +int drawable ic_exception_i_am_dizzy 0x7f020002 +int drawable ic_exception_i_am_lost 0x7f020003 +int drawable ic_exception_i_cant_see 0x7f020004 +int drawable ic_exception_system 0x7f020005 +int drawable ic_shake_background 0x7f020006 +int drawable ic_shake_err 0x7f020007 +int drawable ic_shake_ok 0x7f020008 +int drawable ic_shake_ok_tick 0x7f020009 +int drawable ic_tango 0x7f02000a +int drawable splash_logo 0x7f02000b +int drawable splash_logo_experiments 0x7f02000c +int id connection_layout 0x7f08000d +int id connection_text 0x7f08000a +int id dashboardListView 0x7f080000 +int id exception_container 0x7f08000c +int id exception_description 0x7f080003 +int id exception_icon 0x7f080001 +int id exception_status 0x7f080004 +int id exception_title 0x7f080002 +int id group_shake_icon 0x7f080007 +int id image_shake_err 0x7f080009 +int id image_shake_ok_tick 0x7f080008 +int id map_id 0x7f080006 +int id map_name 0x7f080005 +int id splash_logo 0x7f08000b +int layout activity_select_adf 0x7f030000 +int layout exception_component 0x7f030001 +int layout item_adf 0x7f030002 +int layout layout_connection 0x7f030003 +int layout layout_splash 0x7f030004 +int layout layout_tango_ux 0x7f030005 +int string action_required 0x7f06001d +int string adf_select 0x7f060020 +int string confidential_label 0x7f060021 +int string connection_layout_description 0x7f06001f +int string connection_layout_message 0x7f06001e +int string device_not_responding_description 0x7f060014 +int string device_not_responding_title 0x7f060013 +int string hold_still_description 0x7f060002 +int string hold_still_title 0x7f060001 +int string lying_on_surface_description 0x7f060018 +int string lying_on_surface_title 0x7f060017 +int string motion_track_description 0x7f06001a +int string motion_track_title 0x7f060019 +int string moving_too_fast_description 0x7f060004 +int string moving_too_fast_title 0x7f060003 +int string need_more_area_info_description 0x7f06000c +int string need_more_area_info_title 0x7f06000b +int string not_enough_light_description 0x7f060010 +int string not_enough_light_title 0x7f06000f +int string project_tango 0x7f060000 +int string run_time_mismatch_description 0x7f06001c +int string run_time_mismatch_title 0x7f06001b +int string service_updated_description 0x7f060016 +int string service_updated_title 0x7f060015 +int string space_not_recognized_description 0x7f06000e +int string space_not_recognized_title 0x7f06000d +int string too_close_description 0x7f060006 +int string too_close_title 0x7f060005 +int string too_far_description 0x7f060008 +int string too_far_title 0x7f060007 +int string too_much_light_description 0x7f060012 +int string too_much_light_title 0x7f060011 +int string unable_to_detect_surface_description 0x7f06000a +int string unable_to_detect_surface_title 0x7f060009 +int style ConnectionLayoutSubtext 0x7f070003 +int style ConnectionLayoutText 0x7f070002 +int style ExceptionActionRequired 0x7f070006 +int style ExceptionDescription 0x7f070005 +int style ExceptionTitle 0x7f070004 +int style Text20GrayDarkLight 0x7f070001 +int style Text40GrayDarkThin 0x7f070000 +int style TextListContentItem 0x7f070009 +int style TextListTitle 0x7f070007 +int style TextListTitleItem 0x7f070008 diff --git a/ExperimentalProjects/VirtualReality/Assets/Plugins/Android/tango-ux-support-library/bin/R.txt.meta b/ExperimentalProjects/VirtualReality/Assets/Plugins/Android/tango-ux-support-library/bin/R.txt.meta new file mode 100644 index 00000000..8fc9ff46 --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/Plugins/Android/tango-ux-support-library/bin/R.txt.meta @@ -0,0 +1,6 @@ +fileFormatVersion: 2 +guid: 49427816f03244469ad21760e8f3785b +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/VirtualReality/Assets/Plugins/Android/tango-ux-support-library/bin/classes.meta 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znBDqvwzJ#IxM3}ceO{|=_;%sW0X!QpxibUH^xb{(?t{Bt7 ().m_metersToWorldUnitsScaler; + +// leftCameraComponent = leftCamera.GetComponent (); +// rightCameraComponent = rightCamera.GetComponent (); + + tangoPoseCenter = GameObject.CreatePrimitive(PrimitiveType.Cube); + tangoPoseCenter.transform.parent = transform; + tangoPoseCenter.transform.localScale = new Vector3 (0.02f, 0.02f, 0.02f)*worldScale; + tangoPoseCenter.transform.localPosition = new Vector3 (); + tangoPoseCenter.GetComponent().material.shader = Shader.Find("Diffuse"); + tangoPoseCenter.GetComponent().material.SetColor("_Color", color); + + leftEyeBall = GameObject.CreatePrimitive(PrimitiveType.Sphere); + leftEyeBall.transform.parent = leftCamera.transform; + leftEyeBall.transform.localPosition = new Vector3 (); + leftEyeBall.transform.localScale = new Vector3 (eyeBallSizeInMM, eyeBallSizeInMM,eyeBallSizeInMM)*worldScale/1000.0f; + leftEyeBall.GetComponent().material.shader = Shader.Find("Diffuse"); + leftEyeBall.GetComponent().material.SetColor("_Color", color); + + + headCenter = GameObject.CreatePrimitive(PrimitiveType.Sphere); + headCenter.transform.parent = transform; + headCenter.transform.localPosition = headOffsetInMM*worldScale/1000.0f; + headCenter.transform.localScale = new Vector3 (headBallSizeInMM, headBallSizeInMM, headBallSizeInMM)*worldScale/1000.0f; + headCenter.GetComponent().material.shader = Shader.Find("Diffuse"); + headCenter.GetComponent().material.SetColor("_Color", color); + + +// leftCamNearClip = GameObject.CreatePrimitive(PrimitiveType.Cube); +// leftCamNearClip.transform.parent = leftCamera.transform; +// leftCamNearClip.transform.localPosition = new Vector3 (0,0,leftCameraComponent.nearClipPlane); +// leftCamNearClip.GetComponent().material.shader = Shader.Find("Diffuse"); +// leftCamNearClip.GetComponent().material.SetColor("_Color", color); + + deviceScreen = GameObject.CreatePrimitive(PrimitiveType.Cube); + deviceScreen.transform.parent = transform; + deviceScreen.transform.localScale = new Vector3 (screenSizeInMM.x*worldScale/1000.0f,screenSizeInMM.y*worldScale/1000.0f,worldScale/1000.0f); + deviceScreen.transform.localPosition = screenOffsetInMM * worldScale / 1000.0f; + deviceScreen.GetComponent().material.shader = Shader.Find("Diffuse"); + deviceScreen.GetComponent().material.SetColor("_Color", color); + + rightEyeBall = GameObject.CreatePrimitive(PrimitiveType.Sphere); + rightEyeBall.transform.parent = rightCamera.transform; + rightEyeBall.transform.localPosition = new Vector3 (); + rightEyeBall.transform.localScale = new Vector3 (eyeBallSizeInMM, eyeBallSizeInMM,eyeBallSizeInMM)*worldScale/1000.0f; + rightEyeBall.GetComponent().material.shader = Shader.Find("Diffuse"); + rightEyeBall.GetComponent().material.SetColor("_Color", color); + +// rightCamNearClip = GameObject.CreatePrimitive(PrimitiveType.Cube); +// rightCamNearClip.transform.parent = rightCamera.transform; +// rightCamNearClip.transform.localPosition = new Vector3 (0,0,rightCameraComponent.nearClipPlane); +// rightCamNearClip.GetComponent().material.shader = Shader.Find("Diffuse"); +// rightCamNearClip.GetComponent().material.SetColor("_Color", color); + + } + + // Update is called once per frame + void Update () { +// float horzSize = Mathf.Tan (leftCameraComponent.fieldOfView * Mathf.Deg2Rad/2) * leftCameraComponent.nearClipPlane; +// leftCamNearClip.transform.localScale = new Vector3 (horzSize, horzSize, 0.01f); +// rightCamNearClip.transform.localScale = new Vector3 (horzSize, horzSize, 0.01f); + } +} diff --git a/ExperimentalProjects/VirtualReality/Assets/Scripts/CreateHeadsetGeometery.cs.meta b/ExperimentalProjects/VirtualReality/Assets/Scripts/CreateHeadsetGeometery.cs.meta new file mode 100644 index 00000000..006f1c53 --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/Scripts/CreateHeadsetGeometery.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 1e4aea948df9941fa8bb9ffbfa5fc9aa +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/VirtualReality/Assets/Scripts/CubeGenerator.cs b/ExperimentalProjects/VirtualReality/Assets/Scripts/CubeGenerator.cs new file mode 100644 index 00000000..692ec0c3 --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/Scripts/CubeGenerator.cs @@ -0,0 +1,32 @@ +using UnityEngine; +using System.Collections; + +public class CubeGenerator : MonoBehaviour { + + public GameObject prefab; + + public float size = 1; + public int gridSize = 4; + + + // Use this for initialization + void Start () { + + float gridStep = 5*size; + for (int x = -gridSize; x <= gridSize; x++) { + for (int y = -gridSize; y <= gridSize; y++) { + for (int z = -gridSize; z <= gridSize; z++) { + GameObject obj = (GameObject)GameObject.Instantiate (prefab); + obj.transform.parent = transform; + obj.transform.localScale = new Vector3 (size, size, size); + obj.transform.position = new Vector3(x*gridStep,y*gridStep,z*gridStep); + } + } + } + } + + // Update is called once per frame + void Update () { + + } +} diff --git a/ExperimentalProjects/VirtualReality/Assets/Scripts/CubeGenerator.cs.meta b/ExperimentalProjects/VirtualReality/Assets/Scripts/CubeGenerator.cs.meta new file mode 100644 index 00000000..7cf81420 --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/Scripts/CubeGenerator.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 42c1977a2e0fb4b8fabe39cbafb8917c +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/VirtualReality/Assets/Scripts/CustomTangoController.cs b/ExperimentalProjects/VirtualReality/Assets/Scripts/CustomTangoController.cs new file mode 100644 index 00000000..a974ed4f --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/Scripts/CustomTangoController.cs @@ -0,0 +1,259 @@ +/* + * Copyright 2014 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +using System.Collections; +using UnityEngine; +using Tango; +using System; + +/// +/// This is a basic movement controller based on +/// pose estimation returned from the Tango Service. +/// +public class CustomTangoController : MonoBehaviour , ITangoPose +{ + public enum TrackingTypes + { + NONE, + MOTION, + ADF, + RELOCALIZED + } + + + + [HideInInspector] + public float m_metersToWorldUnitsScaler = 1.0f; + public bool enableInterpolation = true; + public bool isShowingDebugButton = true; + + private TangoApplication m_tangoApplication; + private PopupManager popManager; + + private Vector3 m_zeroPosition; + private Quaternion m_zeroRotation; + private Vector3 m_startPosition; + private Quaternion m_startRotation; + + private TangoPoseData prevPose = new TangoPoseData(); + private TangoPoseData currPose = new TangoPoseData(); + private float unityTimestampOffset = 0; + + /// + /// Initialize the controller. + /// + private void Awake() + { + m_startPosition = transform.position; + m_startRotation = transform.rotation; + + popManager = GetComponent (); + } + + /// + /// Start this instance. + /// + private void Start() + { + Application.targetFrameRate = 60; + + m_tangoApplication = FindObjectOfType(); + + if(m_tangoApplication != null) + { + if(AndroidHelper.IsTangoCorePresent()) + { + // Request Tango permissions + m_tangoApplication.RegisterPermissionsCallback(_OnTangoApplicationPermissionsEvent); + m_tangoApplication.RequestNecessaryPermissionsAndConnect(); + m_tangoApplication.Register(this); + } + else + { + // If no Tango Core is present let's tell the user to install it! + StartCoroutine(_InformUserNoTangoCore()); + } + } + else + { + Debug.Log("No Tango Manager found in scene."); + } + } + + /// + /// Informs the user that they should install Tango Core via Android toast. + /// + private IEnumerator _InformUserNoTangoCore() + { + AndroidHelper.ShowAndroidToastMessage("Please install Tango Core", false); + yield return new WaitForSeconds(2.0f); + Application.Quit(); + } + + /// + /// Apply any needed changes to the pose. + /// + private void Update() + { + popManager.TriggerUpdateFPS(); + #if UNITY_ANDROID && !UNITY_EDITOR + if(Input.GetKeyDown(KeyCode.Escape)) + { + if(m_tangoApplication != null) + { + m_tangoApplication.Shutdown(); + } + + // This is a temporary fix for a lifecycle issue where calling + // Application.Quit() here, and restarting the application immediately, + // results in a hard crash. + AndroidHelper.AndroidQuit(); + } + + #else + popManager.tangoInitialized = true; + Vector3 tempPosition = transform.position; + Quaternion tempRotation = transform.rotation; + PoseProvider.GetMouseEmulation(ref tempPosition, ref tempRotation); + transform.rotation = tempRotation; + transform.position = transform.position + (tempPosition - transform.position)*m_metersToWorldUnitsScaler; + #endif + + popManager.debugText = "Interpolation: " + enableInterpolation; + } + + void UpdateUsingInterpolatedPose(double t) { + float dt = (float)((t - prevPose.timestamp)/(currPose.timestamp - prevPose.timestamp)); + //restrict this, so it isn't doesn't swing out of control + if(dt > 4) + dt = 4; + + Vector3 currPos = new Vector3(); + Vector3 prevPos = new Vector3(); + Quaternion currRot = new Quaternion(); + Quaternion prevRot = new Quaternion(); + + ComputeTransformUsingPose(out currPos, out currRot, currPose); + ComputeTransformUsingPose(out prevPos, out prevRot, prevPose); + + //hack for rotation, should be a slerp + transform.rotation = m_startRotation*(new Quaternion(dt*(currRot[0] - prevRot[0])+prevRot[0], + dt*(currRot[1] - prevRot[1])+prevRot[1], + dt*(currRot[2] - prevRot[2])+prevRot[2], + dt*(currRot[3] - prevRot[3])+prevRot[3])); + transform.position = m_startRotation*((new Vector3 (dt * (currPos [0] - prevPos [0]) + prevPos [0], + dt * (currPos [1] - prevPos [1]) + prevPos [1], + dt * (currPos [2] - prevPos [2]) + prevPos [2])) - m_zeroPosition)*m_metersToWorldUnitsScaler + m_startPosition; + } + + + void ComputeTransformUsingPose(out Vector3 position, out Quaternion rot, TangoPoseData pose) { + position = new Vector3((float)pose.translation [0], + (float)pose.translation [2], + (float)pose.translation [1]); + + rot = new Quaternion((float)pose.orientation [0], + (float)pose.orientation [2], // these rotation values are swapped on purpose + (float)pose.orientation [1], + (float)pose.orientation [3]); + + + // This rotation needs to be put into Unity coordinate space. + Quaternion axisFix = Quaternion.Euler(-rot.eulerAngles.x, + -rot.eulerAngles.z, + rot.eulerAngles.y); + Quaternion rotationFix = Quaternion.Euler(90.0f, 0.0f, 0.0f); + rot = rotationFix * axisFix; + } + + private TangoPoseData DeepCopyTangoPose(TangoPoseData other) + { + TangoPoseData poseCopy = new TangoPoseData(); + poseCopy.version = other.version; + poseCopy.timestamp = other.timestamp; + poseCopy.orientation = other.orientation; + poseCopy.translation = other.translation; + poseCopy.status_code = other.status_code; + poseCopy.framePair.baseFrame = other.framePair.baseFrame; + poseCopy.framePair.targetFrame = other.framePair.targetFrame; + poseCopy.confidence = other.confidence; + poseCopy.accuracy = other.accuracy; + return poseCopy; + } + + private void UpdateInterpolationData(TangoPoseData pose) { + prevPose = currPose; + // We need to make sure to deep copy the pose because it is + // only guaranteed to be valid for the duration of our callback. + currPose = DeepCopyTangoPose(pose); + float timestampSmoothing = 0.95f; + if(unityTimestampOffset < float.Epsilon) + unityTimestampOffset = (float)pose.timestamp - Time.realtimeSinceStartup; + else + unityTimestampOffset = timestampSmoothing*unityTimestampOffset + (1-timestampSmoothing)*((float)pose.timestamp - Time.realtimeSinceStartup); + } + + /// + /// Handle the callback sent by the Tango Service + /// when a new pose is sampled. + /// + /// Callback context. + /// Pose. + public void OnTangoPoseAvailable(Tango.TangoPoseData pose) + { + // The callback pose is for device with respect to start of service pose. + if (pose.framePair.baseFrame == TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE && + pose.framePair.targetFrame == TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE) + { + if(pose.status_code == TangoEnums.TangoPoseStatusType.TANGO_POSE_VALID) + { + popManager.tangoInitialized = true; + popManager.TriggerAPICallbackFPS(); + + UpdateInterpolationData(pose); + if (enableInterpolation){ + if(unityTimestampOffset > float.Epsilon) + UpdateUsingInterpolatedPose(Time.realtimeSinceStartup + unityTimestampOffset); + } else { + UpdateUsingInterpolatedPose(currPose.timestamp); + } + } + } + } + + private void _OnTangoApplicationPermissionsEvent(bool permissionsGranted) + { + popManager.StartApiFailCheck(); + if(permissionsGranted) + { + m_tangoApplication.InitApplication(); + m_tangoApplication.InitProviders(String.Empty); + m_tangoApplication.ConnectToService(); + } + else + { + AndroidHelper.ShowAndroidToastMessage("Motion Tracking Permissions Needed", true); + } + } + + void OnGUI() { + // TODO(jason): temporarily comment out this part, to do is to move this button to someother debug functionality class. + if (isShowingDebugButton) { + if (GUI.Button (new Rect (Screen.width - 200, 50, 150, 80), "Reset Position")) { + ComputeTransformUsingPose (out m_zeroPosition, out m_zeroRotation, currPose); + } + } + } +} \ No newline at end of file diff --git a/ExperimentalProjects/VirtualReality/Assets/Scripts/CustomTangoController.cs.meta b/ExperimentalProjects/VirtualReality/Assets/Scripts/CustomTangoController.cs.meta new file mode 100644 index 00000000..5f405971 --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/Scripts/CustomTangoController.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 6f7bb560354b5634cbb8d2fc7c3e71f4 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/VirtualReality/Assets/Scripts/LineChart.cs b/ExperimentalProjects/VirtualReality/Assets/Scripts/LineChart.cs new file mode 100644 index 00000000..1dd44332 --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/Scripts/LineChart.cs @@ -0,0 +1,58 @@ +//------------------------------------------------------------------------------ +// +// This code was generated by a tool. +// Runtime Version:4.0.30319.18444 +// +// Changes to this file may cause incorrect behavior and will be lost if +// the code is regenerated. +// +//------------------------------------------------------------------------------ +using System; +using UnityEngine; +using System.Collections; + +public class LineChart { + Vector3 position = new Vector3(0,0,1); + float horzScale = 0.02f; + float vertScale = 1.0f; + ArrayList data = new ArrayList(); + int size = 60; + public LineRenderer line; + + GameObject obj; + + public LineChart(GameObject cam, Vector3 pos,Color c, int count) { + + position = pos; + obj = new GameObject(); + obj.name = "Chart Object"; + obj.transform.parent = cam.transform; + obj.transform.localPosition = new Vector3(0,0,0); + obj.transform.localRotation = Quaternion.identity; + + line = obj.AddComponent(); + size = count; + horzScale = 1.0f / count; + line.useWorldSpace = false; + line.GetComponent().material.shader = Shader.Find("Diffuse"); + line.GetComponent().material.color = c; + line.SetWidth(0.005f,0.005f); + line.SetVertexCount(size); + for(int i = 0; i < size; i++) + AddData(0.0f); + + } + + public void AddData(float v) { + data.Add(v); + if (data.Count > size) + data.RemoveAt(0); + } + + public void Update() { + for(int i = 0; i < data.Count; i++) + line.SetPosition(i, new Vector3(position[0]+i*horzScale ,position[1]+vertScale*(float)data[i],position[2])); + } +} + + diff --git a/ExperimentalProjects/VirtualReality/Assets/Scripts/LineChart.cs.meta b/ExperimentalProjects/VirtualReality/Assets/Scripts/LineChart.cs.meta new file mode 100644 index 00000000..56a0c197 --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/Scripts/LineChart.