338 lines
12 KiB
C#
338 lines
12 KiB
C#
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/*******************************************************************************
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Copyright © 2015-2022 PICO Technology Co., Ltd.All rights reserved.
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NOTICE：All information contained herein is, and remains the property of
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PICO Technology Co., Ltd. The intellectual and technical concepts
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contained herein are proprietary to PICO Technology Co., Ltd. and may be
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covered by patents, patents in process, and are protected by trade secret or
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copyright law. Dissemination of this information or reproduction of this
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material is strictly forbidden unless prior written permission is obtained from
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PICO Technology Co., Ltd.
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*******************************************************************************/
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using System;
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using System.Collections;
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using System.Collections.Generic;
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using System.Linq;
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using System.Runtime.InteropServices;
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#if PICO_OPENXR_SDK
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using Unity.XR.OpenXR.Features.PICOSupport;
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#endif
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using UnityEngine;
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using UnityEngine.Events;
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using UnityEngine.UI;
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using UnityEngine.XR;
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using UnityEngine.XR.Management;
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namespace Unity.XR.PXR
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{
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[DisallowMultipleComponent]
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public class PXR_SpatialMeshManager : MonoBehaviour
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{
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public GameObject meshPrefab;
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private Dictionary<Guid, GameObject> meshIDToGameobject;
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private Dictionary<Guid, PxrSpatialMeshInfo> spatialMeshNeedingDraw;
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private Dictionary<PxrSemanticLabel, Color> colorMappings;
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private Mesh mesh;
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private XRMeshSubsystem subsystem;
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private int objectPoolMaxSize = 200;
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private Queue<GameObject> meshObjectsPool;
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private const float frameCount = 15.0f;
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/// <summary>
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/// The drawing of the new spatial mesh is complete.
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/// </summary>
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public static Action<Guid, GameObject> MeshAdded;
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public UnityEvent<Guid, GameObject> OnSpatialMeshAdded;
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/// <summary>
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/// The drawing the updated spatial mesh is complete.
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/// </summary>
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public static Action<Guid, GameObject> MeshUpdated;
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public UnityEvent<Guid, GameObject> OnSpatialMeshUpdated;
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/// <summary>
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/// The deletion of the disappeared spatial mesh is complete.
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/// </summary>
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public static Action<Guid> MeshRemoved;
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public UnityEvent<Guid> OnSpatialMeshRemoved;
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static List<XRMeshSubsystem> s_SubsystemsReuse = new List<XRMeshSubsystem>();
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void Awake()
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{
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InitMeshColor();
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}
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void Start()
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{
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spatialMeshNeedingDraw = new Dictionary<Guid, PxrSpatialMeshInfo>();
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meshIDToGameobject = new Dictionary<Guid, GameObject>();
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meshObjectsPool = new Queue<GameObject>();
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PXR_Manager.EnableVideoSeeThrough = true;
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InitializePool();
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}
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void GetXRMeshSubsystem()
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{
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if (subsystem != null)
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return;
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SubsystemManager.GetSubsystems(s_SubsystemsReuse);
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if (s_SubsystemsReuse.Count == 0)
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return;
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subsystem = s_SubsystemsReuse[0];
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subsystem.Start();
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}
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void Update()
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{
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GetXRMeshSubsystem();
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}
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void OnEnable()
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{
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GetXRMeshSubsystem();
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if (subsystem != null)
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{
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if (!subsystem.running)
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{
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subsystem.Start();
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}
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if (subsystem.running)
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{
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#if PICO_OPENXR_SDK
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OpenXRExtensions.SpatialMeshDataUpdated += SpatialMeshDataUpdated;
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#else
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PXR_Manager.SpatialMeshDataUpdated += SpatialMeshDataUpdated;
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#endif
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}
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}
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else
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{
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enabled = false;
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}
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}
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void OnDisable()
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{
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if (subsystem != null && subsystem.running)
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{
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subsystem.Stop();
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#if PICO_OPENXR_SDK
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OpenXRExtensions.SpatialMeshDataUpdated -= SpatialMeshDataUpdated;
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#else
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PXR_Manager.SpatialMeshDataUpdated -= SpatialMeshDataUpdated;
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#endif
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}
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}
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private void InitializePool()
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{
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if (meshPrefab != null)
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{
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while (meshObjectsPool.Count < objectPoolMaxSize)
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{
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GameObject obj = Instantiate(meshPrefab);
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obj.transform.SetParent(this.transform);
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obj.SetActive(false);
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meshObjectsPool.Enqueue(obj);
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}
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}
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}
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void SpatialMeshDataUpdated(List<PxrSpatialMeshInfo> meshInfos)
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{
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if (meshPrefab != null)
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{
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for (int i = 0; i < meshInfos.Count; i++)
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{
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switch (meshInfos[i].state)
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{
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case MeshChangeState.Added:
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{
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CreateMeshRoutine(meshInfos[i]);
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}
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break;
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case MeshChangeState.Updated:
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{
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CreateMeshRoutine(meshInfos[i]);
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}
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break;
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case MeshChangeState.Removed:
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{
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MeshRemoved?.Invoke(meshInfos[i].uuid);
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OnSpatialMeshRemoved?.Invoke(meshInfos[i].uuid);
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if (meshIDToGameobject.TryGetValue(meshInfos[i].uuid, out var go))
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{
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if (meshObjectsPool.Count < objectPoolMaxSize)
