SpatialUnderstandingDllObjectPlacement.cs

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// Copyright (c) Microsoft Corporation. All rights reserved.
// Licensed under the MIT License. See LICENSE in the project root for license information.

using UnityEngine;
using System.Collections;
using System.Runtime.InteropServices;
using System;
using System.Collections.Generic;

namespace HoloToolkit.Unity
{
    public static class SpatialUnderstandingDllObjectPlacement
    {
        [StructLayout(LayoutKind.Sequential, Pack = 1)]
        public struct ObjectPlacementDefinition
        {
            public enum PlacementType
            {
                Place_OnFloor,
                Place_OnWall,
                Place_OnCeiling,
                Place_OnShape,
                Place_OnEdge,
                Place_OnFloorAndCeiling,
                Place_RandomInAir,
                Place_InMidAir,
                Place_UnderPlatformEdge,
            };

            [FlagsAttribute]
            public enum WallTypeFlags
            {
                None = 0,
                Normal = (1 << 0),
                External = (1 << 1),
                Virtual = (1 << 2),
                ExternalVirtual = (1 << 3),
            };

            public static ObjectPlacementDefinition Create_OnFloor(Vector3 halfDims)
            {
                ObjectPlacementDefinition placement = new ObjectPlacementDefinition();
                placement.Type = PlacementType.Place_OnFloor;
                placement.HalfDims = halfDims;
                return placement;
            }

            public static ObjectPlacementDefinition Create_OnWall(
                Vector3 halfDims,
                float heightMin,
                float heightMax,
                WallTypeFlags wallTypes = WallTypeFlags.External | WallTypeFlags.Normal,
                float marginLeft = 0.0f,
                float marginRight = 0.0f)
            {
                ObjectPlacementDefinition placement = new ObjectPlacementDefinition();
                placement.Type = PlacementType.Place_OnWall;
                placement.HalfDims = halfDims;
                placement.PlacementParam_Float_0 = heightMin;
                placement.PlacementParam_Float_1 = heightMax;
                placement.PlacementParam_Float_2 = marginLeft;
                placement.PlacementParam_Float_3 = marginRight;
                placement.WallFlags = (int)wallTypes;
                return placement;
            }

            public static ObjectPlacementDefinition Create_OnCeiling(Vector3 halfDims)
            {
                ObjectPlacementDefinition placement = new ObjectPlacementDefinition();
                placement.Type = PlacementType.Place_OnCeiling;
                placement.HalfDims = halfDims;
                return placement;
            }

            public static ObjectPlacementDefinition Create_OnShape(Vector3 halfDims, string shapeName, int componentIndex)
            {
                ObjectPlacementDefinition placement = new ObjectPlacementDefinition();
                placement.Type = PlacementType.Place_OnShape;
                placement.HalfDims = halfDims;
                placement.PlacementParam_Str_0 = SpatialUnderstanding.Instance.UnderstandingDLL.PinString(shapeName);
                placement.PlacementParam_Int_0 = componentIndex;
                return placement;
            }

            public static ObjectPlacementDefinition Create_OnEdge(Vector3 halfDims, Vector3 halfDimsBottom)
            {
                ObjectPlacementDefinition placement = new ObjectPlacementDefinition();
                placement.Type = PlacementType.Place_OnEdge;
                placement.HalfDims = halfDims;
                placement.PlacementParam_Float_0 = halfDimsBottom.x;
                placement.PlacementParam_Float_1 = halfDimsBottom.y;
                placement.PlacementParam_Float_2 = halfDimsBottom.z;
                return placement;
            }

            public static ObjectPlacementDefinition Create_OnFloorAndCeiling(Vector3 halfDims, Vector3 halfDimsBottom)
            {
                ObjectPlacementDefinition placement = new ObjectPlacementDefinition();
                placement.Type = PlacementType.Place_OnFloorAndCeiling;
                placement.HalfDims = halfDims;
                placement.PlacementParam_Float_0 = halfDimsBottom.x;
                placement.PlacementParam_Float_1 = halfDimsBottom.y;
                placement.PlacementParam_Float_2 = halfDimsBottom.z;
                return placement;
            }