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 6295ead4df0724b229ff1c716f762330 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/VirtualReality/Assets/Scripts/PopupManager.cs b/ExperimentalProjects/VirtualReality/Assets/Scripts/PopupManager.cs new file mode 100644 index 00000000..c282b75f --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/Scripts/PopupManager.cs @@ -0,0 +1,111 @@ +using UnityEngine; +using System.Collections; + +public class PopupManager : MonoBehaviour { + + [HideInInspector] + public string debugText; + + + [HideInInspector] + public bool tangoInitialized = false; + + public bool showText = true; + public Vector2 textPosition = new Vector2 (230, 30); + + public GameObject viewController; + public Vector3 chartPosition = new Vector3 (-0.5f, 0, 1); + + private float FPSSmoothing = 0.95f; + private float updateFPS = 60; + private float apiFPS = 0; + private float lastUpdateTime = 0; + private float lastApiTime = 0; + private LineChart apiChart; + private LineChart renderChart; + private LineChart baselineChart; + private bool isApiFailCheckingStarted = false; + + public bool showPlots = true; + public GameObject tangoServiceTroublePopup; + public GameObject tangoInitializePopup; + public bool isShowingDebugButton = false; + + // Use this for initialization + void Start () { + tangoServiceTroublePopup.SetActive(false); + tangoInitializePopup.SetActive(false); + + apiChart = new LineChart (viewController, chartPosition, Color.red, 100); + renderChart = new LineChart (viewController, chartPosition, Color.green, 100); + baselineChart = new LineChart (viewController, chartPosition, Color.gray, 100); + + apiChart.line.enabled = showPlots; + renderChart.line.enabled = showPlots; + baselineChart.line.enabled = showPlots; + } + + // Update is called once per frame + void Update () { + //timeout popup if we are running without getting any data from the service + #if UNITY_ANDROID && !UNITY_EDITOR + tangoInitializePopup.SetActive (!tangoInitialized); + tangoServiceTroublePopup.SetActive(((lastUpdateTime - lastApiTime) > 5)); + #endif + + apiChart.Update (); + renderChart.Update (); + baselineChart.Update (); + } + + public void TriggerUpdateFPS() { + if (isApiFailCheckingStarted) { + float now = Time.realtimeSinceStartup; + float dt = now - lastUpdateTime; + lastUpdateTime = now; + if (dt < float.Epsilon) { + return; + } + if (renderChart != null) + renderChart.AddData (10 * dt); + updateFPS = updateFPS * FPSSmoothing + (1.0f - FPSSmoothing) / dt; + } + } + + public void StartApiFailCheck() { + isApiFailCheckingStarted = true; + } + + public void TriggerAPICallbackFPS() { + float now = Time.realtimeSinceStartup; + float dt = now - lastApiTime; + lastApiTime = now; + if(dt < float.Epsilon) { + return; + } + if(apiChart != null) + apiChart.AddData (10*dt); + apiFPS = apiFPS*FPSSmoothing + (1.0f-FPSSmoothing)/dt; + } + + void OnGUI() + { + if (showText) { + int textLineSpacing = 20; + GUI.Label(new Rect(textPosition.x, textPosition.y,1000,30), "Update FPS: " + updateFPS.ToString("F2")); + GUI.Label(new Rect(textPosition.x, textPosition.y + textLineSpacing*1,1000,30), "API FPS: " + apiFPS.ToString("F2")); + GUI.Label(new Rect(textPosition.x, textPosition.y + textLineSpacing*2,1000,30), "Position: " + transform.position.ToString("F3")); + GUI.Label(new Rect(textPosition.x, textPosition.y + textLineSpacing*3,1000,30), "Debug: " + debugText); + } + + // TODO(jason): temporarily comment out this part, to do is to move this button to someother debug functionality class. + if (isShowingDebugButton) { + if (GUI.Button (new Rect (Screen.width - 200, 250, 150, 80), "Toggle Time Plots")) { + showPlots = !showPlots; + apiChart.line.enabled = showPlots; + renderChart.line.enabled = showPlots; + baselineChart.line.enabled = showPlots; + } + } + } +} diff --git a/ExperimentalProjects/VirtualReality/Assets/Scripts/PopupManager.cs.meta b/ExperimentalProjects/VirtualReality/Assets/Scripts/PopupManager.cs.meta new file mode 100644 index 00000000..b7ea339d --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/Scripts/PopupManager.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: c926d85e23edb450e8cbbff377731977 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/VirtualReality/Assets/Scripts/StereoCameraManager.cs b/ExperimentalProjects/VirtualReality/Assets/Scripts/StereoCameraManager.cs new file mode 100644 index 00000000..2908a637 --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/Scripts/StereoCameraManager.cs @@ -0,0 +1,113 @@ +using UnityEngine; +using System.Collections; + +public class StereoCameraManager : MonoBehaviour { + + public GameObject leftCamera; + public GameObject rightCamera; + + + public bool enableStereo = false; + + public float FOV = 80.0f; + public float IPDInMM = 65; + public float screenWidthInMM = 152.4f; + private float worldScale = 1.0f; + + public float nearClippingPlaneInMM = 150; + public float farClippingPlaneInMM = 10000; + + public Vector3 eyeOffsetInMM = new Vector3 (0, -50, -50); + private Camera leftCameraComponent; + private Camera rightCameraComponent; + private int frameCount = 0; + + private GameObject blackPanel; + private Vector3 rightVector = new Vector3(1,0,0); + + public bool isPoseIndependentCamera = false; + public bool isShowingDebugButton = false; + + // Use this for initialization + void Start () { + + Application.targetFrameRate = 60; + + if (!isPoseIndependentCamera) { + // TODO(jason): I think have world scale relatve the movement scale is wrong. + worldScale = 1.0f; +// worldScale = GetComponent ().m_metersToWorldUnitsScaler; + } + + leftCameraComponent = leftCamera.GetComponent(); + rightCameraComponent = rightCamera.GetComponent(); + + SetupCameras(enableStereo); + } + + void SetupCameras(bool enable) { + + rightCameraComponent.enabled = enable; + if(enable) { + if(IPDInMM/2 > screenWidthInMM/4) { + float viewPortWidth = 2*(screenWidthInMM/2 - IPDInMM/2)/screenWidthInMM; + //screen is too small, put a gap in the middle + leftCameraComponent.rect = new Rect(0, 0,viewPortWidth, 1); + rightCameraComponent.rect = new Rect(1.0f - viewPortWidth, 0, viewPortWidth, 1); + } else { + //screen is too large, put a gap on the sides + float viewPortWidth = IPDInMM/screenWidthInMM; + leftCameraComponent.rect = new Rect(0.5f-viewPortWidth, 0,viewPortWidth, 1); + rightCameraComponent.rect = new Rect(0.5f, 0,viewPortWidth, 1); + } + + leftCameraComponent.nearClipPlane = nearClippingPlaneInMM*worldScale/1000.0f; + leftCameraComponent.farClipPlane = farClippingPlaneInMM*worldScale/1000.0f; + leftCameraComponent.fieldOfView = FOV; + rightCameraComponent.fieldOfView = leftCameraComponent.fieldOfView; + rightCameraComponent.backgroundColor = leftCameraComponent.backgroundColor; + rightCameraComponent.nearClipPlane = leftCameraComponent.nearClipPlane; + rightCameraComponent.farClipPlane = leftCameraComponent.farClipPlane; + } else { + leftCameraComponent.rect = new Rect(0, 0, 1, 1); + } + + } + + // Update is called once per frame + void Update () { + frameCount += 1; + + if(frameCount < 10) { + //needed to clear the frame buffers + SetupCameras(false); + } + if(frameCount == 11) { + SetupCameras(enableStereo); + } + + if (enableStereo) { + Vector3 lateralCameraOffset = 0.5f*rightVector*(IPDInMM/1000.0f)*worldScale; + Vector3 offset = eyeOffsetInMM*worldScale/1000.0f; + leftCamera.transform.localPosition = -lateralCameraOffset + offset; + leftCamera.transform.rotation = transform.rotation; + rightCamera.transform.localPosition = lateralCameraOffset + offset; + rightCamera.transform.rotation = transform.rotation; + } + else { + leftCamera.transform.position = transform.position; + leftCamera.transform.rotation = transform.rotation; + } + } + + void OnGUI() { + // TODO(jason): temporarily checking off this part, to do is to move this button to someother debug functionality class. + if (isShowingDebugButton) { + if (GUI.Button (new Rect (Screen.width - 200, 150, 150, 80), "Toggle Stereo")) { + frameCount = 0; + enableStereo = !enableStereo; + } + } + } + +} diff --git a/ExperimentalProjects/VirtualReality/Assets/Scripts/StereoCameraManager.cs.meta b/ExperimentalProjects/VirtualReality/Assets/Scripts/StereoCameraManager.cs.meta new file mode 100644 index 00000000..415d1e01 --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/Scripts/StereoCameraManager.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 3be3b67253cf445639e94d2150caf0f6 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK.meta b/ExperimentalProjects/VirtualReality/Assets/TangoSDK.meta new file mode 100644 index 00000000..f995584f --- /dev/null +++ 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b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/Common.cs @@ -0,0 +1,183 @@ +/* + * Copyright 2014 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +using System.Runtime.InteropServices; +using UnityEngine; + +#if UNITY_EDITOR +using UnityEditor; +#endif + +namespace Tango +{ + /// + /// This struct holds common global functionality used by + /// this SDK. + /// + public struct Common + { + /// + /// Codes returned by Tango API functions. + /// + public struct ErrorType + { + public static readonly int TANGO_NO_CAMERA_PERMISSION = -5; /**< Camera access not allowed */ + public static readonly int TANGO_NO_ADF_PERMISSION = -4; /**< ADF access not allowed */ + public static readonly int TANGO_NO_MOTION_TRACKING_PERMISSION = -3; /**< Motion tracking not allowed*/ + public static readonly int TANGO_INVALID = -2; + public static readonly int TANGO_ERROR = -1; + public static readonly int TANGO_SUCCESS = 0; + } + + /// + /// Metadata keys supported by Tango APIs + /// + public struct MetaDataKeyType + { + public const string KEY_UUID = "id"; + public const string KEY_NAME = "name"; + public const string KEY_DATE = "date_ms_since_epoch"; + public const string KEY_TRANSFORMATION = "transformation"; + } + + public enum AndroidResult + { + SUCCESS = -1, + CANCELED = 0, + DENIED = 1 + } + + public const string TANGO_UNITY_DLL = "tango_client_api"; + + public const string TANGO_PERMISSION_STRING = ""; + public const string TANGO_MOTION_TRACKING_PERMISSIONS = "MOTION_TRACKING_PERMISSION"; + public const string TANGO_ADF_LOAD_SAVE_PERMISSIONS = "ADF_LOAD_SAVE_PERMISSION"; + public const string TANGO_NO_PERMISSIONS_ERROR = "This application requires all Tango permissions to run. Please restart the application and grant Tango permissions."; + public const int TANGO_MOTION_TRACKING_PERMISSIONS_REQUEST_CODE = 42; + public const int TANGO_ADF_LOAD_SAVE_PERMISSIONS_REQUEST_CODE = 43; + + public const int UNITY_MAX_SUPPORTED_VERTS_PER_MESH = 65534; + + public const float UI_LABEL_START_X = 15.0f; + public const float UI_LABEL_START_Y = 15.0f; + public const float UI_LABEL_SIZE_X = 1920.0f; + public const float UI_LABEL_SIZE_Y = 35.0f; + public const float UI_LABEL_GAP_Y = 3.0f; + public const float UI_BUTTON_SIZE_X = 125.0f; + public const float UI_BUTTON_SIZE_Y = 65.0f; + public const float UI_BUTTON_GAP_X = 5.0f; + public const float UI_CAMERA_BUTTON_OFFSET = UI_BUTTON_SIZE_X + UI_BUTTON_GAP_X; + public const float UI_LABEL_OFFSET = UI_LABEL_GAP_Y + UI_LABEL_SIZE_Y; + public const float UI_FPS_LABEL_START_Y = UI_LABEL_START_Y + UI_LABEL_OFFSET; + public const float UI_EVENT_LABEL_START_Y = UI_FPS_LABEL_START_Y + UI_LABEL_OFFSET; + public const float UI_POSE_LABEL_START_Y = UI_EVENT_LABEL_START_Y + UI_LABEL_OFFSET; + public const float UI_DEPTH_LABLE_START_Y = UI_POSE_LABEL_START_Y + UI_LABEL_OFFSET; + public const string UI_FLOAT_FORMAT = "F3"; + public const string UI_FONT_SIZE = ""; + + public const float UI_TANGO_VERSION_X = UI_LABEL_START_X; + public const float UI_TANGO_VERSION_Y = UI_LABEL_START_Y; + public const float UI_TANGO_APP_SPECIFIC_START_X = UI_TANGO_VERSION_X; + public const float UI_TANGO_APP_SPECIFIC_START_Y = UI_TANGO_VERSION_Y + (UI_LABEL_OFFSET * 2); + + public const string UX_SERVICE_VERSION = "Service version: {0}"; + public const string UX_TANGO_SERVICE_VERSION = "Tango service version: {0}"; + public const string UX_TANGO_SYSTEM_EVENT = "Tango system event: {0}"; + public const string UX_TARGET_TO_BASE_FRAME = "Target->{0}, Base->{1}:"; + public const string UX_STATUS = "\tstatus: {0}, count: {1}, delta time(ms): {2}, position (m): [{3}], orientation: [{4}]"; + + public const int UUID_LENGTH = 37; + public const float SECOND_TO_MILLISECOND = 1000.0f; + + #if (UNITY_EDITOR) + private static bool m_mirroring = true; + #elif (UNITY_ANDROID) + private static bool m_mirroring = false; + #else + private static bool m_mirroring = false; + #endif + private static Resolution m_depthFrameResolution; + private static int m_depthBufferSize; + + /// + /// Property for mirroring. + /// + /// Bool - sets mirroring. + public static bool Mirroring + { + get { return m_mirroring; } + set { m_mirroring = value; } + } + + /// + /// Property for the current depth frame resolution. + /// + /// Resolution - Sets depth frame resolution reference. + public static Resolution DepthFrameResolution + { + get { return m_depthFrameResolution; } + set { m_depthFrameResolution = value; } + } + + /// + /// Property for the depth buffer size. + /// + /// Bool - Sets the size of the depth buffer. + public static int DepthBufferSize + { + get { return m_depthBufferSize; } + set { m_depthBufferSize = value; } + } + + /// + /// Get the world rotation. + /// + /// Quaternion representing the world rotation. + public static Quaternion GetWorldRotation() + { + return OrientationManager.GetWorldRotation(); + } + + /// + /// Gets current window resoltion where width is + /// always larger than height. + /// + /// Vector2 containing the screen width and height. + public static Vector2 GetWindowResolution() + { + Vector2 screenSize; + if (Screen.width > Screen.height) + { + screenSize = new Vector2(Screen.width, Screen.height); + } + else + { + screenSize = new Vector2(Screen.height, Screen.width); + } + return screenSize; + } + + /// + /// Get the aspect resolution of the window. + /// + /// Window resolution aspect ratio as a single + /// precision floating point. + public static float GetWindowResoltionAspect() + { + Vector2 resolution = GetWindowResolution(); + return resolution.x / resolution.y; + } + } +} \ No newline at end of file diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/Common.cs.meta b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/Common.cs.meta new file mode 100644 index 00000000..5daf6bed --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/Common.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 897ee8cb3e1fb4812a4b19f09af46781 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/EventController.cs b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/EventController.cs new file mode 100644 index 00000000..71b88cbc --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/EventController.cs @@ -0,0 +1,68 @@ +/* + * Copyright 2014 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +using System; +using UnityEngine; +using Tango; + +/// +/// Get Tango events from Tango Service and log on GUI. +/// +public class EventController : MonoBehaviour +{ + private string m_eventString; + private TangoApplication m_tangoApplication; + private TangoEvent m_previousEvent; + + private bool m_dirty = false; + + /// + /// Initialize the controller. + /// + void Start () + { + m_eventString = string.Empty; + m_tangoApplication = GameObject.FindObjectOfType(); + m_previousEvent = new TangoEvent(); + } + + /// + /// Send tango event to be parsed by the UX library. + /// + private void Update() + { + if(m_dirty) + { + AndroidHelper.ParseTangoEvent(m_previousEvent.timestamp, (int)m_previousEvent.type, m_previousEvent.event_key, m_previousEvent.event_value); + m_dirty = false; + } + } + + /// + /// Handle the callback sent by the Tango Service + /// when a new Tango event is sampled. + /// DO NOT USE THE UNITY API FROM INSIDE THIS FUNCTION! + /// + /// Callback context. + /// Tango event. +// protected override void _onEventAvailable(IntPtr callbackContext, TangoEvent tangoEvent) +// { +// m_previousEvent.timestamp = tangoEvent.timestamp; +// m_previousEvent.type = tangoEvent.type; +// m_previousEvent.event_key = tangoEvent.event_key; +// m_previousEvent.event_value = tangoEvent.event_value; +// m_dirty = true; +// } +} diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/EventController.cs.meta b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/EventController.cs.meta new file mode 100644 index 00000000..605fe07a --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/EventController.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 2fa2606dc8fc1422d8ba8a25a93bde58 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/OrientationManager.cs b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/OrientationManager.cs new file mode 100755 index 00000000..56ca6f46 --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/OrientationManager.cs @@ -0,0 +1,75 @@ +/* + * Copyright 2014 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +using System.Collections; +using UnityEngine; + +namespace Tango +{ + /// + /// Manages the orientation of the screen. + /// + public class OrientationManager + { + /// + /// Gets the Screen orientation. + /// + /// Returns the current orientation of the screen. + public static ScreenOrientation GetScreenOrientation() + { + #if (UNITY_EDITOR || UNITY_STANDALONE_OSX) + if (Screen.width > Screen.height) + { + return ScreenOrientation.LandscapeLeft; + } + else + { + return ScreenOrientation.Portrait; + } + #elif (UNITY_IPHONE || UNITY_ANDROID) + return Screen.orientation; + #else + #error not supported platform + #endif + } + + /// + /// Get the current world rotation. + /// + /// Returns a Quaternion representing the current world rotation. + public static Quaternion GetWorldRotation() + { + ScreenOrientation orientation = GetScreenOrientation(); + Quaternion transformation = Quaternion.identity; + if (orientation == ScreenOrientation.LandscapeLeft) + { + transformation = Quaternion.identity; + } + else if (orientation == ScreenOrientation.LandscapeRight) + { + transformation = Quaternion.AngleAxis(180f, Vector3.forward); + } + else if (orientation == ScreenOrientation.PortraitUpsideDown) + { + transformation = Quaternion.AngleAxis(90f, Vector3.forward); + } + else if (orientation == ScreenOrientation.Portrait) + { + transformation = Quaternion.AngleAxis(-90f, Vector3.forward); + } + return transformation; + } + } +} \ No newline at end of file diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/OrientationManager.cs.meta b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/OrientationManager.cs.meta new file mode 100644 index 00000000..05a54600 --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/OrientationManager.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 682bcdc51d11a4d09973cb1857c6e72b +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/TangoAndroidHelper.cs b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/TangoAndroidHelper.cs new file mode 100644 index 00000000..6da5b141 --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/TangoAndroidHelper.cs @@ -0,0 +1,209 @@ +/* + * Copyright 2014 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +using UnityEngine; +using System.Collections; + +/// +/// Helper functions for common android functionality. +/// +public partial class AndroidHelper +{ + private const string PERMISSION_REQUESTER = "com.projecttango.permissionrequester.RequestManagerActivity"; + + #pragma warning disable 414 + private static AndroidJavaObject m_tangoHelper = null; + #pragma warning restore 414 + + /// + /// Gets the Java tango helper object. + /// + /// The tango helper object. + public static AndroidJavaObject GetTangoHelperObject() + { + #if UNITY_ANDROID && !UNITY_EDITOR + if(m_tangoHelper == null) + { + m_tangoHelper = new AndroidJavaObject("com.projecttango.unity.TangoUnityHelper", GetUnityActivity()); + } + return m_tangoHelper; + #else + return null; + #endif + } + + /// + /// Starts the tango permissions activity of the provided type. + /// + /// Permissions type. + public static void StartTangoPermissionsActivity(string permissionsType) + { + AndroidJavaObject unityActivity = GetUnityActivity(); + + if(unityActivity != null) + { + int requestCode = 0; + string[] args = new string[1]; + + if(permissionsType == Tango.Common.TANGO_MOTION_TRACKING_PERMISSIONS) + { + requestCode = Tango.Common.TANGO_MOTION_TRACKING_PERMISSIONS_REQUEST_CODE; + args[0] = "PERMISSIONTYPE:" + Tango.Common.TANGO_MOTION_TRACKING_PERMISSIONS; + } + else if(permissionsType == Tango.Common.TANGO_ADF_LOAD_SAVE_PERMISSIONS) + { + requestCode = Tango.Common.TANGO_ADF_LOAD_SAVE_PERMISSIONS_REQUEST_CODE; + args[0] = "PERMISSIONTYPE:" + Tango.Common.TANGO_ADF_LOAD_SAVE_PERMISSIONS; + } + + if(requestCode != 0) + { + unityActivity.Call("LaunchIntent", "com.projecttango.tango", "com.google.atap.tango.RequestPermissionActivity", args, requestCode); + } + else + { + Debug.Log("Invalid permission request"); + } + } + } + + /// + /// Parses the tango event. + /// + /// Timestamp. + /// Event type. + /// Key. + /// Value. + public static void ParseTangoEvent(double timestamp, int eventType, string key, string value) + { + AndroidJavaObject tangoObject = GetTangoHelperObject(); + if(tangoObject != null) + { + tangoObject.Call("processTangoEvent", timestamp, eventType, key, value); + } + } + + /// + /// Parses the tango pose status. + /// + /// Pose status. + public static void ParseTangoPoseStatus(int poseStatus) + { + AndroidJavaObject tangoObject = GetTangoHelperObject(); + if(tangoObject != null) + { + tangoObject.Call("processPoseDataStatus", poseStatus); + } + } + + /// + /// Parses the tango depth point count. + /// + /// Point count. + public static void ParseTangoDepthPointCount(int pointCount) + { + AndroidJavaObject tangoObject = GetTangoHelperObject(); + if(tangoObject != null) + { + tangoObject.Call("processXyzIjPointCount", pointCount); + } + } + + /// + /// Determines if the application has Tango permissions. + /// + /// true if application has tango permissions; otherwise, false. + public static bool ApplicationHasTangoPermissions(string permissionType) + { + AndroidJavaObject tangoObject = GetTangoHelperObject(); + if(tangoObject != null) + { + return tangoObject.Call("hasPermission", permissionType); + } + + return false; + } + + /// + /// Shows the standard tango exceptions UI. + /// + public static void ShowStandardTangoExceptionsUI(bool shouldUseDefaultUi) + { + AndroidJavaObject tangoObject = GetTangoHelperObject(); + if(tangoObject != null) + { + Debug.Log("Show UX exceptions"); + tangoObject.Call("showDefaultExceptionsUi", shouldUseDefaultUi); + } + } + + /// + /// Starts the tango UX library. + /// Should be called after connecting to Tango service. + /// + public static void StartTangoUX() + { + AndroidJavaObject tangoObject = GetTangoHelperObject(); + if(tangoObject != null) + { + tangoObject.Call("start"); + } + } + + /// + /// Stops the tango UX library. + /// Should be called before disconnect. + /// + public static void StopTangoUX() + { + AndroidJavaObject tangoObject = GetTangoHelperObject(); + if(tangoObject != null) + { + tangoObject.Call("stop"); + } + } + + /// + /// Sets the tango exceptions listener. + /// + public static void SetTangoExceptionsListener() + { + AndroidJavaObject tangoObject = GetTangoHelperObject(); + if(tangoObject != null) + { + Debug.Log("Setting UX callbacks"); + tangoObject.Call("setTangoExceptionsListener", UxExceptionListener.GetInstance); + } + } + + /// + /// Determines if is tango core present. + /// + /// true if is tango core present; otherwise, false. + public static bool IsTangoCorePresent() + { + AndroidJavaObject unityActivity = GetUnityActivity(); + + if(unityActivity != null) + { + if(GetPackageInfo("com.projecttango.tango") != null) + { + return true; + } + } + + return false; + } +} diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/TangoAndroidHelper.cs.meta b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/TangoAndroidHelper.cs.meta new file mode 100644 index 00000000..f2f1e5a8 --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/TangoAndroidHelper.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: ab54c98295d2c41b4a9e4afb8b64722f +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/TangoEnums.cs b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/TangoEnums.cs new file mode 100644 index 00000000..e434da9e --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/TangoEnums.cs @@ -0,0 +1,122 @@ +/* + * Copyright 2014 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +using System.Collections; +using UnityEngine; + +namespace Tango +{ + /// + /// Enumerations used by the Tango Service. + /// + public class TangoEnums + { + /// + /// Possible states for the motion tracking + /// + public enum TangoPoseStatusType + { + TANGO_POSE_INITIALIZING, /**< Motion estimation is being initialized */ + TANGO_POSE_VALID, /**< The pose of this estimate is valid */ + TANGO_POSE_INVALID, /**< The pose of this estimate is not valid */ + TANGO_POSE_UNKNOWN, /**< Could not estimate pose at this time */ + NA /*** + /// Coordinate frames provided by the Tango Service. + ///

