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542 lines
21 KiB
542 lines
21 KiB
1 year ago
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using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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using com.rfilkov.kinect;
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namespace com.rfilkov.components
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{
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/// <summary>
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/// SceneMeshRendererGpu renders virtual mesh of the environment in the scene, as detected by the given sensor. This component uses GPU for mesh processing rather than CPU.
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/// </summary>
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public class SceneMeshRendererGpu : MonoBehaviour
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{
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[Tooltip("Depth sensor index - 0 is the 1st one, 1 - the 2nd one, etc.")]
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public int sensorIndex = 0;
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[Tooltip("Resolution of the images used to generate the scene.")]
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private DepthSensorBase.PointCloudResolution sourceImageResolution = DepthSensorBase.PointCloudResolution.DepthCameraResolution;
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[Tooltip("Whether to show the mesh as point cloud, or as solid mesh.")]
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public bool showAsPointCloud = true;
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[Tooltip("Mesh coarse factor.")]
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[Range(1, 4)]
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public int coarseFactor = 1;
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[Tooltip("Edge cut-off factor.")]
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[Range(0f, 1f)]
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public float edgeCutoffFactor = 0.5f;
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[Tooltip("Whether the mesh texture is RGB or infrared.")]
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public MeshTextureType meshTexture = MeshTextureType.ColorTexture;
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public enum MeshTextureType : int { ColorTexture = 0, InfraredTexture = 1 }
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[Tooltip("If set, the mesh renderer will use this texture for the mesh, instead of the color or IR texture.")]
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public Texture externalMeshTexture = null;
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[Tooltip("Horizontal limit - minimum, in meters.")]
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[Range(-5f, 5f)]
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public float xMin = -2f;
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[Tooltip("Horizontal limit - maximum, in meters.")]
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[Range(-5f, 5f)]
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public float xMax = 2f;
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[Tooltip("Vertical limit - minimum, in meters.")]
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[Range(-5f, 5f)]
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public float yMin = 0f;
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[Tooltip("Vertical limit - maximum, in meters.")]
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[Range(-5f, 5f)]
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public float yMax = 2.5f;
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[Tooltip("Distance limit - minimum, in meters.")]
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[Range(0.5f, 10f)]
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public float zMin = 1f;
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[Tooltip("Distance limit - maximum, in meters.")]
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[Range(0.5f, 10f)]
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public float zMax = 3f;
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[Tooltip("Time interval between scene mesh updates, in seconds. 0 means no wait.")]
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private float updateMeshInterval = 0f;
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[Tooltip("Time interval between mesh-collider updates, in seconds. 0 means no mesh-collider updates.")]
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private float updateColliderInterval = 0f;
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[Tooltip("Whether to apply lighting to the mesh, or not.")]
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public bool applyLighting = false;
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// reference to object's mesh
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private Mesh mesh = null;
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private Transform trans = null;
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// references to KM and data
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private KinectManager kinectManager = null;
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private KinectInterop.SensorData sensorData = null;
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private DepthSensorBase sensorInt = null;
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//private Vector3 spaceScale = Vector3.zero;
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private Material meshShaderMat = null;
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// space table
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private Vector3[] spaceTable = null;
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private ComputeBuffer spaceTableBuffer = null;
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private Vector3 sensorSpaceScale = Vector3.zero;
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private ushort[] depthImageCopy = null;
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private ComputeBuffer depthImageBuffer = null;
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// render textures
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private RenderTexture colorTexture = null;
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private RenderTexture colorTextureCopy = null;
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private bool colorTextureCreated = false;
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//private bool depthBufferCreated = false;
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// times
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private ulong lastDepthFrameTime = 0;
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private float lastMeshUpdateTime = 0f;
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private float lastColliderUpdateTime = 0f;
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// image parameters
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private int imageWidth = 0;
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private int imageHeight = 0;
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// mesh parameters
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private bool bMeshInited = false;
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private int meshParamsCache = 0;