            public static ObjectPlacementDefinition Create_RandomInAir(Vector3 halfDims)
            {
                ObjectPlacementDefinition placement = new ObjectPlacementDefinition();
                placement.Type = PlacementType.Place_RandomInAir;
                placement.HalfDims = halfDims;
                return placement;
            }

            public static ObjectPlacementDefinition Create_InMidAir(Vector3 halfDims)
            {
                ObjectPlacementDefinition placement = new ObjectPlacementDefinition();
                placement.Type = PlacementType.Place_InMidAir;
                placement.HalfDims = halfDims;
                return placement;
            }

            public static ObjectPlacementDefinition Create_UnderPlatformEdge(Vector3 halfDims)
            {
                ObjectPlacementDefinition placement = new ObjectPlacementDefinition();
                placement.Type = PlacementType.Place_UnderPlatformEdge;
                placement.HalfDims = halfDims;
                return placement;
            }

            public PlacementType Type;
            public int PlacementParam_Int_0;
            public float PlacementParam_Float_0;
            public float PlacementParam_Float_1;
            public float PlacementParam_Float_2;
            public float PlacementParam_Float_3;
            public IntPtr PlacementParam_Str_0;
            public int WallFlags;
            public Vector3 HalfDims;
        };

        [StructLayout(LayoutKind.Sequential, Pack = 1)]
        public struct ObjectPlacementRule
        {
            public enum ObjectPlacementRuleType
            {
                Rule_AwayFromPosition,
                Rule_AwayFromWalls,
                Rule_AwayFromOtherObjects,
            };

            public static ObjectPlacementRule Create_AwayFromPosition(Vector3 position, float minDistance)
            {
                ObjectPlacementRule rule = new ObjectPlacementRule();
                rule.Type = ObjectPlacementRuleType.Rule_AwayFromPosition;
                rule.RuleParam_Vec3_0 = position;
                rule.RuleParam_Float_0 = minDistance;
                return rule;
            }

            public static ObjectPlacementRule Create_AwayFromWalls(float minDistance, float minWallHeight = 0.0f)
            {
                ObjectPlacementRule rule = new ObjectPlacementRule();
                rule.Type = ObjectPlacementRuleType.Rule_AwayFromWalls;
                rule.RuleParam_Float_0 = minDistance;
                rule.RuleParam_Float_1 = minWallHeight;
                return rule;
            }

            public static ObjectPlacementRule Create_AwayFromOtherObjects(float minDistance)
            {
                ObjectPlacementRule rule = new ObjectPlacementRule();
                rule.Type = ObjectPlacementRuleType.Rule_AwayFromOtherObjects;
                rule.RuleParam_Float_0 = minDistance;
                return rule;
            }

            public ObjectPlacementRuleType Type;
            public int RuleParam_Int_0;
            public float RuleParam_Float_0;
            public float RuleParam_Float_1;
            public Vector3 RuleParam_Vec3_0;
        };

        [StructLayout(LayoutKind.Sequential, Pack = 1)]
        public struct ObjectPlacementConstraint
        {
            public enum ObjectPlacementConstraintType
            {
                Constraint_NearPoint,
                Constraint_NearWall,
                Constraint_AwayFromWalls,
                Constraint_NearCenter,
                Constraint_AwayFromOtherObjects,
                Constraint_AwayFromPoint
            };

            public static ObjectPlacementConstraint Create_NearPoint(Vector3 position, float minDistance = 0.0f, float maxDistance = 0.0f)
            {
                ObjectPlacementConstraint constraint = new ObjectPlacementConstraint();
                constraint.Type = ObjectPlacementConstraintType.Constraint_NearPoint;
                constraint.RuleParam_Vec3_0 = position;
                constraint.RuleParam_Float_0 = minDistance;
                constraint.RuleParam_Float_1 = maxDistance;
                return constraint;
            }