+ public enum TangoCoordinateFrameType + { + /** Coordinate system for the entire Earth. + * See WGS84: http://en.wikipedia.org/wiki/World_Geodetic_System + */ + TANGO_COORDINATE_FRAME_GLOBAL_WGS84 = 0, + /** Origin within a saved area description */ + TANGO_COORDINATE_FRAME_AREA_DESCRIPTION, + /** Origin when the device started tracking */ + TANGO_COORDINATE_FRAME_START_OF_SERVICE, + /** Immediately previous device pose */ + TANGO_COORDINATE_FRAME_PREVIOUS_DEVICE_POSE, + TANGO_COORDINATE_FRAME_DEVICE, /**< Device coordinate frame */ + TANGO_COORDINATE_FRAME_IMU, /**< Inertial Measurement Unit */ + TANGO_COORDINATE_FRAME_DISPLAY, /**< Display */ + TANGO_COORDINATE_FRAME_CAMERA_COLOR, /**< Color camera */ + TANGO_COORDINATE_FRAME_CAMERA_DEPTH, /**< Depth camera */ + TANGO_COORDINATE_FRAME_CAMERA_FISHEYE, /**< Fisheye camera */ + TANGO_COORDINATE_FRAME_INVALID, + TANGO_MAX_COORDINATE_FRAME_TYPE /**< Maximum allowed */ + } + + /// + /// Enumeration containing the ID used for each + /// Tango camera. + /// + public enum TangoCameraId + { + TANGO_CAMERA_COLOR = 0, /**< Back-facing color camera */ + TANGO_CAMERA_RGBIR, /**< Back-facing camera producing IR-sensitive images */ + TANGO_CAMERA_FISHEYE, /**< Back-facing fisheye wide-angle camera */ + TANGO_CAMERA_DEPTH, /**< Depth camera */ + TANGO_MAX_CAMERA_ID /**< Maximum camera allowable */ + } + + /// + /// Enumeration containing events provided by the + /// Tango Service. + /// + public enum TangoEventType + { + TANGO_EVENT_UNKNOWN = 0, /**< Unclassified Event Type */ + TANGO_EVENT_GENERAL, /**< General callbacks not otherwise categorized */ + TANGO_EVENT_FISHEYE_CAMERA, /**< Fisheye Camera Event */ + TANGO_EVENT_COLOR_CAMERA, /**< Color Camera Event */ + TANGO_EVENT_IMU, /**< IMU Event */ + TANGO_EVENT_FEATURE_TRACKING, /**< Feature Tracking Event */ + } + + public enum TangoConfigType + { + TANGO_CONFIG_DEFAULT = 0, /**< Default, motion tracking only. */ + TANGO_CONFIG_CURRENT, /**< Current */ + TANGO_CONFIG_MOTION_TRACKING, /**< Motion tracking */ + TANGO_CONFIG_AREA_LEARNING, /**< Area learning */ + TANGO_MAX_CONFIG_TYPE /**< Maximum number allowable. */ + } + + public enum TangoCalibrationType + { + TANGO_CALIBRATION_UNKNOWN, + /**< f-theta fisheye lens model. See + http://scholar.google.com/scholar?cluster=13508836606423559694&hl=en&as_sdt=2005&sciodt=0,5 + */ + TANGO_CALIBRATION_EQUIDISTANT, + TANGO_CALIBRATION_POLYNOMIAL_2_PARAMETERS, + /**< Tsai's k1,k2,k3 Model. See + http://scholar.google.com/scholar?cluster=3512800631607394002&hl=en&as_sdt=0,5&sciodt=0,5 + */ + TANGO_CALIBRATION_POLYNOMIAL_3_PARAMETERS, + TANGO_CALIBRATION_POLYNOMIAL_5_PARAMETERS, + + } + + /// Tango Image Formats + /// Equivalent to those found in Android core/system/include/system/graphics.h. + public enum TangoImageFormatType + { + TANGO_HAL_PIXEL_FORMAT_YV12 = 0x32315659 // YCrCb 4:2:0 Planar + } + } +} \ No newline at end of file diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/TangoEnums.cs.meta b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/TangoEnums.cs.meta new file mode 100644 index 00000000..3e9a81d4 --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/TangoEnums.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: fe325b84fd40349ec9d31bf623253704 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/TangoTypes.cs b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/TangoTypes.cs new file mode 100644 index 00000000..71193311 --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/TangoTypes.cs @@ -0,0 +1,597 @@ +/* + * Copyright 2014 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +using System; +using System.Runtime.InteropServices; +using UnityEngine; + +namespace Tango +{ + /// + /// Represents the ordered point cloud data. + /// + [StructLayout(LayoutKind.Sequential)] + public class TangoXYZij + { + [MarshalAs(UnmanagedType.I4)] + public int version; + + [MarshalAs(UnmanagedType.R8)] + public double timestamp; + + [MarshalAs(UnmanagedType.I4)] + public int xyz_count; + + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 3, ArraySubType = UnmanagedType.SysUInt)] + public IntPtr[] xyz; + + [MarshalAs(UnmanagedType.I4)] + public int ij_rows; + + [MarshalAs(UnmanagedType.I4)] + public int ij_cols; + + public IntPtr ij; + + // Reserved for future use. + public IntPtr color_image; + + /// + /// Returns a that represents the current . + /// + /// A that represents the current . + public override string ToString() + { + return ("timestamp : " + timestamp + "\n" + + "xyz_count : " + xyz_count + "\n" + + "ij_rows : " + ij_rows + "\n" + + "ij_cols : " + ij_cols); + } + } + + /// + /// Tango event. + /// + [StructLayout(LayoutKind.Sequential)] + public class TangoEvent + { + [MarshalAs(UnmanagedType.R8)] + public double timestamp; + + [MarshalAs(UnmanagedType.I4)] + public TangoEnums.TangoEventType type; + + [MarshalAs(UnmanagedType.LPStr)] + public string event_key; + + [MarshalAs(UnmanagedType.LPStr)] + public string event_value; + } + + /// + /// Tango coordinate frame pair. + /// + [StructLayout(LayoutKind.Sequential)] + public struct TangoCoordinateFramePair + { + [MarshalAs(UnmanagedType.I4)] + public TangoEnums.TangoCoordinateFrameType baseFrame; + + [MarshalAs(UnmanagedType.I4)] + public TangoEnums.TangoCoordinateFrameType targetFrame; + } + + /// + /// Tango image buffer. + /// + [StructLayout(LayoutKind.Sequential)] + public class TangoImageBuffer + { + /// + /// The width of the image data. + /// + [MarshalAs(UnmanagedType.I4)] + public UInt32 width; + + /// + /// The height of the image data. + /// + [MarshalAs(UnmanagedType.I4)] + public UInt32 height; + + /// + /// The number of pixels per scanline of the image data. + /// + [MarshalAs(UnmanagedType.I4)] + public UInt32 stride; + + /// + /// The timestamp of this image. + /// + [MarshalAs(UnmanagedType.R8)] + public double timestamp; + + /// + /// The frame number of this image. + /// + [MarshalAs(UnmanagedType.I8)] + public Int64 frame_number; + + /// + /// The pixel format of the data. + /// + [MarshalAs(UnmanagedType.I4)] + public TangoEnums.TangoImageFormatType format; + + /// + /// Pixels in HAL_PIXEL_FORMAT_YV12 format. Y samples of width x height are + /// first, followed by V samples, with half the stride and half the lines of + /// the Y data, followed by a U samples with the same dimensions as the V + /// sample. This is stored in the API as a dynamic byte array (uint8_t*). + /// + public IntPtr data; + } + + /// + /// /// The TangoCameraIntrinsics struct contains intrinsic parameters for a camera. + /// For image coordinates, the obervations, [u, v]^T in pixels. + /// Normalized image plane coordinates refer to: + /// + /// x = (u - cx) / fx + /// + /// y = (v - cy) / fy + /// + /// Distortion model type is as given by calibration_type. For example, for the + /// color camera, TANGO_CALIBRATION_POLYNOMIAL_3_PARAMETERS means that the + /// distortion parameters are in distortion[] as {k1, k2 ,k3} where + /// + /// x_corr_px = x_px (1 + k1 * r2 + k2 * r4 + k3 * r6) + /// y_corr_px = y_px (1 + k1 * r2 + k2 * r4 + k3 * r6) + /// + /// where r2, r4, r6 are the 2nd, 4th, and 6th powers of the r, where r is the + /// distance (normalized image plane coordinates) of (x,y) to (cx,cy), and + /// for a pixel at point (x_px, y_px) in pixel coordinates, the corrected output + /// position would be (x_corr, y_corr). + /// + [StructLayout(LayoutKind.Sequential)] + public class TangoCameraIntrinsics + { + /// + /// ID of the camera which the intrinsics reference. + /// + [MarshalAs(UnmanagedType.I4)] + public TangoEnums.TangoCameraId camera_id; + + /// + /// Calibration model type that they distorion parameters reference. + /// + [MarshalAs(UnmanagedType.I4)] + public TangoEnums.TangoCalibrationType calibration_type; + + /// + /// The width of the image in pixels. + /// + [MarshalAs(UnmanagedType.I4)] + public UInt32 width; + + /// + /// The height of the image in pixels. + /// + [MarshalAs(UnmanagedType.I4)] + public UInt32 height; + + /// + /// Focal length, x axis, in pixels. + /// + [MarshalAs(UnmanagedType.R8)] + public double fx; + + /// + /// Focal length, y axis, in pixels. + /// + [MarshalAs(UnmanagedType.R8)] + public double fy; + + /// + /// Principal point x coordinate on the image, in pixels. + /// + [MarshalAs(UnmanagedType.R8)] + public double cx; + + /// + /// Principal point y coordinate on the image, in pixels. + /// + [MarshalAs(UnmanagedType.R8)] + public double cy; + } + + /// + /// Data representing a pose from the Tango Service. + /// + [StructLayout(LayoutKind.Sequential)] + public class TangoPoseData + { + [MarshalAs(UnmanagedType.I4)] + public int version; + + [MarshalAs(UnmanagedType.R8)] + public double timestamp; + + [MarshalAsAttribute(UnmanagedType.ByValArray, SizeConst = 4, ArraySubType = UnmanagedType.R8)] + public double[] orientation; + + [MarshalAsAttribute(UnmanagedType.ByValArray, SizeConst = 3, ArraySubType = UnmanagedType.R8)] + public double[] translation; + + [MarshalAs(UnmanagedType.I4)] + public TangoEnums.TangoPoseStatusType status_code; + + [MarshalAs(UnmanagedType.Struct)] + public TangoCoordinateFramePair framePair; + + // Unused. Integer levels are determined by service. + [MarshalAs(UnmanagedType.I4)] + public int confidence; + + // Unused. Reserved for metric accuracy. + [MarshalAs(UnmanagedType.R4)] + public float accuracy; + + /// + /// Initializes a new instance of the class. + /// + public TangoPoseData() + { + version = 0; + timestamp = 0.0; + orientation = new double[4]; + translation = new double[3]; + status_code = TangoEnums.TangoPoseStatusType.TANGO_POSE_UNKNOWN; + framePair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE; + framePair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE; + confidence = 0; + } + + /// + /// Performs a deep copy of pose data. + /// + /// Pose to copy. + public void DeepCopy(TangoPoseData poseToCopy) + { + this.version = poseToCopy.version; + this.timestamp = poseToCopy.timestamp; + this.status_code = poseToCopy.status_code; + this.framePair.baseFrame = poseToCopy.framePair.baseFrame; + this.framePair.targetFrame = poseToCopy.framePair.targetFrame; + this.confidence = poseToCopy.confidence; + for(int i = 0; i < 4; ++i) + { + this.orientation[i] = poseToCopy.orientation[i]; + } + for(int i = 0; i < 3; ++i) + { + this.translation[i] = poseToCopy.translation[i]; + } + } + } + + /// + /// Used in the Unity SDK to hold information about the UUID + /// to avoid too many conversions when needing to access the information. + /// + public class UUIDUnityHolder + { + private UUID uuidObject; + private string uuidName; + public Metadata uuidMetaData; + + /// + /// Initializes a new instance of the class. + /// + public UUIDUnityHolder() + { + uuidObject = new UUID(); + uuidMetaData = new Metadata(); + uuidObject.data = IntPtr.Zero; + uuidName = string.Empty; + } + + /// + /// Prepares the UUID meta data by the calling uuidMetaData object's + /// method - PopulateMetaDataKeyValues(). + /// + public void PrepareUUIDMetaData() + { + + uuidMetaData.PopulateMetaDataKeyValues(); + } + + /// + /// Allocates memory for the IntPtr of the UUID data to be filled out. + /// Uses Marshal.AllocHGlobal to initialize the IntPtr. + /// + public void AllocateDataBuffer() + { + uuidObject.data = Marshal.AllocHGlobal(Common.UUID_LENGTH); + } + + /// + /// Copies the data contained by uuidData into our UUID object + /// data IntPtr. + /// + /// The data marshalled by the UUID list object for this UUID object. + public void SetDataUUID(byte[] uuidData) + { + if(uuidObject.data == IntPtr.Zero) + { + AllocateDataBuffer(); + } + Marshal.Copy(uuidData, 0, uuidObject.data, Common.UUID_LENGTH); + SetDataUUID(System.Text.Encoding.UTF8.GetString(uuidData)); + } + + /// + /// Copies the data contained by uuidData into our UUID object + /// data IntPtr. + /// + /// The UTF-8 encoded string for this UUID object. + public void SetDataUUID(string uuidString) + { + uuidName = uuidString; + } + + /// + /// Returns raw IntPtr to UUID data. + /// + /// The raw data UUID IntPtr. + public IntPtr GetRawDataUUID() + { + return uuidObject.data; + } + + /// + /// Returns a human readable string in UTF-8 format of the UUID data. + /// + /// The UTF-8 string for the UUID. + public string GetStringDataUUID() + { + return uuidName; + } + + /// + /// Determines whether or not the UUID object that we have is valid. + /// + /// true if this instance contains a valid UUID object; otherwise, false. + public bool IsObjectValid() + { + return uuidObject != null && (uuidObject.data != IntPtr.Zero || !string.IsNullOrEmpty(uuidName)); + } + } + + /// + /// Unique Identifier for an Area Description File. + /// + [StructLayout(LayoutKind.Sequential)] + public class UUID + { + [MarshalAs(UnmanagedType.I4)] + public IntPtr data; + } + + /// + /// List of all UUIDs on device. + /// + public class UUID_list + { + private UUIDUnityHolder[] UUIDs; + private int count; + + /// + /// Count of all Area Description Files (Read only). + /// + public int Count + { + get {return count;} + } + + /// + /// Initializes a new instance of the class. + /// + public UUID_list() + { + UUIDs = null; + } + + /// + /// Populates the UUID list. + /// + /// UUID names. + public void PopulateUUIDList(string uuidNames) + { + System.Text.UTF8Encoding encoder = new System.Text.UTF8Encoding(); + string[] splitNames = uuidNames.Split(','); + UUIDs = new UUIDUnityHolder[splitNames.Length]; + count = splitNames.Length; + for(int i = 0; i < count; ++i) + { + if(UUIDs[i] == null) + { + UUIDs[i] = new Tango.UUIDUnityHolder(); + } + //Following three calls should be done in the same order always. + UUIDs[i].SetDataUUID(System.Text.Encoding.UTF8.GetString(encoder.GetBytes(splitNames[i]))); + PoseProvider.GetAreaDescriptionMetaData(UUIDs[i]); + UUIDs[i].PrepareUUIDMetaData(); + } + } + + /// + /// Returns the latest ADF UUID found in the list + /// + /// UUIDUnityHolder object that contains the last ADF saved. + public UUIDUnityHolder GetLatestADFUUID() + { + if(UUIDs == null || (UUIDs != null && count <= 0)) + { + return null; + } + return UUIDs[count - 1]; + } + + /// + /// Query specific ADF. + /// + /// UUIDUnityHolder object that contains the last ADF saved. + /// Index. + public UUIDUnityHolder GetADFAtIndex(int index) + { + if(UUIDs == null || (index < 0 || index >= count)) + { + return null; + } + return UUIDs[index]; + } + + /// + /// Gets the UUID as string. + /// + /// The UUID as string. + /// Index. + public string GetUUIDAsString(int index) + { + if(UUIDs == null || (index < 0 || index >= count)) + { + return null; + } + return UUIDs[index].GetStringDataUUID(); + } + + /// + /// Determines whether this instance has valid UUID entries. + /// + /// true if this instance has at least one or more UUIDs; otherwise, false. + public bool HasEntries() + { + return count > 0; + } + } + + /// + /// Metadata_entry. + /// + [StructLayout(LayoutKind.Sequential)] + public class Metadata + { + private System.Collections.Generic.Dictionary m_KeyValuePairs = new System.Collections.Generic.Dictionary(); + public IntPtr meta_data_pointer; + + /// + /// Populates the meta data key values pairs. + /// + public void PopulateMetaDataKeyValues() + { + PoseProvider.PopulateAreaDescriptionMetaDataKeyValues(meta_data_pointer,ref m_KeyValuePairs); + } + + /// + /// Returns the dictionary object with the Metadata's Key Value pairs. + /// PopulateMetaDataKeyValues() should be called before calling this. + /// + /// The meta data key values. + public System.Collections.Generic.Dictionary GetMetaDataKeyValues() + { + return m_KeyValuePairs; + } + + } + + public class TangoUnityImageData + { + /// + /// The width of the image data. + /// + public UInt32 width; + + /// + /// The height of the image data. + /// + public UInt32 height; + + /// + /// The number of pixels per scanline of the image data. + /// + public UInt32 stride; + + /// + /// The timestamp of this image. + /// + public double timestamp; + + /// + /// The frame number of this image. + /// + public Int64 frame_number; + + /// + /// The pixel format of the data. + /// + public TangoEnums.TangoImageFormatType format; + + /// + /// Pixels in HAL_PIXEL_FORMAT_YV12 format. Y samples of width x height are + /// first, followed by V samples, with half the stride and half the lines of + /// the Y data, followed by a U samples with the same dimensions as the V + /// sample. This is stored in the API as a dynamic byte array (uint8_t*). + /// + public byte[] data; + } + + /// + /// Tango depth that is more Unity friendly. + /// + public class TangoUnityDepth + { + public int m_version; + public int m_pointCount; + public float[] m_points; + public double m_timestamp; + public int m_ijRows; + public int m_ijColumns; + public int[] m_ij; + + /// + /// Max point array size is currently defined by the largest single mesh + /// supported by Unity. This array is multiplied by 3 to account for the + /// x/y/z components. + /// + public static readonly int MAX_POINTS_ARRAY_SIZE = Common.UNITY_MAX_SUPPORTED_VERTS_PER_MESH * 3; + + /// + /// Max IJ array size is currently defined by the largest single mesh + /// supported by Unity. This number is multiplied by 2 to account for the + /// i/j components. + /// + public static readonly int MAX_IJ_ARRAY_SIZE = Common.UNITY_MAX_SUPPORTED_VERTS_PER_MESH * 2; + + public TangoUnityDepth() + { + m_points = new float[MAX_POINTS_ARRAY_SIZE]; + m_ij = new int[MAX_IJ_ARRAY_SIZE]; + m_version = -1; + m_timestamp = 0.0; + m_pointCount = m_ijRows = m_ijColumns = 0; + } + } +} \ No newline at end of file diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/TangoTypes.cs.meta b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/TangoTypes.cs.meta new file mode 100644 index 00000000..5ff590e4 --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Common/TangoTypes.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 56842ccce075043a7a428341f563a30c +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Interfaces.meta b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Interfaces.meta new file mode 100644 index 00000000..743c0879 --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Interfaces.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: f5d37fb7ce64947f28ab06d0dbf90ce4 +folderAsset: yes +timeCreated: 1434565928 +licenseType: Pro +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Interfaces/IExperimentalTangoVideoOverlay.cs b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Interfaces/IExperimentalTangoVideoOverlay.cs new file mode 100644 index 00000000..61695067 --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Interfaces/IExperimentalTangoVideoOverlay.cs @@ -0,0 +1,25 @@ +/* + * Copyright 2014 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +using System.Collections; +using UnityEngine; + +/// +/// Interface for experimental Tango video overlay event handler. +/// +public interface IExperimentalTangoVideoOverlay +{ + void OnExperimentalTangoImageAvailable(Tango.TangoEnums.TangoCameraId cameraId); +} \ No newline at end of file diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Interfaces/IExperimentalTangoVideoOverlay.cs.meta b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Interfaces/IExperimentalTangoVideoOverlay.cs.meta new file mode 100644 index 00000000..0741402b --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Interfaces/IExperimentalTangoVideoOverlay.