BoundedPlane.cs
10.6 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
using System;
using System.Runtime.InteropServices;
namespace UnityEngine.XR.ARSubsystems
{
/// <summary>
/// The session relative data associated with a plane.
/// </summary>
/// <seealso cref="XRPlaneSubsystem"/>
[StructLayout(LayoutKind.Sequential)]
public struct BoundedPlane : ITrackable, IEquatable<BoundedPlane>
{
static readonly BoundedPlane s_Default = new BoundedPlane(
TrackableId.invalidId,
TrackableId.invalidId,
Pose.identity,
Vector2.zero,
Vector2.zero,
PlaneAlignment.None,
TrackingState.None,
IntPtr.Zero,
PlaneClassification.None);
/// <summary>
/// Gets a default-initialized <see cref="BoundedPlane"/>. This may be
/// different from the zero-initialized version, e.g., the <see cref="pose"/>
/// is <c>Pose.identity</c> instead of zero-initialized.
/// </summary>
public static BoundedPlane defaultValue => s_Default;
/// <summary>
/// Constructs a new <see cref="BoundedPlane"/>. This is just a data container
/// for a plane's session relative data. These are typically created by
/// <see cref="XRPlaneSubsystem.GetChanges(Unity.Collections.Allocator)"/>.
/// </summary>
/// <param name="trackableId">The <see cref="TrackableId"/> associated with the plane.</param>
/// <param name="subsumedBy">The plane which subsumed this one. Use <see cref="TrackableId.invalidId"/> if it has not been subsumed.</param>
/// <param name="pose">The <c>Pose</c> associated with the plane.</param>
/// <param name="center">The center, in plane-space (relative to <paramref name="pose"/>) of the plane.</param>
/// <param name="size">The dimensions associated with the plane.</param>
/// <param name="alignment">The <see cref="PlaneAlignment"/> associated with the plane.</param>
/// <param name="trackingState">The <see cref="TrackingState"/> associated with the plane.</param>
/// <param name="nativePtr">The native pointer associated with the plane.</param>
/// <param name="classification">The <see cref="PlaneClassification"/> associated with the plane.</param>
public BoundedPlane(
TrackableId trackableId,
TrackableId subsumedBy,
Pose pose,
Vector2 center,
Vector2 size,
PlaneAlignment alignment,
TrackingState trackingState,
IntPtr nativePtr,
PlaneClassification classification)
{
m_TrackableId = trackableId;
m_SubsumedById = subsumedBy;
m_Pose = pose;
m_Center = center;
m_Size = size;
m_Alignment = alignment;
m_TrackingState = trackingState;
m_NativePtr = nativePtr;
m_Classification = classification;
}
/// <summary>
/// The <see cref="TrackableId"/> associated with this plane.
/// </summary>
public TrackableId trackableId => m_TrackableId;
/// <summary>
/// The <see cref="TrackableId"/> associated with the plane which subsumed this one. Will be <see cref="TrackableId.invalidId"/>
/// if this plane has not been subsumed.
/// </summary>
public TrackableId subsumedById => m_SubsumedById;
/// <summary>
/// The <c>Pose</c>, in session space, of the plane.
/// </summary>
public Pose pose => m_Pose;
/// <summary>
/// The center of the plane in plane space (relative to its <see cref="pose"/>).
/// </summary>
public Vector2 center => m_Center;
/// <summary>
/// The extents of the plane (half dimensions) in meters.
/// </summary>
public Vector2 extents => m_Size * 0.5f;
/// <summary>
/// The size (dimensions) of the plane in meters.
/// </summary>
public Vector2 size => m_Size;
/// <summary>
/// The <see cref="PlaneAlignment"/> of the plane.
/// </summary>
public PlaneAlignment alignment => m_Alignment;
/// <summary>
/// The <see cref="TrackingState"/> of the plane.
/// </summary>
public TrackingState trackingState => m_TrackingState;
/// <summary>
/// A native pointer associated with this plane.
/// The data pointer to by this pointer is implementation defined.
/// </summary>
public IntPtr nativePtr => m_NativePtr;
/// <summary>
/// The <see cref="PlaneClassification"/> of the plane.
/// </summary>
public PlaneClassification classification => m_Classification;
/// <summary>
/// The width of the plane in meters.
/// </summary>
public float width => m_Size.x;
/// <summary>
/// The height (or depth) of the plane in meters.
/// </summary>
public float height => m_Size.y;
/// <summary>
/// The normal of the plane in session space.
/// </summary>
public Vector3 normal => m_Pose.up;
/// <summary>
/// Gets an infinite plane in session space.
/// </summary>
public Plane plane => new Plane(normal, center);
/// <summary>
/// Get the four corners of the plane in session space in clockwise order.