            public static ObjectPlacementConstraint Create_NearWall(float minDistance = 0.0f, float maxDistance = 0.0f, float minWallHeight = 0.0f, bool includeVirtualWalls = false)
            {
                ObjectPlacementConstraint constraint = new ObjectPlacementConstraint();
                constraint.Type = ObjectPlacementConstraintType.Constraint_NearWall;
                constraint.RuleParam_Float_0 = minDistance;
                constraint.RuleParam_Float_1 = maxDistance;
                constraint.RuleParam_Float_2 = minWallHeight;
                constraint.RuleParam_Int_0 = includeVirtualWalls ? 1 : 0;
                return constraint;
            }

            public static ObjectPlacementConstraint Create_AwayFromWalls()
            {
                ObjectPlacementConstraint constraint = new ObjectPlacementConstraint();
                constraint.Type = ObjectPlacementConstraintType.Constraint_AwayFromWalls;
                return constraint;
            }

            public static ObjectPlacementConstraint Create_NearCenter(float minDistance = 0.0f, float maxDistance = 0.0f)
            {
                ObjectPlacementConstraint constraint = new ObjectPlacementConstraint();
                constraint.Type = ObjectPlacementConstraintType.Constraint_NearCenter;
                constraint.RuleParam_Float_0 = minDistance;
                constraint.RuleParam_Float_1 = maxDistance;
                return constraint;
            }

            public static ObjectPlacementConstraint Create_AwayFromOtherObjects()
            {
                ObjectPlacementConstraint constraint = new ObjectPlacementConstraint();
                constraint.Type = ObjectPlacementConstraintType.Constraint_AwayFromOtherObjects;
                return constraint;
            }

            public static ObjectPlacementConstraint Create_AwayFromPoint(Vector3 position)
            {
                ObjectPlacementConstraint constraint = new ObjectPlacementConstraint();
                constraint.Type = ObjectPlacementConstraintType.Constraint_AwayFromPoint;
                constraint.RuleParam_Vec3_0 = position;
                return constraint;
            }

            public ObjectPlacementConstraintType Type;
            public int RuleParam_Int_0;
            public float RuleParam_Float_0;
            public float RuleParam_Float_1;
            public float RuleParam_Float_2;
            public Vector3 RuleParam_Vec3_0;
        };

        [StructLayout(LayoutKind.Sequential, Pack = 1)]
        public class ObjectPlacementResult : ICloneable
        {
            public object Clone()
            {
                return this.MemberwiseClone();
            }

            public Vector3 Position;
            public Vector3 HalfDims;
            public Vector3 Forward;
            public Vector3 Right;
            public Vector3 Up;
        };

        // Functions
        [DllImport("SpatialUnderstanding", CallingConvention = CallingConvention.Cdecl)]
        public static extern int Solver_Init();

        [DllImport("SpatialUnderstanding", CallingConvention = CallingConvention.Cdecl)]
        public static extern int Solver_PlaceObject(
            [In, MarshalAs(UnmanagedType.LPStr)] string objectName,
            [In] IntPtr placementDefinition,// ObjectPlacementDefinition
            [In] int placementRuleCount,
            [In] IntPtr placementRules,     // ObjectPlacementRule
            [In] int constraintCount,
            [In] IntPtr placementConstraints,// ObjectPlacementConstraint
            [Out] IntPtr placementResult);  // ObjectPlacementResult

        [DllImport("SpatialUnderstanding", CallingConvention = CallingConvention.Cdecl)]
        public static extern int Solver_RemoveObject(
            [In, MarshalAs(UnmanagedType.LPStr)] string objectName);

        [DllImport("SpatialUnderstanding", CallingConvention = CallingConvention.Cdecl)]
        public static extern void Solver_RemoveAllObjects();
    }
}