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: b004d4826b5524c0e85ed01b7333ce50 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoDepth.cs b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoDepth.cs new file mode 100644 index 00000000..1d99a6f0 --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoDepth.cs @@ -0,0 +1,25 @@ +/* + * Copyright 2014 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +using System.Collections; +using UnityEngine; + +/// +/// Interface for Tango depth event handler. +/// +public interface ITangoDepth +{ + void OnTangoDepthAvailable(Tango.TangoUnityDepth tangoDepth); +} \ No newline at end of file diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoDepth.cs.meta b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoDepth.cs.meta new file mode 100644 index 00000000..c7dc7b49 --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoDepth.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 954ee344c94434d078a33c08edca2eb8 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoPose.cs b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoPose.cs new file mode 100644 index 00000000..e0370544 --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoPose.cs @@ -0,0 +1,25 @@ +/* + * Copyright 2014 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +using System.Collections; +using UnityEngine; + +/// +/// Interface for Tango pose event handler. +/// +public interface ITangoPose +{ + void OnTangoPoseAvailable(Tango.TangoPoseData poseData); +} diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoPose.cs.meta b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoPose.cs.meta new file mode 100644 index 00000000..1d2dba30 --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoPose.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 7bc6fc80082d645f89ae9eac5a49a871 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoUX.cs b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoUX.cs new file mode 100644 index 00000000..cdfd1f01 --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoUX.cs @@ -0,0 +1,34 @@ +/* + * Copyright 2014 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +using System.Collections; +using UnityEngine; + +/// +/// Exception events fired by the UX exception listener. +/// +public interface ITangoUX +{ + void onMovingTooFastEventHandler(string movement); + void onCameraOverExposedEventHandler(string exposure); + void onCameraUnderExposedEventHandler(string value); + void onTooFewFeaturesEventHandler(string features); + void onTooFewPointsEventHandler(string points); + void onLyingOnSurfaceEventHandler(string value); + void onMotionTrackingInvalidEventHandler(string exceptionStatus); + void onTangoServiceNotRespondingEventHandler(); + void onVersionUpdateNeededEventHandler(); + void onIncompatibleVMFoundEventHandler(); +} diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoUX.cs.meta b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoUX.cs.meta new file mode 100644 index 00000000..b43293b1 --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoUX.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 1095f14c3cb0047ab9be614e32422de0 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoVideoOverlay.cs b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoVideoOverlay.cs new file mode 100644 index 00000000..f208a9f9 --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoVideoOverlay.cs @@ -0,0 +1,26 @@ +/* + * Copyright 2014 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +using System.Collections; +using UnityEngine; + +/// +/// Interface for Tango video overlay event handler. +/// +public interface ITangoVideoOverlay +{ + void OnTangoImageAvailableEventHandler(Tango.TangoEnums.TangoCameraId cameraId, + Tango.TangoUnityImageData imageBuffer); +} \ No newline at end of file diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoVideoOverlay.cs.meta b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoVideoOverlay.cs.meta new file mode 100644 index 00000000..c8f443b3 --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoVideoOverlay.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 5320901c821764baabae2756afb8c9bd +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Listeners.meta b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Listeners.meta new file mode 100644 index 00000000..3bed3b36 --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Listeners.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: f2e1e806634414f10ad59d9b84c3130c +folderAsset: yes +timeCreated: 1434565928 +licenseType: Pro +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Listeners/DepthListener.cs b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Listeners/DepthListener.cs new file mode 100644 index 00000000..7e8e035e --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Listeners/DepthListener.cs @@ -0,0 +1,134 @@ +/* + * Copyright 2014 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +using System; +using System.Runtime.InteropServices; +using UnityEngine; + +namespace Tango +{ + /// + /// On tango depth available event handler. + /// + /// TangoUnityDepth object for the available depth frame. + public delegate void OnTangoDepthAvailableEventHandler(TangoUnityDepth tangoDepth); + + /// + /// Abstract base class that can be used to + /// automatically register for onDepthAvailable + /// callbacks from the Tango Service. + /// + public class DepthListener + { + private Tango.DepthProvider.TangoService_onDepthAvailable m_onDepthAvailableCallback; + + /// + /// Occurs when m_on tango depth available. + /// + private event OnTangoDepthAvailableEventHandler m_OnTangoDepthAvailable; + + private bool m_isDirty = false; + private TangoUnityDepth m_tangoDepth; + private System.Object m_lockObject = new System.Object(); + private float[] m_depthPoints; + + /// + /// Register this class to receive the OnDepthAvailable callback. + /// + public virtual void SetCallback() + { + m_tangoDepth = new TangoUnityDepth(); + m_onDepthAvailableCallback = new Tango.DepthProvider.TangoService_onDepthAvailable(_OnDepthAvailable); + Tango.DepthProvider.SetCallback(m_onDepthAvailableCallback); + } + + /// + /// Sends the depth if available. + /// + public void SendDepthIfAvailable() + { + if (m_isDirty && m_OnTangoDepthAvailable != null) + { + lock (m_lockObject) + { + m_OnTangoDepthAvailable(m_tangoDepth); + } + m_isDirty = false; + } + } + + /// + /// Registers the on tango depth available. + /// + /// Handler. + public void RegisterOnTangoDepthAvailable(OnTangoDepthAvailableEventHandler handler) + { + if (handler != null) + { + m_OnTangoDepthAvailable += handler; + } + } + + /// + /// Unregisters the on tango depth available. + /// + /// Handler. + public void UnregisterOnTangoDepthAvailable(OnTangoDepthAvailableEventHandler handler) + { + if (handler != null) + { + m_OnTangoDepthAvailable -= handler; + } + } + + /// + /// Callback that gets called when depth is available + /// from the Tango Service. + /// + /// Callback context. + /// Xyzij. + protected void _OnDepthAvailable(IntPtr callbackContext, TangoXYZij xyzij) + { + // Fill in the data to draw the point cloud. + if (xyzij != null) + { + lock (m_lockObject) + { + // copy single members + m_tangoDepth.m_version = xyzij.version; + m_tangoDepth.m_timestamp = xyzij.timestamp; + m_tangoDepth.m_ijColumns = xyzij.ij_cols; + m_tangoDepth.m_ijRows = xyzij.ij_rows; + m_tangoDepth.m_pointCount = xyzij.xyz_count; + + // deep copy arrays + + // Fill in the data to draw the point cloud. + if (xyzij != null) + { + int numberOfActivePoints = xyzij.xyz_count * 3; + + // copy new points + if (numberOfActivePoints > 0) + { + Marshal.Copy(xyzij.xyz[0], m_tangoDepth.m_points, 0, numberOfActivePoints); + m_isDirty = true; + } + } + } + } + } + } +} \ No newline at end of file diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Listeners/DepthListener.cs.meta b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Listeners/DepthListener.cs.meta new file mode 100644 index 00000000..80511218 --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Listeners/DepthListener.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: a1ffb3777c16945c1b3667bc275ce07d +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Listeners/PoseListener.cs b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Listeners/PoseListener.cs new file mode 100644 index 00000000..c1f32e8d --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Listeners/PoseListener.cs @@ -0,0 +1,232 @@ +/* + * Copyright 2014 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +using System; +using System.Collections.Generic; +using UnityEngine; + +namespace Tango +{ + /// + /// On tango pose available event handler. + /// + public delegate void OnTangoPoseAvailableEventHandler(TangoPoseData poseData); + + /// + /// Abstract base class that can be used to + /// automatically register for onPoseAvailable + /// callbacks from the Tango Service. + /// + public class PoseListener + { + public Tango.PoseProvider.TangoService_onPoseAvailable m_poseAvailableCallback; + + private const int SIZE_OF_POSE_DATA_POOL = 3; + private TangoPoseData m_motionTrackingData; + private TangoPoseData m_areaLearningData; + private TangoPoseData m_relocalizationData; + private OnTangoPoseAvailableEventHandler m_onTangoPoseAvailable; + private TangoEnums.TangoPoseStatusType m_latestPoseStatus = TangoEnums.TangoPoseStatusType.NA; + private Stack m_poseDataPool; + private bool m_isDirty = false; + + /// + /// Initializes a new instance of the class. + /// + public PoseListener() + { + m_motionTrackingData = null; + m_areaLearningData = null; + m_relocalizationData = null; + m_poseDataPool = new Stack(); + + // Add pre-allocated TangoPoseData objects to the + // pool stack. + for(int i = 0; i < SIZE_OF_POSE_DATA_POOL; ++i) + { + TangoPoseData emptyPose = new TangoPoseData(); + m_poseDataPool.Push(emptyPose); + } + } + + /// + /// Gets or sets a value indicating whether this + /// is using auto reset. + /// + /// true if auto reset; otherwise, false. + public bool AutoReset + { + get; + set; + } + + /// + /// Gets or sets a value indicating whether this use camera intrinsics. + /// + /// true if use camera intrinsics; otherwise, false. + public bool UseCameraIntrinsics + { + get; + set; + } + + /// + /// Sends the pose if available. + /// + /// The pose status if available. + public void SendPoseIfAvailable(bool usingUXLibrary) + { + if(m_isDirty) + { + if(usingUXLibrary) + { + AndroidHelper.ParseTangoPoseStatus((int)m_latestPoseStatus); + } + + if(m_onTangoPoseAvailable != null) + { + if(m_motionTrackingData != null) + { + m_onTangoPoseAvailable(m_motionTrackingData); + m_poseDataPool.Push(m_motionTrackingData); + m_motionTrackingData = null; + } + if(m_areaLearningData != null) + { + m_onTangoPoseAvailable(m_areaLearningData); + m_poseDataPool.Push(m_areaLearningData); + m_areaLearningData = null; + } + if(m_relocalizationData != null) + { + m_onTangoPoseAvailable(m_relocalizationData); + m_poseDataPool.Push(m_relocalizationData); + m_relocalizationData = null; + } + } + + m_isDirty = false; + } + } + + /// + /// Registers the callback. + /// + /// Frame pairs. + public void SetCallback(TangoCoordinateFramePair[] framePairs) + { + m_poseAvailableCallback = new Tango.PoseProvider.TangoService_onPoseAvailable(_OnPoseAvailable); + Tango.PoseProvider.SetCallback(framePairs, m_poseAvailableCallback); + } + + /// + /// Registers for Tango pose available. + /// + /// Handler. + public void RegisterTangoPoseAvailable(OnTangoPoseAvailableEventHandler handler) + { + if(handler != null) + { + m_onTangoPoseAvailable += handler; + } + } + + /// + /// Unregisters the tango pose available. + /// + /// Handler. + public void UnregisterTangoPoseAvailable(OnTangoPoseAvailableEventHandler handler) + { + if(handler != null) + { + m_onTangoPoseAvailable -= handler; + } + } + + /// + /// Handle the callback sent by the Tango Service + /// when a new pose is sampled. + /// + /// Callback context. + /// Pose. + private void _OnPoseAvailable(IntPtr callbackContext, TangoPoseData pose) + { + m_latestPoseStatus = pose.status_code; + + // MotionTracking + if (pose.framePair.baseFrame == TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE && + pose.framePair.targetFrame == TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE) + { + // Only set new pose once the previous pose has been returned. + if(m_motionTrackingData == null) + { + TangoPoseData currentPose = m_poseDataPool.Pop(); + + if(currentPose == null) + { + return; + } + else + { + currentPose.DeepCopy(pose); + m_motionTrackingData = currentPose; + } + } + } + // ADF Localized + else if (pose.framePair.baseFrame == TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_AREA_DESCRIPTION && + pose.framePair.targetFrame == TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE) + { + // Only set new pose once the previous pose has been returned. + if(m_areaLearningData == null) + { + TangoPoseData currentPose = m_poseDataPool.Pop(); + + if(currentPose == null) + { + return; + } + else + { + currentPose.DeepCopy(pose); + m_areaLearningData = currentPose; + } + } + } + // Relocalized against ADF + else if (pose.framePair.baseFrame == TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_AREA_DESCRIPTION && + pose.framePair.targetFrame == TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE) + { + // Only set new pose once the previous pose has been returned. + if(m_relocalizationData == null) + { + TangoPoseData currentPose = m_poseDataPool.Pop(); + + if(currentPose == null) + { + return; + } + else + { + currentPose.DeepCopy(pose); + m_relocalizationData = currentPose; + } + } + } + + m_isDirty = true; + } + } +} \ No newline at end of file diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Listeners/PoseListener.cs.meta b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Listeners/PoseListener.cs.meta new file mode 100644 index 00000000..69b9e20c --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Listeners/PoseListener.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: d9fb26a653e44497684806429d99ddcd +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Listeners/TangoEventListener.cs b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Listeners/TangoEventListener.cs new file mode 100644 index 00000000..d060c9fc --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Listeners/TangoEventListener.cs @@ -0,0 +1,113 @@ +/* + * Copyright 2014 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +using System; +using UnityEngine; + +namespace Tango +{ + public delegate void OnTangoEventAvailableEventHandler(TangoEvent tangoEvent); + + /// + /// Abstract base class that can be used to + /// automatically register for onEventAvailable + /// callbacks from the Tango Service. + /// + public class TangoEventListener + { + private TangoEvents.TangoService_onEventAvailable m_onEventAvaialableCallback; + private OnTangoEventAvailableEventHandler m_onTangoEventAvailable; + private TangoEvent m_previousEvent; + private bool m_isDirty; + + /// + /// Sets the callback. + /// + public virtual void SetCallback() + { + m_onEventAvaialableCallback = new TangoEvents.TangoService_onEventAvailable(_onEventAvailable); + TangoEvents.SetCallback(m_onEventAvaialableCallback); + m_previousEvent = new TangoEvent(); + m_isDirty = false; + } + + /// + /// Sends if tango event available. + /// + /// If set to true using UX library. + public void SendIfTangoEventAvailable(bool usingUXLibrary) + { + if(m_isDirty) + { + if(usingUXLibrary) + { + AndroidHelper.ParseTangoEvent(m_previousEvent.timestamp, + (int)m_previousEvent.type, + m_previousEvent.event_key, + m_previousEvent.event_value); + } + + if(m_onTangoEventAvailable != null) + { + m_onTangoEventAvailable(m_previousEvent); + } + + m_isDirty = true; + } + } + + /// + /// Registers the on tango event available. + /// + /// Handler. + public void RegisterOnTangoEventAvailable(OnTangoEventAvailableEventHandler handler) + { + if(handler != null) + { + m_onTangoEventAvailable += handler; + } + } + + /// + /// Unregisters the on tango event available. + /// + /// Handler. + public void UnregisterOnTangoEventAvailable(OnTangoEventAvailableEventHandler handler) + { + if(handler != null) + { + m_onTangoEventAvailable -= handler; + } + } + + /// + /// Handle the callback sent by the Tango Service + /// when a new event is issued. + /// + /// Callback context. + /// Tango event. + protected void _onEventAvailable(IntPtr callbackContext, TangoEvent tangoEvent) + { + if(tangoEvent != null) + { + m_previousEvent.timestamp = tangoEvent.timestamp; + m_previousEvent.type = tangoEvent.type; + m_previousEvent.event_key = tangoEvent.event_key; + m_previousEvent.event_value = tangoEvent.event_value; + m_isDirty = true; + } + } + } +} \ No newline at end of file diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Listeners/TangoEventListener.cs.meta b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Listeners/TangoEventListener.cs.meta new file mode 100644 index 00000000..88e48fd6 --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Listeners/TangoEventListener.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: d8728a22d354e41288f1b23a3f72007d +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Listeners/UxExceptionListener.cs b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Listeners/UxExceptionListener.cs new file mode 100644 index 00000000..5f4fe8da --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Listeners/UxExceptionListener.cs @@ -0,0 +1,380 @@ +/* + * Copyright 2014 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +using System.Collections; +using UnityEngine; + +public delegate void onMovingTooFastEventHandler(string movement); +public delegate void onCameraOverExposedEventHandler(string exposure); +public delegate void onCameraUnderExposedEventHandler(string value); +public delegate void onTooFewFeaturesEventHandler(string features); +public delegate void onTooFewPointsEventHandler(string points); +public delegate void onLyingOnSurfaceEventHandler(string value); +public delegate void onMotionTrackingInvalidEventHandler(string exceptionStatus); +public delegate void onTangoServiceNotRespondingEventHandler(); +public delegate void onVersionUpdateNeededEventHandler(); +public delegate void onIncompatibleVMFoundEventHandler(); + +/// +/// Tando User Experience exception listener. +/// +public class UxExceptionListener : AndroidJavaProxy +{ + private static UxExceptionListener m_instance; + + /// + /// Initializes a new instance of the class. + /// + private UxExceptionListener(): base("com.google.atap.tango.ux.listeners.UxExceptionListener"){} + + private event onMovingTooFastEventHandler m_onMovingTooFast; + private event onCameraOverExposedEventHandler m_onCameraOverExposed; + private event onCameraUnderExposedEventHandler m_onCameraUnderExposed; + private event onTooFewFeaturesEventHandler m_onTooFewFeatures; + private event onTooFewPointsEventHandler m_onTooFewPoints; + private event onLyingOnSurfaceEventHandler m_onLyingOnSurface; + private event onMotionTrackingInvalidEventHandler m_onMotionTrackingInvalid; + private event onTangoServiceNotRespondingEventHandler m_onTangoServiceNotResponding; + private event onVersionUpdateNeededEventHandler m_onVersionUpdateNeeded; + private event onIncompatibleVMFoundEventHandler m_onIncompatibleVMFound; + + /// + /// Gets the get instance. + /// + /// The get instance. + public static UxExceptionListener GetInstance + { + get + { + if(m_instance == null) + { + m_instance = new UxExceptionListener(); + } + + return m_instance; + } + } + + /// + /// Registers the on moving too fast. + /// + /// Handler. + public void RegisterOnMovingTooFast(onMovingTooFastEventHandler handler) + { + if(handler != null) + { + m_onMovingTooFast += handler; + } + } + + /// + /// Registers the on camera over exposed. + /// + /// Handler. + public void RegisterOnCameraOverExposed(onCameraOverExposedEventHandler handler) + { + if(handler != null) + { + m_onCameraOverExposed += handler; + } + } + + /// + /// Registers the on camer under exposed. + /// + /// Handler. + public void RegisterOnCamerUnderExposed(onCameraUnderExposedEventHandler handler) + { + if(handler != null) + { + m_onCameraUnderExposed += handler; + } + } + + /// + /// Registers the on too few features. + /// + /// Handler. + public void RegisterOnTooFewFeatures(onTooFewFeaturesEventHandler handler) + { + if(handler != null) + { + m_onTooFewFeatures += handler; + } + } + + /// + /// Registers the on too few points. + /// + /// Handler. + public void RegisterOnTooFewPoints(onTooFewPointsEventHandler handler) + { + if(handler != null) + { + m_onTooFewPoints += handler; + } + } + + /// + /// Registers the on lying on surface. + /// + /// Handler. + public void RegisterOnLyingOnSurface(onLyingOnSurfaceEventHandler handler) + { + if(handler != null) + { + m_onLyingOnSurface += handler; + } + } + + /// + /// Registers the on motion tracking invalid. + /// + /// Handler. + public void RegisterOnMotionTrackingInvalid(onMotionTrackingInvalidEventHandler handler) + { + if(handler != null) + { + m_onMotionTrackingInvalid += handler; + } + } + + /// + /// Registers the on tango service not responding. + /// + /// Handler. + public void RegisterOnTangoServiceNotResponding(onTangoServiceNotRespondingEventHandler handler) + { + if(handler != null) + { + m_onTangoServiceNotResponding += handler; + } + } + + /// + /// Registers the on version update needed. + /// + /// Handler. + public void RegisterOnVersionUpdateNeeded(onVersionUpdateNeededEventHandler handler) + { + if(handler != null) + { + m_onVersionUpdateNeeded += handler; + } + } + + /// + /// Registers the on incompatible VM found. + /// + /// Handler. + public void RegisterOnIncompatibleVMFound(onIncompatibleVMFoundEventHandler handler) + { + if(handler != null) + { + m_onIncompatibleVMFound += handler; + } + } + + /// + /// Unregisters