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// lighting
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private FragmentLighting lighting = new FragmentLighting();
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void Start()
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{
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// get sensor data
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kinectManager = KinectManager.Instance;
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sensorData = (kinectManager != null && kinectManager.IsInitialized()) ? kinectManager.GetSensorData(sensorIndex) : null;
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if (externalMeshTexture == null && meshTexture == MeshTextureType.InfraredTexture &&
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kinectManager && kinectManager.GetInfraredImageTex(sensorIndex) == null)
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{
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Debug.LogError("Please set the 'Get Infrared Frames'-setting of KinectManager to 'Infrared texture'.");
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}
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// find scene lights
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Light[] sceneLights = GameObject.FindObjectsOfType<Light>();
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lighting.SetLightsAndBounds(sceneLights, transform.position, new Vector3(20f, 20f, 20f));
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}
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void OnDestroy()
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{
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if (bMeshInited)
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{
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// release the mesh-related resources
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FinishMesh();
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}
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// release lighting resources
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lighting.ReleaseResources();
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}
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void Update()
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{
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if (mesh == null && sensorData != null && sensorData.depthCamIntr != null)
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{
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// init mesh and its related data
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InitMesh();
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}
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if (bMeshInited)
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{
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// update the mesh
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UpdateMesh();
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}
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}
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// inits the mesh and related data
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private void InitMesh()
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{
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// create mesh
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mesh = new Mesh
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{
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name = "SceneMesh-Sensor" + sensorIndex,
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indexFormat = UnityEngine.Rendering.IndexFormat.UInt32
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};
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MeshFilter meshFilter = GetComponent<MeshFilter>();
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if (meshFilter != null)
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{
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meshFilter.mesh = mesh;
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}
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else
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{
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Debug.LogWarning("MeshFilter not found! You may not see the mesh on screen");
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}
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// get the mesh material
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Renderer meshRenderer = GetComponent<Renderer>();
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if (meshRenderer)
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{
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Shader meshShader = Shader.Find("Kinect/SceneMeshUShader");
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if(meshShader != null)
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{
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meshShaderMat = new Material(meshShader);
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meshRenderer.material = meshShaderMat;
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}
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}
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// get reference to the transform
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trans = GetComponent<Transform>();
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// get sensor interface
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sensorInt = sensorData != null ? (DepthSensorBase)sensorData.sensorInterface : null;
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// create point cloud color texture
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if (sensorData != null && sensorInt != null && meshShaderMat != null)
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{
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Vector2Int imageRes = Vector2Int.zero;
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if (sensorInt.pointCloudColorTexture == null)
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{
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sensorInt.pointCloudResolution = sourceImageResolution;
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imageRes = sensorInt.GetPointCloudTexResolution(sensorData);
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//colorTexture = KinectInterop.CreateRenderTexture(colorTexture, imageRes.x, imageRes.y, RenderTextureFormat.ARGB32);
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//sensorInt.pointCloudColorTexture = colorTexture;
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colorTextureCreated = true;
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}
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else
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{
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sourceImageResolution = sensorInt.pointCloudResolution;
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imageRes = sensorInt.GetPointCloudTexResolution(sensorData);
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colorTexture = sensorInt.pointCloudColorTexture;
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colorTextureCreated = false;
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}
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// get space scale