/// </summary>
/// <param name="p0">The first vertex.</param>
/// <param name="p1">The second vertex.</param>
/// <param name="p2">The third vertex.</param>
/// <param name="p3">The fourth vertex.</param>
public void GetCorners(
out Vector3 p0,
out Vector3 p1,
out Vector3 p2,
out Vector3 p3)
{
var sessionCenter = m_Pose.rotation * center + m_Pose.position;
var sessionHalfX = (m_Pose.right) * (width * .5f);
var sessionHalfZ = (m_Pose.forward) * (height * .5f);
p0 = sessionCenter - sessionHalfX - sessionHalfZ;
p1 = sessionCenter - sessionHalfX + sessionHalfZ;
p2 = sessionCenter + sessionHalfX + sessionHalfZ;
p3 = sessionCenter + sessionHalfX - sessionHalfZ;
}
/// <summary>
/// Generates a new string describing the plane's properties suitable for debugging purposes.
/// </summary>
/// <returns>A string describing the plane's properties.</returns>
public override string ToString()
{
return string.Format(
"Plane:\n\ttrackableId: {0}\n\tsubsumedById: {1}\n\tpose: {2}\n\tcenter: {3}\n\tsize: {4}\n\talignment: {5}\n\tclassification: {6}\n\ttrackingState: {7}\n\tnativePtr: {8:X16}",
trackableId,
subsumedById,
pose,
center,
size,
alignment,
classification,
trackingState,
nativePtr.ToInt64());
}
/// <summary>
/// Tests for equality.
/// </summary>
/// <param name="obj">The `object` to compare against.</param>
/// <returns>`True` if <paramref name="obj"/> is of type <see cref="BoundedPlane"/> and
/// <see cref="Equals(BoundedPlane)"/> also returns `true`; otherwise `false`.</returns>
public override bool Equals(object obj) => (obj is BoundedPlane other) && Equals(other);
/// <summary>
/// Generates a hash suitable for use with containers like `HashSet` and `Dictionary`.
/// </summary>
/// <returns>A hash code generated from this object's fields.</returns>
public override int GetHashCode()
{
unchecked
{
var hashCode = m_TrackableId.GetHashCode();
hashCode = (hashCode * 486187739) + m_SubsumedById.GetHashCode();
hashCode = (hashCode * 486187739) + m_Pose.GetHashCode();
hashCode = (hashCode * 486187739) + m_Center.GetHashCode();
hashCode = (hashCode * 486187739) + m_Size.GetHashCode();
hashCode = (hashCode * 486187739) + ((int)m_Alignment).GetHashCode();
hashCode = (hashCode * 486187739) + ((int)m_Classification).GetHashCode();
hashCode = (hashCode * 486187739) + ((int)m_TrackingState).GetHashCode();
hashCode = (hashCode * 486187739) + m_NativePtr.GetHashCode();
return hashCode;
}
}
/// <summary>
/// Tests for equality. Same as <see cref="Equals(BoundedPlane)"/>.
/// </summary>
/// <param name="lhs">The left-hand side of the comparison.</param>
/// <param name="rhs">The right-hand side of the comparison.</param>
/// <returns>`True` if <paramref name="lhs"/> is equal to <paramref name="rhs"/>, otherwise `false`.</returns>
public static bool operator ==(BoundedPlane lhs, BoundedPlane rhs) => lhs.Equals(rhs);
/// <summary>
/// Tests for inequality. Same as `!`<see cref="Equals(BoundedPlane)"/>.
/// </summary>
/// <param name="lhs">The left-hand side of the comparison.</param>
/// <param name="rhs">The right-hand side of the comparison.</param>
/// <returns>`True` if <paramref name="lhs"/> is not equal to <paramref name="rhs"/>, otherwise `false`.</returns>
public static bool operator !=(BoundedPlane lhs, BoundedPlane rhs) => !lhs.Equals(rhs);
/// <summary>
/// Tests for equality.
/// </summary>
/// <param name="other">The other <see cref="BoundedPlane"/> to compare against.</param>
/// <returns>`True` if every field in <paramref name="other"/> is equal to this <see cref="BoundedPlane"/>, otherwise false.</returns>
public bool Equals(BoundedPlane other)
{
return
m_TrackableId.Equals(other.m_TrackableId) &&
m_SubsumedById.Equals(other.m_SubsumedById) &&
m_Pose.Equals(other.m_Pose) &&
m_Center.Equals(other.m_Center) &&
m_Size.Equals(other.m_Size) &&
(m_Alignment == other.m_Alignment) &&
(m_Classification == other.m_Classification) &&
(m_TrackingState == other.m_TrackingState) &&
(m_NativePtr == other.m_NativePtr);
}
TrackableId m_TrackableId;
TrackableId m_SubsumedById;
Vector2 m_Center;
Pose m_Pose;
Vector2 m_Size;
PlaneAlignment m_Alignment;
TrackingState m_TrackingState;
IntPtr m_NativePtr;
PlaneClassification m_Classification;
}
}