the on moving too fast. + /// + /// Handler. + public void UnregisterOnMovingTooFast(onMovingTooFastEventHandler handler) + { + if(handler != null) + { + m_onMovingTooFast -= handler; + } + } + + /// + /// Unregisters the on camera over exposed. + /// + /// Handler. + public void UnregisterOnCameraOverExposed(onCameraOverExposedEventHandler handler) + { + if(handler != null) + { + m_onCameraOverExposed -= handler; + } + } + + /// + /// Unregisters the on camer under exposed. + /// + /// Handler. + public void UnregisterOnCamerUnderExposed(onCameraUnderExposedEventHandler handler) + { + if(handler != null) + { + m_onCameraUnderExposed -= handler; + } + } + + /// + /// Unregisters the on too few features. + /// + /// Handler. + public void UnregisterOnTooFewFeatures(onTooFewFeaturesEventHandler handler) + { + if(handler != null) + { + m_onTooFewFeatures -= handler; + } + } + + /// + /// Unregisters the on too few points. + /// + /// Handler. + public void UnregisterOnTooFewPoints(onTooFewPointsEventHandler handler) + { + if(handler != null) + { + m_onTooFewPoints -= handler; + } + } + + /// + /// Unregisters the on lying on surface. + /// + /// Handler. + public void UnregisterOnLyingOnSurface(onLyingOnSurfaceEventHandler handler) + { + if(handler != null) + { + m_onLyingOnSurface -= handler; + } + } + + /// + /// Unregisters the on motion tracking invalid. + /// + /// Handler. + public void UnregisterOnMotionTrackingInvalid(onMotionTrackingInvalidEventHandler handler) + { + if(handler != null) + { + m_onMotionTrackingInvalid -= handler; + } + } + + /// + /// Unregisters the on tango service not responding. + /// + /// Handler. + public void UnregisterOnTangoServiceNotResponding(onTangoServiceNotRespondingEventHandler handler) + { + if(handler != null) + { + m_onTangoServiceNotResponding -= handler; + } + } + + /// + /// Unregisters the on version update needed. + /// + /// Handler. + public void UnregisterOnVersionUpdateNeeded(onVersionUpdateNeededEventHandler handler) + { + if(handler != null) + { + m_onVersionUpdateNeeded -= handler; + } + } + + /// + /// Unregisters the on incompatible VM found. + /// + /// Handler. + public void UnregisterOnIncompatibleVMFound(onIncompatibleVMFoundEventHandler handler) + { + if(handler != null) + { + m_onIncompatibleVMFound -= handler; + } + } + + void onMovingTooFast(string movement) + { + if(m_onMovingTooFast != null) + { + m_onMovingTooFast(movement); + } + } + void onCameraOverExposed(string exposure) + { + if(m_onCameraOverExposed != null) + { + m_onCameraOverExposed(exposure); + } + } + void onCameraUnderExposed(string value) + { + if(m_onCameraUnderExposed != null) + { + m_onCameraUnderExposed(value); + } + } + void onTooFewFeatures(string features) + { + if(m_onTooFewFeatures != null) + { + m_onTooFewFeatures(features); + } + } + void onTooFewDepthPoints(string points) + { + if(m_onTooFewPoints != null) + { + m_onTooFewPoints(points); + } + } + void onLyingOnSurface(string value) + { + if(m_onLyingOnSurface != null) + { + m_onLyingOnSurface(value); + } + } + void onMotionTrackingInvalid(string exceptionStatus) + { + if(m_onMotionTrackingInvalid != null) + { + m_onMotionTrackingInvalid(exceptionStatus); + } + } + void onTangoServiceNotResponding() + { + if(m_onTangoServiceNotResponding != null) + { + m_onTangoServiceNotResponding(); + } + } + void onVersionUpdateNeeded() + { + if(m_onVersionUpdateNeeded != null) + { + m_onVersionUpdateNeeded(); + } + } + void onIncompatibleVMFound() + { + if(m_onIncompatibleVMFound != null) + { + m_onIncompatibleVMFound(); + } + } +} diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Listeners/UxExceptionListener.cs.meta b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Listeners/UxExceptionListener.cs.meta new file mode 100644 index 00000000..4d7b95f6 --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Listeners/UxExceptionListener.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: f31ada53003cc44c188682500f4498cd +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Listeners/VideoOverlayListener.cs b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Listeners/VideoOverlayListener.cs new file mode 100644 index 00000000..5d06c399 --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Listeners/VideoOverlayListener.cs @@ -0,0 +1,182 @@ + +/* + * Copyright 2014 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +using UnityEngine; +using System.Collections; +using System; +using System.Runtime.InteropServices; + +namespace Tango +{ + public delegate void OnTangoImageAvailableEventHandler(TangoEnums.TangoCameraId cameraId, + TangoUnityImageData imageBuffer); + public delegate void OnExperimentalTangoImageAvailableEventHandler(Tango.TangoEnums.TangoCameraId cameraId); + + /// + /// Video overlay listener. + /// + public class VideoOverlayListener + { + private VideoOverlayProvider.TangoService_onImageAvailable m_onImageAvailable; + private VideoOverlayProvider.TangoService_onUnityFrameAvailable m_onUnityFrameAvailable; + + private event OnTangoImageAvailableEventHandler m_onTangoImageAvailable; + private event OnExperimentalTangoImageAvailableEventHandler m_onExperimentalTangoImageAvailable; + + private TangoEnums.TangoCameraId m_previousCameraId; + private TangoUnityImageData m_previousImageBuffer; + private bool m_shouldSendEvent = false; + private bool m_usingExperimentalOverlay = false; + + /// + /// Sets the callback for image updates. + /// + /// Camera identifier. + public virtual void SetCallback(Tango.TangoEnums.TangoCameraId cameraId, bool useExperimentalOverlay, YUVTexture videoOverlayTexture) + { + m_usingExperimentalOverlay = useExperimentalOverlay; + if(!useExperimentalOverlay) + { + m_previousImageBuffer = new TangoUnityImageData(); + m_onImageAvailable = new Tango.VideoOverlayProvider.TangoService_onImageAvailable(_OnImageAvailable); + Tango.VideoOverlayProvider.SetCallback(cameraId, m_onImageAvailable); + } + else + { + if(videoOverlayTexture != null) + { + m_onUnityFrameAvailable = new Tango.VideoOverlayProvider.TangoService_onUnityFrameAvailable(_OnExperimentalUnityFrameAvailable); + VideoOverlayProvider.ExperimentalConnectTexture(cameraId, + videoOverlayTexture, + m_onUnityFrameAvailable); + + Debug.Log("VideoOverlayListener.SetCallback() : Experimental Overlay listener hooked up"); + } + else + { + Debug.Log("VideoOverlayListener.SetCallback() : No Texture2D found!"); + } + } + } + + /// + /// Sends event if video overlay is available. + /// + public void SendIfVideoOverlayAvailable() + { + if(m_usingExperimentalOverlay) + { + if(m_onExperimentalTangoImageAvailable != null && m_shouldSendEvent) + { + m_onExperimentalTangoImageAvailable(m_previousCameraId); + m_shouldSendEvent = false; + } + } + else + { + if(m_onTangoImageAvailable != null && m_shouldSendEvent) + { + m_onTangoImageAvailable(TangoEnums.TangoCameraId.TANGO_CAMERA_COLOR, m_previousImageBuffer); + m_shouldSendEvent = false; + } + } + } + + /// + /// Registers the on tango image available. + /// + /// Handler. + public void RegisterOnTangoImageAvailable(OnTangoImageAvailableEventHandler handler) + { + if(handler != null) + { + m_onTangoImageAvailable += handler; + } + } + + /// + /// Unregisters the on tango image available. + /// + /// Handler. + public void UnregisterOnTangoImageAvailable(OnTangoImageAvailableEventHandler handler) + { + if(handler != null) + { + m_onTangoImageAvailable -= handler; + } + } + + /// + /// Registers the on tango image available. + /// + /// Handler. + public void RegisterOnExperimentalTangoImageAvailable(OnExperimentalTangoImageAvailableEventHandler handler) + { + if(handler != null) + { + m_onExperimentalTangoImageAvailable += handler; + } + } + + /// + /// Unregisters the on tango image available. + /// + /// Handler. + public void UnregisterOnExperimentalTangoImageAvailable(OnExperimentalTangoImageAvailableEventHandler handler) + { + if(handler != null) + { + m_onExperimentalTangoImageAvailable -= handler; + } + } + + /// + /// Handle the callback sent by the Tango Service + /// when a new image is sampled. + /// + /// Camera identifier. + /// Callback context. + /// Image buffer. + protected void _OnImageAvailable(IntPtr callbackContext, + TangoEnums.TangoCameraId cameraId, + TangoImageBuffer imageBuffer) + { + m_previousCameraId = cameraId; + + if(m_previousImageBuffer.data == null) + { + m_previousImageBuffer.data = new byte[imageBuffer.width * imageBuffer.height * 2]; + } + + m_previousImageBuffer.width = imageBuffer.width; + m_previousImageBuffer.height = imageBuffer.height; + m_previousImageBuffer.stride = imageBuffer.stride; + m_previousImageBuffer.timestamp = imageBuffer.timestamp; + m_previousImageBuffer.format = imageBuffer.format; + m_previousImageBuffer.frame_number = imageBuffer.frame_number; + + Marshal.Copy(imageBuffer.data, m_previousImageBuffer.data, 0, m_previousImageBuffer.data.Length); + + m_shouldSendEvent = true; + } + + public void _OnExperimentalUnityFrameAvailable(IntPtr callbackContext, Tango.TangoEnums.TangoCameraId cameraId) + { + m_previousCameraId = cameraId; + m_shouldSendEvent = true; + } + } +} \ No newline at end of file diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Listeners/VideoOverlayListener.cs.meta b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Listeners/VideoOverlayListener.cs.meta new file mode 100644 index 00000000..bfe55408 --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/Listeners/VideoOverlayListener.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 0a314f018255a464e811cd284c5a546c +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers.meta b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers.meta new file mode 100644 index 00000000..32d4198c --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: 4fc55f6870f0443b986d0ef797cec697 +folderAsset: yes +timeCreated: 1434565928 +licenseType: Pro +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/DepthProvider.cs b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/DepthProvider.cs new file mode 100644 index 00000000..841a7b9f --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/DepthProvider.cs @@ -0,0 +1,66 @@ +/* + * Copyright 2014 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +using System; +using System.Collections; +using System.Runtime.InteropServices; +using UnityEngine; + +namespace Tango +{ + /// + /// Wraps depth related Tango Service functionality. + /// + public class DepthProvider + { + [UnmanagedFunctionPointer(CallingConvention.Cdecl)] + public delegate void TangoService_onDepthAvailable(IntPtr callbackContext, [In,Out] TangoXYZij xyzij); + + /// + /// Sets the callback that is called when new depth + /// points have been sampled by the Tango Service. + /// + /// Callback. + public static void SetCallback(TangoService_onDepthAvailable callback) + { + int returnValue = DepthAPI.TangoService_connectOnXYZijAvailable(callback); + if (returnValue != Common.ErrorType.TANGO_SUCCESS) + { + Debug.Log("DepthProvider.SetCallback() Callback was not set!"); + } + else + { + Debug.Log("DepthProvider.SetCallback() OnDepth callback was set!"); + } + } + + /// + /// Wraps depth functionality from Tango Service. + /// + private struct DepthAPI + { +#if UNITY_ANDROID && !UNITY_EDITOR + [DllImport(Common.TANGO_UNITY_DLL)] + public static extern int TangoService_connectOnXYZijAvailable(TangoService_onDepthAvailable onDepthAvailalble); + + #else + public static int TangoService_connectOnXYZijAvailable(TangoService_onDepthAvailable onDepthAvailalble) + { + return Common.ErrorType.TANGO_SUCCESS; + } +#endif + } + } +} diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/DepthProvider.cs.meta b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/DepthProvider.cs.meta new file mode 100644 index 00000000..26e5136e --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/DepthProvider.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 4f85e0005a0e34b3682bbe4bdc3f5067 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/PoseProvider.cs b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/PoseProvider.cs new file mode 100644 index 00000000..b619e33a --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/PoseProvider.cs @@ -0,0 +1,646 @@ +/* + * Copyright 2014 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +using System.Collections; +using System.Runtime.InteropServices; +using UnityEngine; +using System; + +namespace Tango +{ + /// + /// Provide pose related functionality. + /// + public class PoseProvider + { + + [UnmanagedFunctionPointer(CallingConvention.Cdecl)] + public delegate void TangoService_onPoseAvailable(IntPtr callbackContext, [In,Out] TangoPoseData pose); + + private static readonly string CLASS_NAME = "PoseProvider"; + private const float MOUSE_LOOK_SENSITIVITY = 100.0f; + private const float TRANSLATION_SPEED = 2.0f; + + // Keeps track of all the ADFs on the device. + private static UUID_list m_adfList = new UUID_list(); + + /// + /// Sets the callback to be used when a new Pose is + /// presented by the Tango Service. + /// + /// Callback. + public static void SetCallback(TangoCoordinateFramePair[] framePairs, TangoService_onPoseAvailable callback) + { + int returnValue = PoseProviderAPI.TangoService_connectOnPoseAvailable(framePairs.Length, framePairs, callback); + if (returnValue != Common.ErrorType.TANGO_SUCCESS) + { + Debug.Log(CLASS_NAME + ".SetCallback() Callback was not set!"); + } + else + { + Debug.Log(CLASS_NAME + ".SetCallback() OnPose callback was set!"); + } + } + + /// + /// Gets the pose at a given time. + /// + /// Pose data. + /// Time stamp. + public static void GetPoseAtTime([In,Out] TangoPoseData poseData, + double timeStamp, + TangoCoordinateFramePair framePair) + { + int returnValue = PoseProviderAPI.TangoService_getPoseAtTime(timeStamp, framePair, poseData); + if (returnValue != Common.ErrorType.TANGO_SUCCESS) + { + Debug.Log(CLASS_NAME + ".GetPoseAtTime() Could not get pose at time : " + timeStamp); + } + } + + /// + /// Sets the listener coordinate frame pairs. + /// + /// Count. + /// Frames. + public static void SetListenerCoordinateFramePairs(int count, + ref TangoCoordinateFramePair frames) + { + int returnValue = PoseProviderAPI.TangoService_setPoseListenerFrames (count, ref frames); + if (returnValue != Common.ErrorType.TANGO_SUCCESS) + { + Debug.Log(CLASS_NAME + ".SetListenerCoordinateFramePairs() Could not set frame pairs"); + } + } + + /// + /// Resets the motion tracking. + /// + public static void ResetMotionTracking() + { + PoseProviderAPI.TangoService_resetMotionTracking(); + } + + /// + /// Gets the mouse emulation. + /// + /// Controller postion. + /// Controller rotation. + public static void GetMouseEmulation(ref Vector3 controllerPostion, ref Quaternion controllerRotation) + { + Vector3 position = controllerPostion; + Quaternion rotation; + Vector3 directionForward, directionRight, directionUp; + float rotationX; + float rotationY; + + rotationX = controllerRotation.eulerAngles.x - Input.GetAxis("Mouse Y") * MOUSE_LOOK_SENSITIVITY * Time.deltaTime; + rotationY = controllerRotation.eulerAngles.y + Input.GetAxis("Mouse X") * MOUSE_LOOK_SENSITIVITY * Time.deltaTime; + Vector3 eulerAngles = new Vector3(rotationX,rotationY,0); + controllerRotation = Quaternion.Euler(eulerAngles.x, eulerAngles.y, eulerAngles.z); + rotation = Quaternion.Euler(eulerAngles); + + directionForward = rotation * Vector3.forward; + directionRight = rotation * Vector3.right; + directionUp = rotation * Vector3.up; + position = position + Input.GetAxis("Vertical") * directionForward * TRANSLATION_SPEED * Time.deltaTime; + position = position + Input.GetAxis("Horizontal") * directionRight * TRANSLATION_SPEED * Time.deltaTime; + if(Input.GetKey(KeyCode.R)) // Go Up + { + position += directionUp * TRANSLATION_SPEED * Time.deltaTime; + } + if(Input.GetKey(KeyCode.F)) // Go Down + { + position -= directionUp * TRANSLATION_SPEED * Time.deltaTime; + } + + controllerRotation = rotation; + controllerPostion = position; + } + + #region ADF Functionality + /// + /// Helper method to retrieve a list of saved area description files. + /// + /// The cached ADF list. + public static UUID_list GetCachedADFList() + { + return m_adfList; + } + + /// + /// Returns the UUID of the most recent ADF file. + /// + /// A string object encoded in UTF-8 format containing the UUID of the requested ADF. + public static UUIDUnityHolder GetLatestADFUUID() + { + if(m_adfList == null) + { + return null; + } + return (m_adfList.GetLatestADFUUID()); + } + + public static bool IsUUIDValid(UUIDUnityHolder toCheck) + { + return toCheck != null && toCheck.IsObjectValid(); + } + + /// + /// Gets the UUID of the ADF at the specified index. It will be encoded in UTF-8. + /// + /// The ADF UUID as string. + /// The ADF format that we want to know the UUID of. + public static string GetUUIDAsString(int index) + { + if(m_adfList == null) + { + return string.Empty; + } + return m_adfList.GetUUIDAsString(index); + } + + /// + /// Gets the UUID of the ADF at the specified index. It will be encoded in UTF-8. + /// + /// The ADF UUID as a char array. + /// The ADF format that we want to know the UUID of. + public static char[] GetUUIDAsCharArray(int index) + { + string uuidString = GetUUIDAsString(index); + if(String.IsNullOrEmpty(uuidString)) + { + return null; + } + return uuidString.ToCharArray(); + } + + /// + /// This method is used to make sure that we have the most up to date information about ADF + /// that are stored on device. It will make sure to cache it in a UUID_list object + /// for easier access without querying the device API again. This method will also + /// retrieve the UUID of each ADF by performing a Marshal.Copy and store the information + /// in a UUID object list. + /// + /// The ADF list. + public static int RefreshADFList() + { + int returnValue = Common.ErrorType.TANGO_ERROR; + IntPtr tempData = IntPtr.Zero; + returnValue = PoseProviderAPI.TangoService_getAreaDescriptionUUIDList(ref tempData); + + if(returnValue != Common.ErrorType.TANGO_SUCCESS) + { + Debug.Log(CLASS_NAME + ".RefreshADFList() Could not get ADF list from device."); + } + else + { + byte[] charBuffer = new byte[sizeof(char)]; + System.Collections.Generic.List dataHolder = new System.Collections.Generic.List(); + Marshal.Copy(tempData, charBuffer, 0, 1); + while (charBuffer[0] != 0 && charBuffer[0] != '\n') + { + dataHolder.Add(charBuffer[0]); + tempData = new IntPtr(tempData.ToInt64() + 1); + Marshal.Copy(tempData, charBuffer, 0, 1); + } + string uuidList = System.Text.Encoding.UTF8.GetString(dataHolder.ToArray()); + m_adfList.PopulateUUIDList(uuidList); + if(!m_adfList.HasEntries()) + { + + Debug.Log(CLASS_NAME + ".RefreshADFList() No area description files found on device."); + } + } + return returnValue; + } + + /// + /// Saves an area description to device based on the UUID object contained in the adfID object holder. + /// + /// Common.ErrorType.TANGO_SUCCESS if saving was successfull. + /// The UUIDUnityHolder object that contains the desired UUID object. + public static int SaveAreaDescription(UUIDUnityHolder adfUnityHolder) + { + // is learning mode on + // are we localized? + + if(adfUnityHolder == null) + { + Debug.Log(CLASS_NAME + ".SaveAreaDescription() Could not save area description. UUID Holder object specified is not initialized"); + return Common.ErrorType.TANGO_ERROR; + } + IntPtr idData = Marshal.AllocHGlobal(Common.UUID_LENGTH); + int returnValue = PoseProviderAPI.TangoService_saveAreaDescription(idData); + if (returnValue != Common.ErrorType.TANGO_SUCCESS) + { + Debug.Log(CLASS_NAME + ".SaveAreaDescripton() Could not save area description with ID: "+ adfUnityHolder.GetStringDataUUID()); + } + else + { + byte[] tempDataBuffer = new byte[Common.UUID_LENGTH]; + Marshal.Copy(idData, tempDataBuffer, 0, Common.UUID_LENGTH); + adfUnityHolder.SetDataUUID(tempDataBuffer); + } + return returnValue; + } + + /// + /// Saves the area description meta data with whatever metadata is set inside the adfUnityHolder object + /// + /// The area description meta data. + /// Adf unity holder. + public static int SaveAreaDescriptionMetaData(UUIDUnityHolder adfUnityHolder) + { + if(adfUnityHolder == null) + { + Debug.Log(CLASS_NAME + ".SaveAreaDescription() Could not save area description. UUID Holder object specified is not initialized"); + return Common.ErrorType.TANGO_ERROR; + } + if(string.IsNullOrEmpty(adfUnityHolder.GetStringDataUUID())) + { + Debug.Log(CLASS_NAME + ".MetaData cannot be retrived for the area description as UUIDUnityHolder object was empty or null."); + return Common.ErrorType.TANGO_ERROR; + } + if(adfUnityHolder.uuidMetaData.meta_data_pointer == IntPtr.Zero) + { + Debug.Log(CLASS_NAME + "metadata pointer is null, cannot save metadata to this ADF!"); + return Common.ErrorType.TANGO_ERROR; + } + Debug.Log("UUID being saved is: " + adfUnityHolder.GetStringDataUUID()); + int returnValue = PoseProviderAPI.TangoService_saveAreaDescriptionMetadata(adfUnityHolder.GetStringDataUUID(), adfUnityHolder.uuidMetaData.meta_data_pointer); + if(returnValue!