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sensorSpaceScale = kinectManager.GetSensorSpaceScale(sensorIndex); // kinectManager.GetDepthImageScale(sensorIndex)
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// update textures and buffers
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UpdateTexturesAndBuffers();
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bMeshInited = true;
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}
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}
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// updates the textures and buffers, needed by the mesh renderer
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private void UpdateTexturesAndBuffers()
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{
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if (sensorData == null || sensorInt == null)
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return;
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// get image resolution
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Vector2Int imageRes = sensorInt.GetPointCloudTexResolution(sensorData);
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if (colorTextureCreated && (colorTexture == null ||
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colorTexture.width != imageRes.x || colorTexture.height != imageRes.y))
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{
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colorTexture = KinectInterop.CreateRenderTexture(colorTexture, imageRes.x, imageRes.y, RenderTextureFormat.ARGB32);
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sensorInt.pointCloudColorTexture = colorTexture;
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//Debug.Log("Created pointCloudColorTexture with resolution " + imageRes);
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}
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// create depth image buffer
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if (sourceImageResolution == DepthSensorBase.PointCloudResolution.DepthCameraResolution)
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{
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int depthBufferLength = sensorData.depthImageWidth * sensorData.depthImageHeight >> 1;
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if (depthImageBuffer == null || depthImageBuffer.count != depthBufferLength)
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{
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depthImageCopy = new ushort[depthBufferLength << 1];
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depthImageBuffer = KinectInterop.CreateComputeBuffer(depthImageBuffer, depthBufferLength, sizeof(uint));
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//Debug.Log("Created depthImageBuffer with length " + depthBufferLength);
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}
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//meshShaderMat.SetBuffer("_DepthMap", depthImageBuffer);
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}
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else
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{
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int bufferLength = sensorData.colorImageWidth * sensorData.colorImageHeight >> 1;
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if (sensorData.colorDepthBuffer == null || sensorData.colorDepthBuffer.count != bufferLength)
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{
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sensorData.colorDepthBuffer = KinectInterop.CreateComputeBuffer(sensorData.colorDepthBuffer, bufferLength, sizeof(uint));
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//Debug.Log("Created colorDepthBuffer with length " + bufferLength);
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}
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//meshShaderMat.SetBuffer("_DepthMap", sensorData.colorDepthBuffer);
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if (externalMeshTexture == null && meshTexture == MeshTextureType.InfraredTexture)
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{
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if (sensorData.colorInfraredBuffer == null || sensorData.colorInfraredBuffer.count != bufferLength)
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{
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sensorData.colorInfraredBuffer = KinectInterop.CreateComputeBuffer(sensorData.colorInfraredBuffer, bufferLength, sizeof(uint));
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//Debug.Log("Created colorInfraredBuffer with length " + bufferLength);
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}
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}
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}
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if (colorTextureCopy == null || colorTextureCopy.width != imageRes.x || colorTextureCopy.height != imageRes.y)
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{
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// create copy texture
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colorTextureCopy = KinectInterop.CreateRenderTexture(colorTextureCopy, imageRes.x, imageRes.y, RenderTextureFormat.ARGB32);
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//Debug.Log("Created colorTextureCopy with resolution " + imageRes);
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}
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if (spaceTableBuffer == null || imageWidth != imageRes.x || imageHeight != imageRes.y)
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{
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// create space table
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spaceTable = sensorInt.pointCloudResolution == DepthSensorBase.PointCloudResolution.DepthCameraResolution ?
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sensorInt.GetDepthCameraSpaceTable(sensorData) : sensorInt.GetColorCameraSpaceTable(sensorData);
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int spaceBufferLength = imageRes.x * imageRes.y * 3;
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spaceTableBuffer = KinectInterop.CreateComputeBuffer(spaceTableBuffer, spaceBufferLength, sizeof(float));
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spaceTableBuffer.SetData(spaceTable);
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spaceTable = null;
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//Debug.Log("Created spaceTable for resolution " + imageRes);
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}
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// create mesh vertices & indices
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if (imageWidth != imageRes.x || imageHeight != imageRes.y)
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{
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CreateMeshVertInd(imageRes.x, imageRes.y);
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}
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// image width & height
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imageWidth = imageRes.x;
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imageHeight = imageRes.y;
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}
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// creates the mesh vertices and indices
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private void CreateMeshVertInd(int imageWidth, int imageHeight)