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{
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go.SetActive(false);
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meshObjectsPool.Enqueue(go);
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}
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else
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{
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Destroy(go);
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}
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meshIDToGameobject.Remove(meshInfos[i].uuid);
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}
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}
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break;
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case MeshChangeState.Unchanged:
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{
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spatialMeshNeedingDraw.Remove(meshInfos[i].uuid);
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}
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break;
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default:
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throw new ArgumentOutOfRangeException();
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}
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}
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}
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}
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private void CreateMeshRoutine(PxrSpatialMeshInfo block)
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{
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GameObject meshGameObject = GetOrCreateGameObject(block.uuid);
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var meshFilter = meshGameObject.GetComponentInChildren<MeshFilter>();
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var meshCollider = meshGameObject.GetComponentInChildren<MeshCollider>();
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if (meshFilter.mesh == null)
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{
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mesh = new Mesh();
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}
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else
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{
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mesh = meshFilter.mesh;
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mesh.Clear();
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}
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Color[] normalizedColors = new Color[block.vertices.Length];
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for (int i = 0; i < block.vertices.Length; i++)
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{
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normalizedColors[i] = GetMeshColorBySemanticLabel(block.labels[i]);
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}
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mesh.SetVertices(block.vertices);
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mesh.SetColors(normalizedColors);
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mesh.SetTriangles(block.indices, 0);
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meshFilter.mesh = mesh;
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if (meshCollider != null)
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{
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meshCollider.sharedMesh = mesh;
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}
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meshGameObject.transform.position = block.position;
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meshGameObject.transform.rotation = block.rotation;
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switch (block.state)
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{
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case MeshChangeState.Added:
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{
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MeshAdded?.Invoke(block.uuid, meshGameObject);
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OnSpatialMeshAdded?.Invoke(block.uuid, meshGameObject);
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}
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break;
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case MeshChangeState.Updated:
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{
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MeshUpdated?.Invoke(block.uuid, meshGameObject);
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OnSpatialMeshUpdated?.Invoke(block.uuid, meshGameObject);
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}
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break;
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default:
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throw new ArgumentOutOfRangeException();
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}
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}
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GameObject CreateGameObject(Guid meshId)
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{
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GameObject meshObject = meshObjectsPool.Dequeue();
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meshObject.name = $"Mesh {meshId}";
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meshObject.SetActive(true);
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return meshObject;
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}
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GameObject GetOrCreateGameObject(Guid meshId)
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{
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GameObject go = null;
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if (!meshIDToGameobject.TryGetValue(meshId, out go))
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{
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go = CreateGameObject(meshId);
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meshIDToGameobject[meshId] = go;
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}
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return go;
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}
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private void InitMeshColor()
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{
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PXR_SpatialMeshColorSetting colorSetting = PXR_SpatialMeshColorSetting.GetSpatialMeshColorSetting();
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PxrSemanticLabel[] labels = (PxrSemanticLabel[])Enum.GetValues(typeof(PxrSemanticLabel));
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colorMappings = new Dictionary<PxrSemanticLabel, Color>();
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for (int i = 0; i < labels.Length; i++)
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{
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var label = labels[i];
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var color = colorSetting.colorLists[i];
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colorMappings.Add(label,color);
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}
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}
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private Color GetMeshColorBySemanticLabel(PxrSemanticLabel label)
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{
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if (colorMappings != null && colorMappings.Count > 0)
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{
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if (colorMappings.ContainsKey(label))
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{
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return colorMappings[label];
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}
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else
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{
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return Color.white;
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}
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}
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else
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{
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return label switch
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{
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PxrSemanticLabel.Unknown => Color.white,
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PxrSemanticLabel.Floor => Color.grey,
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PxrSemanticLabel.Ceiling => Color.grey,
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PxrSemanticLabel.Wall => Color.blue,
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PxrSemanticLabel.Door => Color.cyan,
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PxrSemanticLabel.Window => Color.magenta,
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PxrSemanticLabel.Opening => Color.yellow,
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PxrSemanticLabel.Table => Color.red,
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PxrSemanticLabel.Sofa => Color.green,
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//Dark Red
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PxrSemanticLabel.Chair => new Color(0.5f, 0f, 0f),
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//Dark Green
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PxrSemanticLabel.Human => new Color(0f, 0.5f, 0f),
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//Dark Blue
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PxrSemanticLabel.Curtain => new Color(0f, 0f, 0.5f),
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//Orange
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PxrSemanticLabel.Cabinet => new Color(1f, 0.5f, 0f),
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//Pink
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PxrSemanticLabel.Bed => new Color(1f, 0.75f, 0.8f),
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//Purple
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PxrSemanticLabel.Plant => new Color(0.5f, 0f, 0.5f),
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//Brown
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PxrSemanticLabel.Screen => new Color(0.5f, 0.25f, 0f),
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//Olive Green
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PxrSemanticLabel.Refrigerator => new Color(0.5f, 0.5f, 0f),
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//Gold
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PxrSemanticLabel.WashingMachine => new Color(1f, 0.84f, 0f),
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//Silver
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PxrSemanticLabel.AirConditioner => new Color(0.75f, 0.75f, 0.75f),
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//Mint Green
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PxrSemanticLabel.Lamp => new Color(0.5f, 1f, 0.5f),
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//Dark Purple
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PxrSemanticLabel.WallArt => new Color(0.5f, 0f, 0.25f),
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PxrSemanticLabel.Stairway => new Color(0.25f, 0f, 0.25f),
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_ => Color.white,
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};
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}
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}
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}
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}
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