=Common.ErrorType.TANGO_SUCCESS) + { + Debug.Log(CLASS_NAME + "Could not save metadata to the ADF!"); + } + return returnValue; + } + + /// + /// Takes care of saving a ADF file to the specified folder. + /// + /// Common.ErrorType.TANGO_SUCCESS if the ADF file was exported successfully. + /// The UUID of the ADF file we want to export. + /// File path where we want to export the ADF. + public static int ExportAreaDescriptionToFile(string UUID, string filePath) + { + if(string.IsNullOrEmpty(UUID)) + { + Debug.Log("Can't export an empty UUID. Please define one."); + return Common.ErrorType.TANGO_ERROR; + } + if(string.IsNullOrEmpty(filePath)) + { + Debug.Log("Missing file path for exporting area description. Please define one."); + return Common.ErrorType.TANGO_ERROR; + } + int returnValue = PoseProviderAPI.TangoService_exportAreaDescription(UUID, filePath); + if(returnValue != Common.ErrorType.TANGO_SUCCESS) + { + Debug.Log(CLASS_NAME + ".ExportAreaDescription() Could not export area description: " + UUID + + " with path: " + filePath); + } + return returnValue; + + } + + /// + /// Takes care of importing a adf file from the specified path. Important: make sure that the filepath + /// does not contain ADF files already present on device, otherwise it will return an error, as duplicates + /// can't be imported. + /// + /// Common.ErrorType.TANGO_SUCCESS if the UUID was imported successfully. + /// The UUIDUnityHolder object that will contain information about the retrieved ADF. + /// File path containing the ADF we want to export. + public static int ImportAreaDescriptionFromFile(UUIDUnityHolder adfID, string filePath) + { + if(adfID == null) + { + Debug.Log(CLASS_NAME + ".ImportAreaDescription() Could not import area description. UUID Holder object specified is not initialized"); + return Common.ErrorType.TANGO_ERROR; + } + IntPtr uuidHolder = Marshal.AllocHGlobal(Common.UUID_LENGTH); + int returnValue = PoseProviderAPI.TangoService_importAreaDescription(filePath, uuidHolder); + if(returnValue != Common.ErrorType.TANGO_SUCCESS) + { + Debug.Log(CLASS_NAME + ".ImportAreaDescription() Could not import area description at path: " + filePath); + } + else + { + byte[] tempDataBuffer = new byte[Common.UUID_LENGTH]; + Marshal.Copy(uuidHolder, tempDataBuffer, 0, Common.UUID_LENGTH); + adfID.SetDataUUID(tempDataBuffer); + } + return returnValue; + } + + /// + /// Deletes the area description with the specified UUID from the default folder where ADF maps are stored. + /// This needs to be called before trying to import a ADF that is already present in the default ADF maps folder. + /// + /// Common.ErrorType.TANGO_SUCCESS if the UUID was deleted successfully. + /// The UUID of the ADF we want to delete. + public static int DeleteAreaDescription(string toDeleteUUID) + { + if(string.IsNullOrEmpty(toDeleteUUID)) + { + Debug.Log(CLASS_NAME + ".DeleteAreaDescription() Could not delete area description, UUID was empty or null."); + return Common.ErrorType.TANGO_ERROR; + } + int returnValue = PoseProviderAPI.TangoService_deleteAreaDescription(toDeleteUUID); + if(returnValue != Common.ErrorType.TANGO_SUCCESS) + { + Debug.Log(CLASS_NAME + ".DeleteAreaDescription() Could not delete area description, API returned invalid."); + } + return returnValue; + } + #endregion // ADF Functionality + + #region ADF Metadata Functionality + + + /// + /// This function sets the pointer to metadatapointer in UUIDUnityHolder Object. + /// UUIDObjectHolder needs to be initialized and UUID data needs to be filled in before passing in to this + /// function. + /// + /// The area description meta data. + /// Adf unity holder with UUID data only should be passed into this function. If the data is valid, + /// this function sets the pointer to raw UUID metadata which can then be parsed using AreaDescriptionMetaData_get or set functions + public static int GetAreaDescriptionMetaData(UUIDUnityHolder adfUnityHolder) + { + if(string.IsNullOrEmpty(adfUnityHolder.GetStringDataUUID())) + { + Debug.Log(CLASS_NAME + ".MetaData cannot be retrived for the area description as UUIDUnityHolder object was empty or null."); + return Common.ErrorType.TANGO_ERROR; + } + int returnValue = PoseProviderAPI.TangoService_getAreaDescriptionMetadata(adfUnityHolder.GetStringDataUUID(), ref adfUnityHolder.uuidMetaData.meta_data_pointer); + if(returnValue != Common.ErrorType.TANGO_SUCCESS) + { + Debug.Log(CLASS_NAME + "Meta Data could not be loaded"); + } + Debug.Log("GetAreaDescription return value is: "+ returnValue.ToString()); + return returnValue; + } + + /// + /// /Populates the Metadata values of a given metadataPointer into a Dictionary object which can + /// then be used by application for listing the ADF's information. metaDataPointer should be initialized to + /// a valid MetaData by calling the getAreaDescriptionMetaData(). + /// + /// Tango Success if successful, else returns Invalid or Tango_Error type. + /// Metadata pointer. + /// M_ key value pairs. + public static int PopulateAreaDescriptionMetaDataKeyValues(IntPtr metadataPointer, ref System.Collections.Generic.Dictionary m_KeyValuePairs) + { + IntPtr keyList = IntPtr.Zero; + if(metadataPointer == IntPtr.Zero) + { + Debug.Log(CLASS_NAME + "metadata pointer is null, cannot save metadata to this ADF!"); + return Common.ErrorType.TANGO_ERROR; + } + int returnValue = PoseProviderAPI.TangoAreaDescriptionMetadata_listKeys(metadataPointer,ref keyList); + if(returnValue != Tango.Common.ErrorType.TANGO_SUCCESS) + { + Debug.Log("Could not read metadata keys list"); + } + string metadataKeys = Marshal.PtrToStringAuto(keyList); + string[] keys = metadataKeys.Split(new char[]{','}); + string[] values = new string[keys.Length]; + for(int i =0; i< values.Length; i++) + { + uint valuesize = 0; + IntPtr valuePointer = IntPtr.Zero; + PoseProviderAPI.TangoAreaDescriptionMetadata_get(metadataPointer,keys[i], ref valuesize,ref valuePointer); + byte[] valueByteArray = new byte[valuesize]; + Marshal.Copy(valuePointer,valueByteArray,0,(int)valuesize); + values[i] = System.Text.Encoding.UTF8.GetString(valueByteArray); + Debug.Log("Key Values are- " + keys[i]+": "+values[i]); + m_KeyValuePairs.Add(keys[i],values[i]); + } + return returnValue; + } + + /// + /// Gets the value of a key and populates into the "value" string object. adfUnitHolderObject + /// should be initialized with valid UUID before calling this function. + /// + /// The description meta data_get. + /// Key. + /// Value. + /// Adf unity holder. + public static int AreaDescriptionMetaData_get(String key, ref String value, UUIDUnityHolder adfUnityHolder) + { + if(string.IsNullOrEmpty(adfUnityHolder.GetStringDataUUID())) + { + Debug.Log(CLASS_NAME + ".MetaData cannot be retrived for the area description as UUIDUnityHolder object was empty or null."); + return Common.ErrorType.TANGO_ERROR; + } + uint valuesize = 0; + IntPtr valuePointer = IntPtr.Zero; + int returnValue = PoseProviderAPI.TangoAreaDescriptionMetadata_get(adfUnityHolder.uuidMetaData.meta_data_pointer, key, ref valuesize,ref valuePointer); + if(returnValue != Tango.Common.ErrorType.TANGO_SUCCESS) + { + Debug.Log("Could not read metadata key, Error return value is: " + returnValue); + return returnValue; + } + else + { + byte[] valueByteArray = new byte[valuesize]; + Marshal.Copy(valuePointer,valueByteArray,0,(int)valuesize); + value = System.Text.Encoding.UTF8.GetString(valueByteArray); + return returnValue; + } + } + + /// + /// Sets the AreaDescription MetaData to the UUID in the adfUnityHolder Object.Make sure adfUnityHolder already has + /// a pointer to the Metadata of the specified UUID by calling GetAreaDescriptionMetaData(). + /// + /// Returns Tango Success on successful set, else Returns Invalid or TangoError + /// Key. + /// Value. + /// Adf unity holder in which the metadata is cointained. + public static int AreaDescriptionMetaData_set(String key, String value, UUIDUnityHolder adfUnityHolder) + { + if(string.IsNullOrEmpty(adfUnityHolder.GetStringDataUUID())) + { + Debug.Log(CLASS_NAME + ".MetaData cannot be retrived for the area description as UUIDUnityHolder object was empty or null."); + return Common.ErrorType.TANGO_ERROR; + } + + int returnValue = PoseProviderAPI.TangoAreaDescriptionMetadata_set(adfUnityHolder.uuidMetaData.meta_data_pointer, key, (uint) value.Length, value); + if(returnValue != Tango.Common.ErrorType.TANGO_SUCCESS) + { + Debug.Log("Could not set Metadata Key, Error return value is: " + returnValue); + return returnValue; + } + else + { + Debug.Log("Metadata Set succesful, Key set is: "+ key+" Value set is: " + value); + return returnValue; + } + } + + #endregion // ADF Metadata Functionality + + #region API_Functions + private struct PoseProviderAPI + { + #if UNITY_ANDROID && !UNITY_EDITOR + + [DllImport(Common.TANGO_UNITY_DLL)] + public static extern int TangoService_connectOnPoseAvailable(int count, + TangoCoordinateFramePair[] framePairs, + TangoService_onPoseAvailable onPoseAvailable); + + + [DllImport(Common.TANGO_UNITY_DLL)] + public static extern int TangoService_getPoseAtTime (double timestamp, + TangoCoordinateFramePair framePair, + [In, Out] TangoPoseData pose); + + [DllImport(Common.TANGO_UNITY_DLL)] + public static extern int TangoService_setPoseListenerFrames(int count, + ref TangoCoordinateFramePair frames); + + [DllImport(Common.TANGO_UNITY_DLL)] + public static extern void TangoService_resetMotionTracking(); + + [DllImport(Common.TANGO_UNITY_DLL)] + public static extern int TangoService_saveAreaDescription(IntPtr uuid); + + [DllImport(Common.TANGO_UNITY_DLL)] + public static extern int TangoService_getAreaDescriptionUUIDList(ref IntPtr uuid_list); + + [DllImport(Common.TANGO_UNITY_DLL)] + public static extern int TangoService_getAreaDescriptionMetadata([MarshalAs(UnmanagedType.LPStr)] string uuid, + ref IntPtr metadata); + + [DllImport(Common.TANGO_UNITY_DLL)] + public static extern int TangoService_saveAreaDescriptionMetadata([MarshalAs(UnmanagedType.LPStr)] string uuid, + IntPtr metadata); + + [DllImport(Common.TANGO_UNITY_DLL)] + public static extern int TangoService_importAreaDescription([MarshalAs(UnmanagedType.LPStr)] string source_file_path, IntPtr UUID); + + [DllImport(Common.TANGO_UNITY_DLL)] + public static extern int TangoService_exportAreaDescription([MarshalAs(UnmanagedType.LPStr)] string UUID, + [MarshalAs(UnmanagedType.LPStr)] string dst_file_path); + [DllImport(Common.TANGO_UNITY_DLL)] + public static extern int TangoService_deleteAreaDescription([MarshalAs(UnmanagedType.LPStr)] string UUID); + + [DllImport(Common.TANGO_UNITY_DLL)] + public static extern int TangoAreaDescriptionMetadata_free(IntPtr metadata); + + [DllImport(Common.TANGO_UNITY_DLL)] + public static extern int TangoAreaDescriptionMetadata_get(IntPtr metadata, [MarshalAs(UnmanagedType.LPStr)] string key, + ref UInt32 value_size, ref IntPtr value); + + [DllImport(Common.TANGO_UNITY_DLL)] + public static extern int TangoAreaDescriptionMetadata_set(IntPtr metadata, [MarshalAs(UnmanagedType.LPStr)] string key, + UInt32 value_size, [MarshalAs(UnmanagedType.LPStr)] string value); + + [DllImport(Common.TANGO_UNITY_DLL)] + public static extern int TangoAreaDescriptionMetadata_listKeys(IntPtr metadata, ref IntPtr key_list); + #else + public static int TangoService_connectOnPoseAvailable(int count, + TangoCoordinateFramePair[] framePairs, + TangoService_onPoseAvailable onPoseAvailable) + { + return Common.ErrorType.TANGO_SUCCESS; + } + + public static int TangoService_getPoseAtTime (double timestamp, + TangoCoordinateFramePair framePair, + [In, Out] TangoPoseData pose) + { + return Common.ErrorType.TANGO_SUCCESS; + } + + public static int TangoService_setPoseListenerFrames(int count, + ref TangoCoordinateFramePair frames) + { + return Common.ErrorType.TANGO_SUCCESS; + } + + public static void TangoService_resetMotionTracking() + { + } + + public static int TangoService_saveAreaDescription(IntPtr uuid) + { + return Common.ErrorType.TANGO_SUCCESS; + } + + public static int TangoService_getAreaDescriptionUUIDList(ref IntPtr uuid_list) + { + return Common.ErrorType.TANGO_SUCCESS; + } + + public static int TangoService_getAreaDescriptionMetadata([MarshalAs(UnmanagedType.LPStr)] string uuid, + ref IntPtr metadata) + { + return Common.ErrorType.TANGO_SUCCESS; + } + + public static int TangoService_saveAreaDescriptionMetadata([MarshalAs(UnmanagedType.LPStr)] string uuid, + IntPtr metadata) + { + return Common.ErrorType.TANGO_SUCCESS; + } + + public static int TangoService_importAreaDescription([MarshalAs(UnmanagedType.LPStr)] string source_file_path, IntPtr UUID) + { + return Common.ErrorType.TANGO_SUCCESS; + } + + public static int TangoService_exportAreaDescription([MarshalAs(UnmanagedType.LPStr)] string UUID, + [MarshalAs(UnmanagedType.LPStr)] string dst_file_path) + { + return Common.ErrorType.TANGO_SUCCESS; + } + + public static int TangoService_deleteAreaDescription([MarshalAs(UnmanagedType.LPStr)] string UUID) + { + return Common.ErrorType.TANGO_SUCCESS; + } + + public static int TangoAreaDescriptionMetadata_free(IntPtr metadata) + { + return Common.ErrorType.TANGO_SUCCESS; + } + + public static int TangoAreaDescriptionMetadata_get(IntPtr metadata, [MarshalAs(UnmanagedType.LPStr)] string key, + ref UInt32 value_size, ref IntPtr value) + { + return Common.ErrorType.TANGO_SUCCESS; + } + + public static int TangoAreaDescriptionMetadata_set(IntPtr metadata, [MarshalAs(UnmanagedType.LPStr)] string key, + UInt32 value_size, [MarshalAs(UnmanagedType.LPStr)] string value) + { + return Common.ErrorType.TANGO_SUCCESS; + } + + public static int TangoAreaDescriptionMetadata_listKeys(IntPtr metadata, ref IntPtr key_list) + { + return Common.ErrorType.TANGO_SUCCESS; + } + #endif + } + #endregion + } +} diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/PoseProvider.cs.meta b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/PoseProvider.cs.meta new file mode 100644 index 00000000..49470cfc --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/PoseProvider.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 3128245d08d144b25afc39da1613490d +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoApplication.cs b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoApplication.cs new file mode 100644 index 00000000..140f3d2c --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoApplication.cs @@ -0,0 +1,981 @@ +/* + * Copyright 2014 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +using System; +using System.Collections; +using System.Runtime.InteropServices; +using System.IO; +using System.Linq; +using UnityEngine; +using System.Reflection; + +namespace Tango +{ + public delegate void PermissionsEvent(bool permissionsGranted); + + /// + /// Entry point of Tango applications, maintain the application handler. + /// + public class TangoApplication : MonoBehaviour + { + /// + /// Permission types used by Tango applications. + /// + [Flags] + private enum PermissionsTypes + { + // All entries must be a power of two for + // use in a bit field as flags. + NONE = 0, + MOTION_TRACKING = 0x1, + AREA_LEARNING = 0x2, + } + + public bool m_enableMotionTracking = true; + public bool m_enableDepth = true; + public bool m_enableVideoOverlay = false; + public bool m_motionTrackingAutoReset = true; + public bool m_enableAreaLearning = false; + public bool m_enableUXLibrary = true; + public bool m_drawDefaultUXExceptions = true; + public bool m_useExperimentalVideoOverlay = true; + public bool m_useExperimentalADF = false; + public bool m_useLowLatencyIMUIntegration = true; + private static string m_tangoServiceVersion = string.Empty; + private const string CLASS_NAME = "TangoApplication"; + private const string ANDROID_PRO_LABEL_TEXT = "Tango plugin requires Unity Android Pro!"; + private const float ANDROID_PRO_LABEL_PERCENT_X = 0.5f; + private const float ANDROID_PRO_LABEL_PERCENT_Y = 0.5f; + private const float ANDROID_PRO_LABEL_WIDTH = 200.0f; + private const float ANDROID_PRO_LABEL_HEIGHT = 200.0f; + private const string DEFAULT_AREA_DESCRIPTION = "/sdcard/defaultArea"; + private const string MOTION_TRACKING_LOG_PREFIX = "Motion tracking mode : "; + private const int MINIMUM_API_VERSION = 1978; + + private event PermissionsEvent m_permissionEvent; + + private PermissionsTypes m_requiredPermissions = 0; + private static bool m_isValidTangoAPIVersion = false; + private static bool m_hasVersionBeenChecked = false; + private DepthProvider m_depthProvider; + private IntPtr m_callbackContext = IntPtr.Zero; + private bool m_isServiceConnected = false; + private bool m_shouldReconnectService = false; + private bool m_isDisconnecting = false; + private bool m_sendPermissions = false; + private bool m_permissionsSuccessful = false; + private PoseListener m_poseListener; + private DepthListener m_depthListener; + private VideoOverlayListener m_videoOverlayListener; + private TangoEventListener m_tangoEventListener; + private YUVTexture m_yuvTexture; + + /// + /// Gets the video overlay texture. + /// + /// The video overlay texture. + public YUVTexture GetVideoOverlayTextureYUV() + { + return m_yuvTexture; + } + + /// + /// Gets the tango service version. + /// + /// The tango service version. + public static string GetTangoServiceVersion() + { + if (m_tangoServiceVersion == string.Empty) + { + m_tangoServiceVersion = AndroidHelper.GetVersionName("com.projecttango.tango"); + } + + return m_tangoServiceVersion; + } + + /// + /// Register the specified tangoObject. + /// + /// Tango object. + public void Register(System.Object tangoObject) + { + if (m_enableMotionTracking) + { + ITangoPose poseHandler = tangoObject as ITangoPose; + + if (poseHandler != null) + { + RegisterOnTangoPoseEvent(poseHandler.OnTangoPoseAvailable); + } + } + + if (m_enableDepth) + { + ITangoDepth depthHandler = tangoObject as ITangoDepth; + + if (depthHandler != null) + { + RegisterOnTangoDepthEvent(depthHandler.OnTangoDepthAvailable); + } + } + + if (m_enableVideoOverlay) + { + if (m_useExperimentalVideoOverlay) + { + IExperimentalTangoVideoOverlay videoOverlayHandler = tangoObject as IExperimentalTangoVideoOverlay; + + if (videoOverlayHandler != null) + { + RegisterOnExperimentalTangoVideoOverlay(videoOverlayHandler.OnExperimentalTangoImageAvailable); + } + } + else + { + ITangoVideoOverlay videoOverlayHandler = tangoObject as ITangoVideoOverlay; + + if (videoOverlayHandler != null) + { + RegisterOnTangoVideoOverlay(videoOverlayHandler.OnTangoImageAvailableEventHandler); + } + } + } + + if(m_enableUXLibrary) + { + ITangoUX tangoUX = tangoObject as ITangoUX; + + if(tangoUX != null) + { + UxExceptionListener.GetInstance.RegisterOnMovingTooFast(tangoUX.onMovingTooFastEventHandler); + UxExceptionListener.GetInstance.RegisterOnMotionTrackingInvalid(tangoUX.onMotionTrackingInvalidEventHandler); + UxExceptionListener.GetInstance.RegisterOnLyingOnSurface(tangoUX.onLyingOnSurfaceEventHandler); + UxExceptionListener.GetInstance.RegisterOnCameraOverExposed(tangoUX.onCameraOverExposedEventHandler); + UxExceptionListener.GetInstance.RegisterOnCamerUnderExposed(tangoUX.onCameraUnderExposedEventHandler); + UxExceptionListener.GetInstance.RegisterOnTangoServiceNotResponding(tangoUX.onTangoServiceNotRespondingEventHandler); + UxExceptionListener.GetInstance.RegisterOnTooFewFeatures(tangoUX.onTooFewFeaturesEventHandler); + UxExceptionListener.GetInstance.RegisterOnTooFewPoints(tangoUX.onTooFewPointsEventHandler); + UxExceptionListener.GetInstance.RegisterOnVersionUpdateNeeded(tangoUX.onVersionUpdateNeededEventHandler); + UxExceptionListener.GetInstance.RegisterOnIncompatibleVMFound(tangoUX.onIncompatibleVMFoundEventHandler); + } + } + } + + /// + /// Unregister the specified tangoObject. + /// + /// Tango object. + public void Unregister(System.Object tangoObject) + { + if (m_enableMotionTracking) + { + ITangoPose poseHandler = tangoObject as ITangoPose; + + if (poseHandler != null) + { + UnregisterOnTangoPoseEvent(poseHandler.OnTangoPoseAvailable); + } + } + + if (m_enableDepth) + { + ITangoDepth depthHandler = tangoObject as ITangoDepth; + + if (depthHandler != null) + { + UnregisterOnTangoDepthEvent(depthHandler.OnTangoDepthAvailable); + } + } + + if (m_enableVideoOverlay) + { + if (m_useExperimentalVideoOverlay) + { + IExperimentalTangoVideoOverlay videoOverlayHandler = tangoObject as IExperimentalTangoVideoOverlay; + + if (videoOverlayHandler != null) + { + UnregisterOnExperimentalTangoVideoOverlay(videoOverlayHandler.OnExperimentalTangoImageAvailable); + } + } else + { + ITangoVideoOverlay videoOverlayHandler = tangoObject as ITangoVideoOverlay; + + if (videoOverlayHandler != null) + { + UnregisterOnTangoVideoOverlay(videoOverlayHandler.OnTangoImageAvailableEventHandler); + } + } + } + + if(m_enableUXLibrary) + { + ITangoUX tangoUX = tangoObject as ITangoUX; + + if(tangoUX != null) + { + UxExceptionListener.GetInstance.UnregisterOnMovingTooFast(tangoUX.onMovingTooFastEventHandler); + UxExceptionListener.GetInstance.UnregisterOnMotionTrackingInvalid(tangoUX.onMotionTrackingInvalidEventHandler); + UxExceptionListener.GetInstance.UnregisterOnLyingOnSurface(tangoUX.onLyingOnSurfaceEventHandler); + UxExceptionListener.GetInstance.UnregisterOnCameraOverExposed(tangoUX.onCameraOverExposedEventHandler); + UxExceptionListener.GetInstance.UnregisterOnCamerUnderExposed(tangoUX.onCameraUnderExposedEventHandler); + UxExceptionListener.GetInstance.UnregisterOnTangoServiceNotResponding(tangoUX.onTangoServiceNotRespondingEventHandler); + UxExceptionListener.GetInstance.UnregisterOnTooFewFeatures(tangoUX.onTooFewFeaturesEventHandler); + UxExceptionListener.GetInstance.UnregisterOnTooFewPoints(tangoUX.onTooFewPointsEventHandler); + UxExceptionListener.GetInstance.UnregisterOnVersionUpdateNeeded(tangoUX.onVersionUpdateNeededEventHandler); + UxExceptionListener.GetInstance.UnregisterOnIncompatibleVMFound(tangoUX.onIncompatibleVMFoundEventHandler); + } + } + } + + /// + /// Registers the on tango pose event. + /// + /// Handler. + public void RegisterOnTangoPoseEvent(OnTangoPoseAvailableEventHandler