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{
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int xVerts = (imageWidth / coarseFactor); // + 1;
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int yVerts = (imageHeight / coarseFactor); // + 1;
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int vCount = xVerts * yVerts;
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//Debug.Log("xVerts: " + xVerts + ", yVerts: " + yVerts + ", vCount: " + vCount);
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// mesh vertices
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mesh.Clear();
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mesh.indexFormat = UnityEngine.Rendering.IndexFormat.UInt32;
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Vector3[] meshVertices = new Vector3[vCount];
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Vector3[] meshNormals = new Vector3[vCount];
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Vector2[] meshUv = new Vector2[vCount];
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float vsx = (float)coarseFactor / (float)imageWidth;
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float vsy = (float)coarseFactor / (float)imageHeight;
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for (int y = 0, vi = 0; y < yVerts; y++)
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{
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for (int x = 0; x < xVerts; x++, vi++)
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{
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meshVertices[vi] = new Vector3(x * vsx, y * vsy, 0f);
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meshNormals[vi] = new Vector3(0f, 1f, 0f); // 0f, 0f, -1f
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meshUv[vi] = new Vector2(x * vsx, y * vsy);
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}
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}
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mesh.vertices = meshVertices;
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mesh.normals = meshNormals;
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mesh.uv = meshUv;
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// mesh indices
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if (showAsPointCloud)
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{
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int[] meshIndices = new int[vCount];
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for (int i = 0; i < vCount; i++)
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meshIndices[i] = i;
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mesh.SetIndices(meshIndices, MeshTopology.Points, 0);
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}
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else
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{
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int[] meshIndices = new int[(xVerts - 1) * (yVerts - 1) * 6];
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for (int y = 0, ii = 0; y < (yVerts - 1); y++)
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{
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for (int x = 0; x < (xVerts - 1); x++)
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{
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meshIndices[ii++] = (y + 1) * xVerts + x;
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meshIndices[ii++] = y * xVerts + x + 1;
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meshIndices[ii++] = y * xVerts + x;
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meshIndices[ii++] = (y + 1) * xVerts + x + 1;
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meshIndices[ii++] = y * xVerts + x + 1;
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meshIndices[ii++] = (y + 1) * xVerts + x;
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}
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}
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mesh.SetIndices(meshIndices, MeshTopology.Triangles, 0);
|
||
|
|
}
|
||
|
|
|
||
|
|
meshParamsCache = coarseFactor + (showAsPointCloud ? 10 : 0);
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
// releases mesh-related resources
|
||
|
|
private void FinishMesh()
|
||
|
|
{
|
||
|
|
if (sensorInt)
|
||
|
|
{
|
||
|
|
sensorInt.pointCloudColorTexture = null;
|
||
|
|
}
|
||
|
|
|
||
|
|
if(depthImageBuffer != null /**&& depthBufferCreated*/)
|
||
|
|
{
|
||
|
|
depthImageCopy = null;
|
||
|
|
|
||
|
|
depthImageBuffer.Release();
|
||
|
|
depthImageBuffer.Dispose();
|
||
|
|
depthImageBuffer = null;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (sensorData.colorDepthBuffer != null /**&& depthBufferCreated*/)
|
||
|
|
{
|
||
|
|
sensorData.colorDepthBuffer.Release();
|
||
|
|
sensorData.colorDepthBuffer.Dispose();
|
||
|
|
sensorData.colorDepthBuffer = null;
|
||
|
|
}
|
||
|
|
|
||
|
|
if(sensorData.colorInfraredBuffer != null)
|
||
|
|
{
|
||
|
|
sensorData.colorInfraredBuffer.Release();
|
||
|
|
sensorData.colorInfraredBuffer.Dispose();
|
||
|
|
sensorData.colorInfraredBuffer = null;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (colorTexture && colorTextureCreated)
|
||
|
|
{
|
||
|
|
colorTexture.Release();
|
||
|
|
colorTexture = null;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (colorTextureCopy)
|
||
|
|
{
|
||
|
|
colorTextureCopy.Release();
|
||
|
|
colorTextureCopy = null;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (spaceTableBuffer != null)
|
||
|
|
{
|
||
|
|
spaceTableBuffer.Dispose();
|
||
|
|
spaceTableBuffer = null;
|
||
|
|
}
|
||
|
|
|
||
|
|
bMeshInited = false;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
// updates the mesh according to current depth frame
|
||
|
|
private void UpdateMesh()
|
||
|
|
{
|
||
|
|
if (bMeshInited && sensorData.depthImage != null && sensorData.depthCamIntr != null && meshShaderMat != null &&
|
||
|
|
lastDepthFrameTime != sensorData.lastDepthFrameTime && (Time.time - lastMeshUpdateTime) >= updateMeshInterval)
|
||
|
|
{
|
||
|
|
lastDepthFrameTime = sensorData.lastDepthFrameTime;
|
||
|
|
lastMeshUpdateTime = Time.time;
|
||
|
|
|
||
|
|
// update textures and buffers
|
||
|
|
UpdateTexturesAndBuffers();
|
||
|
|
|
||
|
|
int paramsCache = coarseFactor + (showAsPointCloud ? 10 : 0);
|
||
|
|
if(meshParamsCache != paramsCache)
|
||
|
|
{
|
||
|
|
//Debug.Log("Mesh params changed. Recreating...");
|
||
|
|
CreateMeshVertInd(imageWidth, imageHeight);
|
||
|
|
}
|
||
|
|
|
||
|
|
if (depthImageBuffer != null && sensorData.depthImage != null /**&& depthBufferCreated*/)
|
||
|
|
{
|
||
|
|
KinectInterop.CopyBytes(sensorData.depthImage, sizeof(ushort), depthImageCopy, sizeof(ushort));
|
||
|
|
|
||
|
|
int depthBufferLength = sensorData.depthImageWidth * sensorData.depthImageHeight / 2;
|
||
|
|
KinectInterop.SetComputeBufferData(depthImageBuffer, depthImageCopy, depthBufferLength, sizeof(uint));
|
||
|
|
}
|
||
|
|
|
||
|
|
if (externalMeshTexture != null)
|
||
|
|
{
|
||
|
|
// use the external texture
|
||
|
|
Graphics.Blit(externalMeshTexture, colorTextureCopy);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
switch (meshTexture)
|
||
|
|
{
|
||
|
|
case MeshTextureType.ColorTexture:
|
||
|
|
if (colorTexture != null)
|
||
|
|
Graphics.CopyTexture(colorTexture, colorTextureCopy);
|
||
|
|
break;
|
||
|
|
|
||
|
|
case MeshTextureType.InfraredTexture:
|
||
|
|
Texture infraredTexture = sensorInt.pointCloudResolution == DepthSensorBase.PointCloudResolution.DepthCameraResolution ?
|
||
|
|
sensorData.infraredImageTexture : sensorData.colorInfraredTexture;
|
||
|
|
if (infraredTexture != null)
|
||
|
|
Graphics.CopyTexture(infraredTexture, colorTextureCopy);
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
if (sourceImageResolution == DepthSensorBase.PointCloudResolution.DepthCameraResolution)
|
||
|
|
{
|
||
|
|
//Debug.Log("SceneMeshGpu DepthFrameTime: " + lastDepthFrameTime);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
//sensorData.usedColorDepthBufferTime = sensorData.lastColorDepthBufferTime;
|
||
|
|
//Debug.Log("SceneMeshGpu ColorDepthBufferTime: " + sensorData.lastColorDepthBufferTime);
|
||
|
|
}
|
||
|
|
|
||
|
|
if (sourceImageResolution == DepthSensorBase.PointCloudResolution.DepthCameraResolution)
|
||
|
|
meshShaderMat.SetBuffer("_DepthMap", depthImageBuffer);
|
||
|
|
else
|
||
|
|
meshShaderMat.SetBuffer("_DepthMap", sensorData.colorDepthBuffer);
|
||
|
|
|
||
|
|
meshShaderMat.SetTexture("_ColorTex", colorTextureCopy);
|
||
|
|
meshShaderMat.SetVector("_SpaceScale", sensorSpaceScale);
|
||
|
|
meshShaderMat.SetBuffer("_SpaceTable", spaceTableBuffer);
|
||
|
|
|
||
|
|
meshShaderMat.SetVector("_TexRes", new Vector2(imageWidth, imageHeight));
|
||
|
|
//meshShaderMat.SetVector("_Cxy", new Vector2(sensorData.depthCamIntr.ppx, sensorData.depthCamIntr.ppy));
|
||
|
|
//meshShaderMat.SetVector("_Fxy", new Vector2(sensorData.depthCamIntr.fx, sensorData.depthCamIntr.fy));
|
||
|
|
|
||
|
|
meshShaderMat.SetInt("_CoarseFactor", coarseFactor);
|
||
|
|
meshShaderMat.SetInt("_IsPointCloud", showAsPointCloud ? 1 : 0);
|
||
|
|
meshShaderMat.SetFloat("_CutoffFactor", Mathf.Pow(edgeCutoffFactor, 6));
|
||
|
|
|
||
|
|
meshShaderMat.SetMatrix("_Transform", sensorInt.GetSensorToWorldMatrix());
|
||
|
|
meshShaderMat.SetVector("_PosMin", new Vector3(xMin, yMin, zMin));
|
||
|
|
meshShaderMat.SetVector("_PosMax", new Vector3(xMax, yMax, zMax));
|
||
|
|
|
||
|
|
// mesh bounds
|
||
|
|
Vector3 boundsCenter = new Vector3((xMax - xMin) / 2f, (yMax - yMin) / 2f, (zMax /**- zMin*/) / 2f);
|
||
|
|
Vector3 boundsSize = new Vector3((xMax - xMin), (yMax - yMin), (zMax /**- zMin*/));
|
||
|
|
mesh.bounds = new Bounds(boundsCenter, boundsSize);
|
||
|
|
|
||
|
|
// update lighting parameters
|
||
|
|
lighting.UpdateLighting(meshShaderMat, applyLighting);
|
||
|
|
|
||
|
|
if (updateColliderInterval > 0 && (Time.time - lastColliderUpdateTime) >= updateColliderInterval)
|
||
|
|
{
|
||
|
|
lastColliderUpdateTime = Time.time;
|
||
|
|
MeshCollider meshCollider = GetComponent<MeshCollider>();
|
||
|
|
|
||
|
|
if (meshCollider)
|
||
|
|
{
|
||
|
|
meshCollider.sharedMesh = null;
|
||
|
|
meshCollider.sharedMesh = mesh;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
}
|