handler) + { + if (m_poseListener != null) + { + m_poseListener.RegisterTangoPoseAvailable(handler); + } + } + + /// + /// Registers the on tango depth event. + /// + /// Handler. + public void RegisterOnTangoDepthEvent(OnTangoDepthAvailableEventHandler handler) + { + if (m_depthListener != null) + { + m_depthListener.RegisterOnTangoDepthAvailable(handler); + } + } + + /// + /// Registers the on tango event. + /// + /// Handler. + public void RegisterOnTangoEvent(OnTangoEventAvailableEventHandler handler) + { + if (m_tangoEventListener != null) + { + m_tangoEventListener.RegisterOnTangoEventAvailable(handler); + } + } + + /// + /// Registers the on tango video overlay. + /// + /// Handler. + public void RegisterOnTangoVideoOverlay(OnTangoImageAvailableEventHandler handler) + { + if (m_videoOverlayListener != null) + { + m_videoOverlayListener.RegisterOnTangoImageAvailable(handler); + } + } + + /// + /// Registers the on experimental tango video overlay. + /// + /// Handler. + public void RegisterOnExperimentalTangoVideoOverlay(OnExperimentalTangoImageAvailableEventHandler handler) + { + if (m_videoOverlayListener != null) + { + m_videoOverlayListener.RegisterOnExperimentalTangoImageAvailable(handler); + } + } + + /// + /// Determines if has requested permissions. + /// + /// true if has requested permissions; otherwise, false. + public bool HasRequestedPermissions() + { + return (m_requiredPermissions == PermissionsTypes.NONE); + } + + /// + /// Registers the permissions callback. + /// + /// Permissions event handler. + public void RegisterPermissionsCallback(PermissionsEvent permissionsEventHandler) + { + if (permissionsEventHandler != null) + { + m_permissionEvent += permissionsEventHandler; + } + } + + /// + /// Unregisters the on tango pose event. + /// + /// Handler. + public void UnregisterOnTangoPoseEvent(OnTangoPoseAvailableEventHandler handler) + { + if (m_poseListener != null) + { + m_poseListener.UnregisterTangoPoseAvailable(handler); + } + } + + /// + /// Unregisters the on tango depth event. + /// + /// Handler. + public void UnregisterOnTangoDepthEvent(OnTangoDepthAvailableEventHandler handler) + { + if (m_depthListener != null) + { + m_depthListener.UnregisterOnTangoDepthAvailable(handler); + } + } + + /// + /// Unregisters the on tango event. + /// + /// Handler. + public void UnregisterOnTangoEvent(OnTangoEventAvailableEventHandler handler) + { + if (m_tangoEventListener != null) + { + m_tangoEventListener.UnregisterOnTangoEventAvailable(handler); + } + } + + /// + /// Unregisters the on tango video overlay. + /// + /// Handler. + public void UnregisterOnTangoVideoOverlay(OnTangoImageAvailableEventHandler handler) + { + if (m_videoOverlayListener != null) + { + m_videoOverlayListener.UnregisterOnTangoImageAvailable(handler); + } + } + + /// + /// Unregisters the on experimental tango video overlay. + /// + /// Handler. + public void UnregisterOnExperimentalTangoVideoOverlay(OnExperimentalTangoImageAvailableEventHandler handler) + { + if (m_videoOverlayListener != null) + { + m_videoOverlayListener.UnregisterOnExperimentalTangoImageAvailable(handler); + } + } + + /// + /// Removes the permissions callback. + /// + /// Permissions event handler. + public void RemovePermissionsCallback(PermissionsEvent permissionsEventHandler) + { + if (permissionsEventHandler != null) + { + m_permissionEvent -= permissionsEventHandler; + } + } + + + /// + /// Requests the necessary permissions for Tango functionality. + /// + public void RequestNecessaryPermissionsAndConnect() + { + _ResetPermissionsFlags(); + _RequestNextPermission(); + } + + /// + /// Initialize Tango Service and Config. + /// + public void InitApplication() + { + Debug.Log("-----------------------------------Initializing Tango"); + _TangoInitialize(); + TangoConfig.InitConfig(TangoEnums.TangoConfigType.TANGO_CONFIG_DEFAULT); + + if(m_enableVideoOverlay && m_useExperimentalVideoOverlay) + { + int yTextureWidth = 0; + int yTextureHeight = 0; + int uvTextureWidth = 0; + int uvTextureHeight = 0; + + TangoConfig.GetInt32(TangoConfig.Keys.EXPERIMENTAL_Y_TEXTURE_WIDTH, ref yTextureWidth); + TangoConfig.GetInt32(TangoConfig.Keys.EXPERIMENTAL_Y_TEXTURE_HEIGHT, ref yTextureHeight); + TangoConfig.GetInt32(TangoConfig.Keys.EXPERIMENTAL_UV_TEXTURE_WIDTH, ref uvTextureWidth); + TangoConfig.GetInt32(TangoConfig.Keys.EXPERIMENTAL_UV_TEXTURE_HEIGHT, ref uvTextureHeight); + + if(yTextureWidth == 0 || + yTextureHeight == 0 || + uvTextureWidth == 0 || + uvTextureHeight == 0) + { + Debug.Log("Video overlay texture sizes were not set properly"); + } + + m_yuvTexture.ResizeAll(yTextureWidth, yTextureHeight, uvTextureWidth, uvTextureHeight); + } + } + + /// + /// Initialize the providers. + /// + /// UUID to be loaded, if any. + public void InitProviders(string UUID) + { + _InitializeMotionTracking(UUID); + _InitializeDepth(); + //_InitializeOverlay(); + _SetEventCallbacks(); + } + + /// + /// Connects to Tango Service. + /// + public void ConnectToService() + { + Debug.Log("TangoApplication.ConnectToService()"); + _TangoConnect(); + } + + /// + /// Shutdown this instance. + /// + public void Shutdown() + { + Debug.Log("Tango Shutdown"); + TangoConfig.Free(); + _TangoDisconnect(); + } + + /// + /// Helper method that will resume the tango services on App Resume. + /// Locks the config again and connects the service. + /// + private void _ResumeTangoServices() + { + RequestNecessaryPermissionsAndConnect(); + } + + /// + /// Helper method that will suspend the tango services on App Suspend. + /// Unlocks the tango config and disconnects the service. + /// + private void _SuspendTangoServices() + { + Debug.Log("Suspending Tango Service"); + _TangoDisconnect(); + } + + /// + /// Set callbacks on all PoseListener objects. + /// + /// Frame pairs. + private void _SetMotionTrackingCallbacks(TangoCoordinateFramePair[] framePairs) + { + if (m_poseListener != null) + { + m_poseListener.AutoReset = m_motionTrackingAutoReset; + m_poseListener.SetCallback(framePairs); + } + } + + /// + /// Set callbacks for all DepthListener objects. + /// + private void _SetDepthCallbacks() + { + if (m_depthListener != null) + { + m_depthListener.SetCallback(); + } + } + + /// + /// Set callbacks for all TangoEventListener objects. + /// + private void _SetEventCallbacks() + { + if (m_tangoEventListener != null) + { + m_tangoEventListener.SetCallback(); + } + } + + /// + /// Set callbacks for all VideoOverlayListener objects. + /// + private void _SetVideoOverlayCallbacks() + { + if (m_videoOverlayListener != null) + { + m_videoOverlayListener.SetCallback(TangoEnums.TangoCameraId.TANGO_CAMERA_COLOR, m_useExperimentalVideoOverlay, m_yuvTexture); + } + } + + /// + /// Initialize motion tracking. + /// + private void _InitializeMotionTracking(string UUID) + { + System.Collections.Generic.List framePairs = new System.Collections.Generic.List(); + + if (TangoConfig.SetBool(TangoConfig.Keys.ENABLE_MOTION_TRACKING_BOOL, m_enableMotionTracking) && m_enableMotionTracking) + { + TangoCoordinateFramePair motionTracking; + motionTracking.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE; + motionTracking.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE; + framePairs.Add(motionTracking); + + if (TangoConfig.SetBool(TangoConfig.Keys.ENABLE_AREA_LEARNING_BOOL, m_enableAreaLearning) && m_enableAreaLearning) + { + Debug.Log("Area Learning is enabled."); + if (!string.IsNullOrEmpty(UUID)) + { + TangoConfig.SetBool("config_experimental_high_accuracy_small_scale_adf", m_useExperimentalADF); + TangoConfig.SetString(TangoConfig.Keys.LOAD_AREA_DESCRIPTION_UUID_STRING, UUID); + } + + TangoCoordinateFramePair areaDescription; + areaDescription.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_AREA_DESCRIPTION; + areaDescription.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE; + + TangoCoordinateFramePair startToADF; + startToADF.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_AREA_DESCRIPTION; + startToADF.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE; + + framePairs.Add(areaDescription); + framePairs.Add(startToADF); + } + } + + if (framePairs.Count > 0) + { + _SetMotionTrackingCallbacks(framePairs.ToArray()); + } + + TangoConfig.SetBool(TangoConfig.Keys.ENABLE_LOW_LATENCY_IMU_INTEGRATION, m_useLowLatencyIMUIntegration); + TangoConfig.SetBool(TangoConfig.Keys.ENABLE_MOTION_TRACKING_AUTO_RECOVERY_BOOL, m_motionTrackingAutoReset); + } + + /// + /// Initialize depth perception. + /// + private void _InitializeDepth() + { + if (TangoConfig.SetBool(TangoConfig.Keys.ENABLE_DEPTH_PERCEPTION_BOOL, m_enableDepth) && m_enableDepth) + { + _SetDepthCallbacks(); + } + } + + /// + /// Initialize the RGB overlay. + /// + private void _InitializeOverlay() + { + _SetVideoOverlayCallbacks(); + } + + /// + /// Initialize the Tango Service. + /// + private void _TangoInitialize() + { + if (_IsValidTangoAPIVersion()) + { + int status = TangoServiceAPI.TangoService_initialize(IntPtr.Zero, IntPtr.Zero); + if (status != Common.ErrorType.TANGO_SUCCESS) + { + Debug.Log("-------------------Tango initialize status : " + status); + Debug.Log(CLASS_NAME + ".Initialize() The service has not been initialized!"); + } else + { + Debug.Log(CLASS_NAME + ".Initialize() Tango was initialized!"); + } + } else + { + Debug.Log(CLASS_NAME + ".Initialize() Invalid API version. please update to minimul API version."); + } + } + + /// + /// Connect to the Tango Service. + /// + private void _TangoConnect() + { + if (!m_isServiceConnected) + { + m_isServiceConnected = true; + AndroidHelper.PerformanceLog("Unity _TangoConnect start"); + if (TangoServiceAPI.TangoService_connect(m_callbackContext, TangoConfig.GetConfig()) != Common.ErrorType.TANGO_SUCCESS) + { + Debug.Log(CLASS_NAME + ".Connect() Could not connect to the Tango Service!"); + } else + { + AndroidHelper.PerformanceLog("Unity _TangoConnect end"); + Debug.Log(CLASS_NAME + ".Connect() Tango client connected to service!"); + + if (m_enableUXLibrary) + { + AndroidHelper.StartTangoUX(); + } + } + } + } + + /// + /// Disconnect from the Tango Service. + /// + private void _TangoDisconnect() + { + Debug.Log(CLASS_NAME + ".Disconnect() Disconnecting from the Tango Service"); + m_isDisconnecting = true; + m_isServiceConnected = false; + if (TangoServiceAPI.TangoService_disconnect() != Common.ErrorType.TANGO_SUCCESS) + { + Debug.Log(CLASS_NAME + ".Disconnect() Could not disconnect from the Tango Service!"); + m_isDisconnecting = false; + } else + { + Debug.Log(CLASS_NAME + ".Disconnect() Tango client disconnected from service!"); + m_isDisconnecting = false; + + if (m_enableUXLibrary) + { + AndroidHelper.StopTangoUX(); + } + } + } + + /// + /// Checks to see if the current Tango Service is supported. + /// + /// true, if is valid tango API version is greater + /// than or equal to the minimum supported version, false otherwise. + private bool _IsValidTangoAPIVersion() + { + if (!m_hasVersionBeenChecked) + { + int versionCode = _GetTangoAPIVersion(); + if (versionCode < 0) + { + m_isValidTangoAPIVersion = false; + } else + { + m_isValidTangoAPIVersion = (versionCode >= MINIMUM_API_VERSION); + } + + m_hasVersionBeenChecked = true; + } + + return m_isValidTangoAPIVersion; + } + + /// + /// Gets the get tango API version code. + /// + /// The get tango API version code. + private static int _GetTangoAPIVersion() + { + return AndroidHelper.GetVersionCode("com.projecttango.tango"); + } + + /// + /// Android on pause. + /// + private void _androidOnPause() + { + if (m_isServiceConnected && m_requiredPermissions == PermissionsTypes.NONE) + { + Debug.Log("Pausing services"); + m_shouldReconnectService = true; + _SuspendTangoServices(); + } + Debug.Log("androidOnPause done"); + } + + /// + /// Android on resume. + /// + private void _androidOnResume() + { + if (m_shouldReconnectService) + { + Debug.Log("Resuming services"); + m_shouldReconnectService = false; + _ResumeTangoServices(); + } + Debug.Log("androidOnResume done"); + } + + /// + /// EventHandler for Android's on activity result. + /// + /// Request code. + /// Result code. + /// Data. + private void _androidOnActivityResult(int requestCode, int resultCode, AndroidJavaObject data) + { + Debug.Log("Activity returned result code : " + resultCode); + + switch (requestCode) + { + case Common.TANGO_MOTION_TRACKING_PERMISSIONS_REQUEST_CODE: + { + if (resultCode == (int)Common.AndroidResult.SUCCESS) + { + _FlipBitAndCheckPermissions(PermissionsTypes.MOTION_TRACKING); + } else + { + _PermissionWasDenied(); + } + break; + } + case Common.TANGO_ADF_LOAD_SAVE_PERMISSIONS_REQUEST_CODE: + { + if (resultCode == (int)Common.AndroidResult.SUCCESS) + { + _FlipBitAndCheckPermissions(PermissionsTypes.AREA_LEARNING); + } else + { + _PermissionWasDenied(); + } + break; + } + default: + { + break; + } + } + Debug.Log("Activity returned result end"); + } + + /// + /// Start exceptions listener. + /// + /// The start exceptions listener. + private IEnumerator _StartExceptionsListener() + { + AndroidHelper.ShowStandardTangoExceptionsUI(m_drawDefaultUXExceptions); + AndroidHelper.SetTangoExceptionsListener(); + yield return 0; + } + + /// + /// Awake this instance. + /// + private void Awake() + { + AndroidHelper.RegisterPauseEvent(_androidOnPause); + AndroidHelper.RegisterResumeEvent(_androidOnResume); + AndroidHelper.RegisterOnActivityResultEvent(_androidOnActivityResult); + + if (m_enableMotionTracking) + { + m_poseListener = new PoseListener(); + } + + if (m_enableDepth) + { + m_depthListener = new DepthListener(); + } + + if (m_enableUXLibrary) + { + m_tangoEventListener = new TangoEventListener(); + } + + if (m_enableVideoOverlay) + { + int yTextureWidth = 0; + int yTextureHeight = 0; + int uvTextureWidth = 0; + int uvTextureHeight = 0; + + m_yuvTexture = new YUVTexture(yTextureWidth, yTextureHeight, uvTextureWidth, uvTextureHeight, TextureFormat.RGBA32, false); + m_videoOverlayListener = new VideoOverlayListener(); + } + } + + /// + /// Reset permissions flags. + /// + private void _ResetPermissionsFlags() + { + if (m_requiredPermissions == PermissionsTypes.NONE) + { + m_requiredPermissions |= m_enableMotionTracking ? PermissionsTypes.MOTION_TRACKING : PermissionsTypes.NONE; + m_requiredPermissions |= m_enableAreaLearning ? PermissionsTypes.AREA_LEARNING : PermissionsTypes.NONE; + } + } + + /// + /// Flip a permission bit and check to see if all permissions were accepted. + /// + /// Permission. + private void _FlipBitAndCheckPermissions(PermissionsTypes permission) + { + m_requiredPermissions ^= permission; + + if (m_requiredPermissions == 0) // all permissions are good! + { + Debug.Log("All permissions have been accepted!"); + _SendPermissionEvent(true); + } else + { + _RequestNextPermission(); + } + } + + /// + /// A Tango permission was denied. + /// + private void _PermissionWasDenied() + { + m_requiredPermissions = PermissionsTypes.NONE; + if (m_permissionEvent != null) + { + _SendPermissionEvent(false); + } + } + + /// + /// Request next permission. + /// + private void _RequestNextPermission() + { + Debug.Log("TangoApplication._RequestNextPermission()"); + + // if no permissions are needed let's kick-off the Tango connect + if (m_requiredPermissions == PermissionsTypes.NONE) + { + _SendPermissionEvent(true); + } + + if ((m_requiredPermissions & PermissionsTypes.MOTION_TRACKING) == PermissionsTypes.MOTION_TRACKING) + { + if (AndroidHelper.ApplicationHasTangoPermissions(Common.TANGO_MOTION_TRACKING_PERMISSIONS)) + { + _androidOnActivityResult(Common.TANGO_MOTION_TRACKING_PERMISSIONS_REQUEST_CODE, -1, null); + } else + { + AndroidHelper.StartTangoPermissionsActivity(Common.TANGO_MOTION_TRACKING_PERMISSIONS); + } + } else if ((m_requiredPermissions & PermissionsTypes.AREA_LEARNING) == PermissionsTypes.AREA_LEARNING) + { + if (AndroidHelper.ApplicationHasTangoPermissions(Common.TANGO_ADF_LOAD_SAVE_PERMISSIONS)) + { + _androidOnActivityResult(Common.TANGO_ADF_LOAD_SAVE_PERMISSIONS_REQUEST_CODE, -1, null); + } else + { + AndroidHelper.StartTangoPermissionsActivity(Common.TANGO_ADF_LOAD_SAVE_PERMISSIONS); + } + } + } + + /// + /// Sends the permission event. + /// + /// If set to true permissions. + private void _SendPermissionEvent(bool permissions) + { + if (m_enableUXLibrary && permissions) + { + StartCoroutine(_StartExceptionsListener()); + } + + m_sendPermissions = true; + m_permissionsSuccessful = permissions; + } + + /// + /// Disperse any events related to Tango functionality. + /// + private void Update() + { + if (m_sendPermissions) + { + _InitializeOverlay(); + if (m_permissionEvent != null) + { + m_permissionEvent(m_permissionsSuccessful); + } + m_sendPermissions = false; + } + + if (m_poseListener != null) + { + m_poseListener.SendPoseIfAvailable(m_enableUXLibrary); + } + + if (m_tangoEventListener != null) + { + m_tangoEventListener.SendIfTangoEventAvailable(m_enableUXLibrary); + } + + if (m_depthListener != null) + { + m_depthListener.SendDepthIfAvailable(); + } + + if (m_videoOverlayListener != null) + { + m_videoOverlayListener.SendIfVideoOverlayAvailable(); + } + } + + #region NATIVE_FUNCTIONS + /// + /// Interface for native function calls to Tango Service. + /// + private struct TangoServiceAPI + { + #if UNITY_ANDROID && !UNITY_EDITOR + [DllImport(Common.TANGO_UNITY_DLL)] + public static extern int TangoService_initialize (IntPtr JNIEnv, IntPtr appContext); + + [DllImport(Common.TANGO_UNITY_DLL)] + public static extern int TangoService_connect (IntPtr callbackContext, IntPtr config); + + [DllImport(Common.TANGO_UNITY_DLL)] + public static extern int TangoService_disconnect (); + #else + public static int TangoService_initialize(IntPtr JNIEnv, IntPtr appContext) + { + return Common.ErrorType.TANGO_SUCCESS; + } + + public static int TangoService_connect(IntPtr callbackContext, IntPtr config) + { + return Common.ErrorType.TANGO_SUCCESS; + } + + public static int TangoService_disconnect() + { + return Common.ErrorType.TANGO_SUCCESS; + } + #endif + } + #endregion // NATIVE_FUNCTIONS + } +} diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoApplication.cs.meta b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoApplication.cs.meta new file mode 100644 index 00000000..457cac0b --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoApplication.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: f51549b4778944861a78b99341a9c5db +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoConfig.cs b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoConfig.cs new file mode 100644 index 00000000..b2c0bb3a --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoConfig.cs @@ -0,0 +1,473 @@ +/* + * Copyright 2014 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +using System; +using System.Collections; +using System.Text; +using System.Runtime.InteropServices; +using Tango; +using UnityEngine; + +namespace Tango +{ + /// + /// Functionality for interacting with the Tango Service + /// configuration. + /// + public class TangoConfig + { +#region Attributes + /// + /// Key/Value pairs supported by the Tango Service. + /// + public struct Keys + { + // Motion Tracking + public static readonly string ENABLE_MOTION_TRACKING_BOOL = "config_enable_motion_tracking"; + public static readonly string ENABLE_MOTION_TRACKING_AUTO_RECOVERY_BOOL = "config_enable_auto_recovery"; + public static readonly string ENABLE_LOW_LATENCY_IMU_INTEGRATION = "config_enable_low_latency_imu_integration"; + + // Area Learning + public static readonly string ENABLE_AREA_LEARNING_BOOL = "config_enable_learning_mode"; + public static readonly string LOAD_AREA_DESCRIPTION_UUID_STRING = "config_load_area_description_UUID"; + + // Depth Perception + public static readonly string ENABLE_DEPTH_PERCEPTION_BOOL = "config_enable_depth"; + + // Video overlay + public static readonly string EXPERIMENTAL_Y_TEXTURE_HEIGHT = "experimental_color_y_tex_data_height"; + public static readonly string EXPERIMENTAL_Y_TEXTURE_WIDTH = "experimental_color_y_tex_data_width"; + public static readonly string EXPERIMENTAL_UV_TEXTURE_HEIGHT = "experimental_color_uv_tex_data_height"; + public static readonly string EXPERIMENTAL_UV_TEXTURE_WIDTH = "experimental_color_uv_tex_data_width"; + + // Utility + public static readonly string ENABLE_DATASET_RECORDING = "config_enable_dataset_recording"; + public static readonly string GET_TANGO_SERVICE_VERSION_STRING = "tango_service_library_version"; + } + + private const string m_FailedConversionFormat = "Failed to convert object to generic type : {0}. Reverting to default."; + private const string m_ErrorLogFormat = "{0}.{1}() Was unable to set key: {2} with value: {3}"; + private const string m_ConfigErrorFormat = "{0}.{1}() Invalid TangoConfig, make sure Tango Config is initialized properly."; + private static readonly string CLASS_NAME = "TangoConfig."; + private static readonly string NO_CONFIG_FOUND = "No config file found."; + private static IntPtr m_tangoConfig = IntPtr.Zero; + + /// + /// Delegate definition for setting API callbacks when setting values in the Tango Config. + /// + /// The IntPtr object, usually the tango config reference. + /// Usually the key that we want to modify in the tango config file. + /// Usually the value that we want to modify for the key in the tango config file. + /// Common.ErrorType.TANGO_SUCCESS if API call was successfull, + /// Common.ErrorType.TANGO_ERROR otherwise. + public delegate int ConfigAPIDelegate(IntPtr obj1,string obj2,T obj3); +#endregion + + /// + /// Gets the handle to the current Tango configuration. + /// + /// Handle to the Tango configuration. + public static IntPtr GetConfig() + { + return m_tangoConfig; + } + + /// + /// Fills out a given Tango configuration with the currently set configuration settings. + /// + public static void InitConfig(TangoEnums.TangoConfigType configType) + { + m_tangoConfig = TangoConfigAPI.TangoService_getConfig(configType); + + // TODO : error check this! + } + + /// + /// Deallocate a Tango configuration object. + /// + public static void Free() + { + if (m_tangoConfig != IntPtr.Zero) + { + TangoConfigAPI.TangoConfig_free(m_tangoConfig); + } + else + { + Debug.Log(CLASS_NAME + ".Free() No allocated Tango Config found!"); + } + } + + /// + /// Gets a string representing the current settings + /// of the Tango configuration. + /// + /// String representing the current settings. + /// Null if no configuration is found. + public static string GetSettings() + { + if (m_tangoConfig != IntPtr.Zero) + { + return TangoConfigAPI.TangoConfig_toString(m_tangoConfig); + } + else + { + return NO_CONFIG_FOUND; + } + } + + /// + /// Sets the value of a boolean key/value pair. + /// + /// true, if bool was set, false otherwise. + /// Key. + /// If set to true value. + public static bool SetBool(string key, bool value) + { + return _ConfigHelperSet(new ConfigAPIDelegate(TangoConfigAPI.TangoConfig_setBool), m_tangoConfig, key, value, "SetBool"); + } + + /// + /// Sets the value of an int32 key/value pair. + /// + /// true, if int32 was set, false otherwise. + /// Key. + /// Value. + public static bool SetInt32(string key, Int32 value) + { + return _ConfigHelperSet(new ConfigAPIDelegate(TangoConfigAPI.TangoConfig_setInt32), m_tangoConfig, key, value, "SetInt32"); + } + + /// + /// Sets the value of an int64 key/value pair. + /// + /// true, if int64 was set, false otherwise. + /// Key. + /// Value. + public static bool SetInt64(string key, Int64 value) + { + return _ConfigHelperSet(new ConfigAPIDelegate(TangoConfigAPI.TangoConfig_setInt64), m_tangoConfig, key, value, "SetInt64"); + } + + /// + /// Sets the value of a double key/value pair. + /// + /// true, if double was set, false otherwise. + /// Key. + /// Value. + public static bool SetDouble(string key, double value) + { + return _ConfigHelperSet(new ConfigAPIDelegate(TangoConfigAPI.TangoConfig_setDouble), m_tangoConfig, key, value, "SetDouble"); + } + + /// + /// Sets the value of a string key/value pair. + /// + /// true, if string was set, false otherwise. + /// Key. + /// Value. + public static bool SetString(string key, string value) + { + return _ConfigHelperSet(new ConfigAPIDelegate(TangoConfigAPI.TangoConfig_setString), m_tangoConfig, key, value, "SetString"); + } + + /// + /// Gets the value of a bool key/value pair. + /// + /// true, if bool was gotten, false otherwise. + /// Key. + /// Value. + public static bool GetBool(string key, ref bool value) + { + bool wasSuccess = false; + if (m_tangoConfig != IntPtr.Zero) + { + wasSuccess = TangoConfigAPI.TangoConfig_getBool(m_tangoConfig, key, ref value) == Common.ErrorType.TANGO_SUCCESS; + } + if (!wasSuccess) + { +#if UNITY_ANDROID && !UNITY_EDITOR + Debug.LogWarning(string.Format(m_ErrorLogFormat, "GetBool", key, false)); +#endif + } + return wasSuccess; + } + + /// + /// Gets the value of an int32 kay/value pair. + /// + /// true, if int32 was gotten, false otherwise. + /// Key. + /// Value. + public static bool GetInt32(string key, ref Int32 value) + { + bool wasSuccess = false; + if (m_tangoConfig != IntPtr.Zero) + { + wasSuccess = TangoConfigAPI.TangoConfig_getInt32(m_tangoConfig, key, ref value) == Common.ErrorType.TANGO_SUCCESS; + } + if (!wasSuccess) + { + Debug.Log(string.Format(m_ErrorLogFormat, "GetInt32", key, value)); + } + return wasSuccess; + } + + /// + /// Gets the value of an int64 key/value pair. + /// + /// true, if int64 was gotten, false otherwise. + /// Key. + /// Value. + public static bool GetInt64(string key, ref Int64 value) + { + bool wasSuccess = false; + if (m_tangoConfig != IntPtr.Zero) + { + wasSuccess = TangoConfigAPI.TangoConfig_getInt64(m_tangoConfig, key, ref value) == Common.ErrorType.TANGO_SUCCESS; + } + if (!wasSuccess) + { + Debug.Log(string.Format(m_ErrorLogFormat, "GetInt64", key, value)); + } + return wasSuccess; + } + + /// + /// Gets the value of a double key/value pair. + /// + /// true, if double was gotten, false otherwise. + /// Key. + /// Value. + public static bool GetDouble(string key, ref double value) + { + bool wasSuccess = false; + if (m_tangoConfig != IntPtr.Zero) + { + wasSuccess = TangoConfigAPI.TangoConfig_getDouble(m_tangoConfig, key, ref value) == 0; + } + if (!wasSuccess) + { + Debug.Log(string.Format(m_ErrorLogFormat, "GetDouble", key, value)); + } + return wasSuccess; + } + + /// + /// Gets the value of a string key/value pair. + /// + /// true, if string was gotten, false otherwise. + /// Key. + /// Value. + public static bool GetString(string key, ref string value) + { + bool wasSuccess = false; + if (m_tangoConfig != IntPtr.Zero) + { + UInt32 stringLength = 512; + + StringBuilder tempString = new StringBuilder(512); + wasSuccess = TangoConfigAPI.TangoConfig_getString(m_tangoConfig, key, tempString, stringLength) == Common.ErrorType.TANGO_SUCCESS; + if (wasSuccess) + { + value = tempString.ToString(); + } + else + { + Debug.Log(string.Format(m_ErrorLogFormat, "GetString", key, value)); + } + } + return wasSuccess; + } + + /// + /// Helper method for setting values in the Tango Config file. + /// + /// true if the API call returned success, false otherwise. + /// The API call we want to perform. + /// Ptr to the current active Tango Config. + /// The key of the config file we want to modify the value of. + /// The new value we want to set. + /// String representing the name of the method we are trying to call. Used for logging purposes. + /// The type of object we are trying to set. + internal static bool _ConfigHelperSet(ConfigAPIDelegate apiCall, IntPtr tangoConfig, string configKey, object configValue, + string tangoMethodName) + { + if (tangoConfig == IntPtr.Zero) + { + Debug.Log(string.Format(m_ConfigErrorFormat, CLASS_NAME, tangoMethodName)); + return false; + } + bool wasSuccess = false; + T genericObj; + try + { + genericObj = (T)configValue; + } + catch + { + Debug.Log(string.Format(m_FailedConversionFormat, typeof(T))); + genericObj = default(T); + } + wasSuccess = apiCall(tangoConfig, configKey, genericObj) == Common.ErrorType.TANGO_SUCCESS; + if (!wasSuccess) + { + Debug.Log(string.Format(m_ErrorLogFormat, CLASS_NAME, tangoMethodName, configKey, configValue)); + } + return wasSuccess; + } + + /// + /// Interface for the Tango Service API. + /// + internal struct TangoConfigAPI + { +#if UNITY_ANDROID && !UNITY_EDITOR + [DllImport(Common.TANGO_UNITY_DLL)] + public static extern void TangoConfig_free(IntPtr tangoConfig); + + [DllImport(Common.TANGO_UNITY_DLL)] + public static extern string TangoConfig_toString(IntPtr TangoConfig); + + [DllImport(Common.TANGO_UNITY_DLL)] + public static extern int TangoConfig_setBool(IntPtr tangoConfig, + [MarshalAs(UnmanagedType.LPStr)] string key, + bool value); + [DllImport(Common.TANGO_UNITY_DLL)] + public static extern IntPtr TangoService_getConfig(TangoEnums.TangoConfigType config_type); + + [DllImport(Common.TANGO_UNITY_DLL)] + public static extern int TangoConfig_setInt32(IntPtr tangoConfig, + [MarshalAs(UnmanagedType.LPStr)] string key, + Int32 value); + + [DllImport(Common.TANGO_UNITY_DLL)] + public static extern int TangoConfig_setInt64(IntPtr tangoConfig, + [MarshalAs(UnmanagedType.LPStr)] string key, + Int64 value); + + [DllImport(Common.TANGO_UNITY_DLL)] + public static extern int TangoConfig_setDouble(IntPtr tangoConfig, + [MarshalAs(UnmanagedType.LPStr)] string key, + double value); + + [DllImport(Common.TANGO_UNITY_DLL)] + public static extern int TangoConfig_setString(IntPtr tangoConfig, + [MarshalAs(UnmanagedType.LPStr)] string key, + [MarshalAs(UnmanagedType.LPStr)] string value); + + [DllImport(Common.TANGO_UNITY_DLL)] + public static extern int TangoConfig_getBool(IntPtr tangoConfig, + [MarshalAs(UnmanagedType.LPStr)] string key, + ref bool value); + + [DllImport(Common.TANGO_UNITY_DLL)] + public static extern int TangoConfig_getInt32(IntPtr tangoConfig, + [MarshalAs(UnmanagedType.LPStr)] string key, + ref Int32 value); + + [DllImport(Common.TANGO_UNITY_DLL)] + public static extern int TangoConfig_getInt64(IntPtr tangoConfig, + [MarshalAs(UnmanagedType.LPStr)] string key, + ref Int64 value); + + [DllImport(Common.TANGO_UNITY_DLL)] + public static extern int TangoConfig_getDouble(IntPtr tangoConfig, + [MarshalAs(UnmanagedType.LPStr)] string key, + ref double value); + + [DllImport(Common.TANGO_UNITY_DLL)] + public static extern int TangoConfig_getString(IntPtr tangoConfig, + [MarshalAs(UnmanagedType.LPStr)] string key, + [In, Out] StringBuilder value, + UInt32 size); +#else + public static void TangoConfig_free(IntPtr tangoConfig) + { + + } + + public static IntPtr TangoService_getConfig(TangoEnums.TangoConfigType config_type) + { + return IntPtr.Zero; + } + public static string TangoConfig_toString(IntPtr TangoConfig) + { + return "Editor Mode"; + } + public static int TangoConfig_setBool(IntPtr tangoConfig, + [MarshalAs(UnmanagedType.LPStr)] string key, + bool value) + { + return Common.ErrorType.TANGO_SUCCESS; + } + public static int TangoConfig_setInt32(IntPtr tangoConfig, + [MarshalAs(UnmanagedType.LPStr)] string key, + Int32 value) + { + return Common.ErrorType.TANGO_SUCCESS; + } + public static int TangoConfig_setInt64(IntPtr tangoConfig, + [MarshalAs(UnmanagedType.LPStr)] string key, + Int64 value) + { + return Common.ErrorType.TANGO_SUCCESS; + } + public static int TangoConfig_setDouble(IntPtr tangoConfig, + [MarshalAs(UnmanagedType.LPStr)] string key, + double value) + { + return Common.ErrorType.TANGO_SUCCESS; + } + public static int TangoConfig_setString(IntPtr tangoConfig, + [MarshalAs(UnmanagedType.LPStr)] string key, + string value) + { + return Common.ErrorType.TANGO_SUCCESS; + } + public static int TangoConfig_getBool(IntPtr tangoConfig, + [MarshalAs(UnmanagedType.LPStr)] string key, + ref bool value) + { + return Common.ErrorType.TANGO_SUCCESS; + } + public static int TangoConfig_getInt32(IntPtr tangoConfig, + [MarshalAs(UnmanagedType.LPStr)] string key, + ref Int32 value) + { + return Common.ErrorType.TANGO_SUCCESS; + } + public static int TangoConfig_getInt64(IntPtr tangoConfig, + [MarshalAs(UnmanagedType.LPStr)] string key, + ref Int64 value) + { + return Common.ErrorType.TANGO_SUCCESS; + } + public static int TangoConfig_getDouble(IntPtr tangoConfig, + [MarshalAs(UnmanagedType.LPStr)] string key, + ref double value) + { + return Common.ErrorType.TANGO_SUCCESS; + } + public static int TangoConfig_getString(IntPtr tangoConfig, + [MarshalAs(UnmanagedType.LPStr)] string key, + [In, Out] StringBuilder value, + UInt32 size) + { + return Common.ErrorType.TANGO_SUCCESS; + } +#endif + } + } +} \ No newline at end of file diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoConfig.cs.meta b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoConfig.cs.meta new file mode 100644 index 00000000..e5ad3799 --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoConfig.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 721d32367f5a74a07afcce007b7a0564 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoEvents.cs b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoEvents.cs new file mode 100644 index 00000000..7c295be9 --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoEvents.cs @@ -0,0 +1,63 @@ +/* + * Copyright 2014 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +using System; +using System.Runtime.InteropServices; +using UnityEngine; + +namespace Tango +{ + /// + /// Wraps the interface from Tango Service to register + /// for callbacks that are fired on new events. + /// + public class TangoEvents + { + // Signature used by the onTangoEvent callback. + [UnmanagedFunctionPointer(CallingConvention.Cdecl)] + public delegate void TangoService_onEventAvailable(IntPtr callbackContext, [In,Out] TangoEvent tangoEvent); + + /// + /// Sets the callback that is called when a new tango + /// event has been issued by the Tango Service. + /// + /// Callback. + public static void SetCallback(TangoService_onEventAvailable callback) + { + int returnValue = EventsAPI.TangoService_connectOnTangoEvent(callback); + if (returnValue != Common.ErrorType.TANGO_SUCCESS) + { + Debug.Log("TangoEvents.SetCallback() Callback was not set!"); + } + else + { + Debug.Log("TangoEvents.SetCallback() Callback was set!"); + } + } + + private struct EventsAPI + { + #if UNITY_ANDROID && !UNITY_EDITOR + [DllImport(Common.TANGO_UNITY_DLL)] + public static extern int TangoService_connectOnTangoEvent(TangoService_onEventAvailable onEventAvaialable); + #else + public static int TangoService_connectOnTangoEvent(TangoService_onEventAvailable onEventAvaialable) + { + return Common.ErrorType.TANGO_SUCCESS; + } + #endif + } + } +} \ No newline at end of file diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoEvents.cs.meta b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoEvents.cs.meta new file mode 100644 index 00000000..ba31559f --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoEvents.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 2e02c51068fcf45d5821b982425458ec +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/VideoOverlayProvider.cs b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/VideoOverlayProvider.cs new file mode 100644 index 00000000..05607020 --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/VideoOverlayProvider.cs @@ -0,0 +1,246 @@ +/* + * Copyright 2014 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +using System; +using System.Collections; +using System.Collections.Generic; +using System.Runtime.InteropServices; +using UnityEngine; +using Tango; + +namespace Tango +{ + + /// + /// Wraps separate textures for Y, U, and V planes. + /// + public class YUVTexture + { + /// + /// The m_video overlay texture y. + /// Columns 1280/4 [bytes packed in RGBA channels] + /// Rows 720 + /// + public Texture2D m_videoOverlayTextureY; + + /// + /// The m_video overlay texture cb. + /// Columns 640/4 [bytes packed in RGBA channels] + /// Rows 360 + /// + public Texture2D m_videoOverlayTextureCb; + + /// + /// The m_video overlay texture cr. + /// Columns 640 * 2 / 4 [bytes packed in RGBA channels] + /// Rows 360 + /// + public Texture2D m_videoOverlayTextureCr; + + /// + /// Initializes a new instance of the class. + /// NOTE : Texture resolutions will be reset by the API. The sizes passed + /// into the constructor are not guaranteed to persist when running on device. + /// + /// Width. + /// Height. + /// Format. + /// If set to true mipmap. + public YUVTexture(int yPlaneWidth, int yPlaneHeight, + int uvPlaneWidth, int uvPlaneHeight, + TextureFormat format, bool mipmap) + { + m_videoOverlayTextureY = new Texture2D(yPlaneWidth, yPlaneHeight, format, mipmap); + m_videoOverlayTextureCb = new Texture2D(uvPlaneWidth, uvPlaneHeight, format, mipmap); + m_videoOverlayTextureCr = new Texture2D(uvPlaneWidth, uvPlaneHeight, format, mipmap); + } + + /// + /// Resizes all yuv texture planes. + /// + /// Y plane width. + /// Y plane height. + /// Uv plane width. + /// Uv plane height. + public void ResizeAll(int yPlaneWidth, int yPlaneHeight, + int uvPlaneWidth, int uvPlaneHeight) + { + m_videoOverlayTextureY.Resize(yPlaneWidth, yPlaneHeight); + m_videoOverlayTextureCb.Resize(uvPlaneWidth, uvPlaneHeight); + m_videoOverlayTextureCr.Resize(uvPlaneWidth, uvPlaneHeight); + } + } + + /// + /// Video Overlay Provider class provide video functions + /// to get frame textures. + /// + public class VideoOverlayProvider + { + [UnmanagedFunctionPointer(CallingConvention.Cdecl)] + public delegate void TangoService_onImageAvailable(IntPtr callbackContext, Tango.TangoEnums.TangoCameraId cameraId, [In,Out] TangoImageBuffer image); + + [UnmanagedFunctionPointer(CallingConvention.Cdecl)] + public delegate void TangoService_onUnityFrameAvailable(IntPtr callbackContext, Tango.TangoEnums.TangoCameraId cameraId); + + private static readonly string CLASS_NAME = "VideoOverlayProvider"; + private static IntPtr callbackContext; + + /// + /// Connects the texture. + /// + /// Camera identifier. + /// Texture identifier. + public static void ConnectTexture(TangoEnums.TangoCameraId cameraId, int textureId) + { + int returnValue = VideoOverlayAPI.TangoService_connectTextureId(cameraId, textureId); + + if (returnValue != Common.ErrorType.TANGO_SUCCESS) + { + Debug.Log("VideoOverlayProvider.ConnectTexture() Texture was not connected to camera!"); + } + } + + public static void ExperimentalConnectTexture(TangoEnums.TangoCameraId cameraId, YUVTexture textures, TangoService_onUnityFrameAvailable onUnityFrameAvailable) + { + int returnValue = VideoOverlayAPI.TangoService_Experimental_connectTextureIdUnity(cameraId, + (uint)textures.m_videoOverlayTextureY.GetNativeTextureID(), + (uint)textures.m_videoOverlayTextureCb.GetNativeTextureID(), + (uint)textures.m_videoOverlayTextureCr.GetNativeTextureID(), + callbackContext, + onUnityFrameAvailable); + + if (returnValue != Common.ErrorType.TANGO_SUCCESS) + { + Debug.Log("VideoOverlayProvider.ConnectTexture() Texture was not connected to camera!"); + } + } + + /// + /// Renders the latest frame. + /// + /// The latest frame timestamp. + /// Camera identifier. + public static double RenderLatestFrame(TangoEnums.TangoCameraId cameraId) + { + double timestamp = 0.0; + int returnValue = VideoOverlayAPI.TangoService_updateTexture(cameraId, ref timestamp); + if (returnValue != Common.ErrorType.TANGO_SUCCESS) + { + Debug.Log("VideoOverlayProvider.UpdateTexture() Texture was not updated by camera!"); + } + + return timestamp; + } + + /// + /// Get the camera/sensor intrinsics. + /// + /// Camera identifier. + /// Camera intrinsics data. + public static void GetIntrinsics(TangoEnums.TangoCameraId cameraId, [Out] TangoCameraIntrinsics intrinsics) + { + int returnValue = VideoOverlayAPI.TangoService_getCameraIntrinsics(cameraId, intrinsics); + + if (returnValue != Common.ErrorType.TANGO_SUCCESS) + { + Debug.Log("IntrinsicsProviderAPI.TangoService_getCameraIntrinsics() failed!"); + } + } + + /// + /// Sets the callback for notifications when image data is ready. + /// + /// Camera identifier. + /// On image available callback handler. + public static void SetCallback(TangoEnums.TangoCameraId cameraId, TangoService_onImageAvailable onImageAvailable) + { + int returnValue = VideoOverlayAPI.TangoService_connectOnFrameAvailable(cameraId, callbackContext, onImageAvailable); + if(returnValue == Tango.Common.ErrorType.TANGO_SUCCESS) + { + Debug.Log(CLASS_NAME + ".SetCallback() Callback was set."); + } + else + { + Debug.Log(CLASS_NAME + ".SetCallback() Callback was not set!"); + } + } + + #region NATIVE_FUNCTIONS + /// + /// Video overlay native function import. + /// + private struct VideoOverlayAPI + { + #if UNITY_ANDROID && !UNITY_EDITOR + + [DllImport(Common.TANGO_UNITY_DLL)] + public static extern int TangoService_connectTextureId(TangoEnums.TangoCameraId cameraId, int textureHandle); + + [DllImport(Common.TANGO_UNITY_DLL)] + public static extern int TangoService_connectOnFrameAvailable(TangoEnums.TangoCameraId cameraId, + IntPtr context, + [In,Out] TangoService_onImageAvailable onImageAvailable); + [DllImport(Common.TANGO_UNITY_DLL)] + public static extern int TangoService_updateTexture(TangoEnums.TangoCameraId cameraId, ref double timestamp); + + [DllImport(Common.TANGO_UNITY_DLL)] + public static extern int TangoService_getCameraIntrinsics(TangoEnums.TangoCameraId cameraId, [Out] TangoCameraIntrinsics intrinsics); + + [DllImport(Common.TANGO_UNITY_DLL)] + public static extern int TangoService_Experimental_connectTextureIdUnity(TangoEnums.TangoCameraId id, + uint texture_y, + uint texture_Cb, + uint texture_Cr, + IntPtr context, + TangoService_onUnityFrameAvailable onUnityFrameAvailable); + + #else + public static int TangoService_connectTextureId(TangoEnums.TangoCameraId cameraId, int textureHandle) + { + return Tango.Common.ErrorType.TANGO_SUCCESS; + } + + public static int TangoService_updateTexture(TangoEnums.TangoCameraId cameraId, ref double timestamp) + { + return Tango.Common.ErrorType.TANGO_SUCCESS; + } + + public static int TangoService_getCameraIntrinsics(TangoEnums.TangoCameraId cameraId, [Out] TangoCameraIntrinsics intrinsics) + { + return Common.ErrorType.TANGO_SUCCESS; + } + + public static int TangoService_connectOnFrameAvailable(TangoEnums.TangoCameraId cameraId, + IntPtr context, + [In,Out] TangoService_onImageAvailable onImageAvailable) + { + return Tango.Common.ErrorType.TANGO_SUCCESS; + } + + public static int TangoService_Experimental_connectTextureIdUnity(TangoEnums.TangoCameraId id, + uint texture_y, + uint texture_Cb, + uint texture_Cr, + IntPtr context, + TangoService_onUnityFrameAvailable onUnityFrameAvailable) + { + return Tango.Common.ErrorType.TANGO_SUCCESS; + } + #endif + #endregion + } + } +} \ No newline at end of file diff --git a/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/VideoOverlayProvider.cs.meta b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/VideoOverlayProvider.cs.meta new file mode 100644 index 00000000..7288ba75 --- /dev/null +++ b/ExperimentalProjects/VirtualReality/Assets/TangoSDK/Core/Scripts/TangoWrappers/VideoOverlayProvider.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 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