SpatialUnderstandingDllShapes.cs

Go to the documentation of this file.

// 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 SpatialUnderstandingDllShapes
    {
        [StructLayout(LayoutKind.Sequential, Pack = 1)]
        public struct ShapeResult
        {
            public Vector3 position;
            public Vector3 halfDims;
        };

        public enum ShapeComponentConstraintType
        {
            SurfaceNotPartOfShape,

            SurfaceHeight_Min,
            SurfaceHeight_Max,
            SurfaceHeight_Between,
            SurfaceHeight_Is,

            SurfaceCount_Min,
            SurfaceCount_Max,
            SurfaceCount_Between,
            SurfaceCount_Is,

            SurfaceArea_Min,
            SurfaceArea_Max,
            SurfaceArea_Between,
            SurfaceArea_Is,

            IsRectangle,
            RectangleSize_Min,
            RectangleSize_Max,
            RectangleSize_Between,
            RectangleSize_Is,

            RectangleLength_Min,
            RectangleLength_Max,
            RectangleLength_Between,
            RectangleLength_Is,

            RectangleWidth_Min,
            RectangleWidth_Max,
            RectangleWidth_Between,
            RectangleWidth_Is,

            IsSquare,
            SquareSize_Min,
            SquareSize_Max,
            SquareSize_Between,
            SquareSize_Is,

            IsCircle,
            CircleRadius_Min,
            CircleRadius_Max,
            CircleRadius_Between,
            CircleRadius_Is,
        };

        [StructLayout(LayoutKind.Sequential, Pack = 1)]
        public struct ShapeComponentConstraint
        {
            public static ShapeComponentConstraint Create_SurfaceNotPartOfShape(string shapeName)
            {
                ShapeComponentConstraint constraint = new ShapeComponentConstraint();
                constraint.Type = ShapeComponentConstraintType.SurfaceNotPartOfShape;
                constraint.Param_Str_0 = SpatialUnderstanding.Instance.UnderstandingDLL.PinString(shapeName);
                return constraint;
            }

            public static ShapeComponentConstraint Create_SurfaceHeight_Min(float minHeight)
            {
                ShapeComponentConstraint constraint = new ShapeComponentConstraint();
                constraint.Type = ShapeComponentConstraintType.SurfaceHeight_Min;
                constraint.Param_Float_0 = minHeight;
                return constraint;
            }

            public static ShapeComponentConstraint Create_SurfaceHeight_Max(float maxHeight)
            {
                ShapeComponentConstraint constraint = new ShapeComponentConstraint();
                constraint.Type = ShapeComponentConstraintType.SurfaceHeight_Max;
                constraint.Param_Float_0 = maxHeight;
                return constraint;
            }

            public static ShapeComponentConstraint Create_SurfaceHeight_Between(float minHeight, float maxHeight)
            {
                ShapeComponentConstraint constraint = new ShapeComponentConstraint();
                constraint.Type = ShapeComponentConstraintType.SurfaceHeight_Between;
                constraint.Param_Float_0 = minHeight;
                constraint.Param_Float_1 = maxHeight;
                return constraint;
            }

            public static ShapeComponentConstraint Create_SurfaceHeight_Is(float height)
            {
                ShapeComponentConstraint constraint = new ShapeComponentConstraint();
                constraint.Type = ShapeComponentConstraintType.SurfaceHeight_Is;
                constraint.Param_Float_0 = height;
                return constraint;
            }

            public static ShapeComponentConstraint Create_SurfaceCount_Min(int minCount)
            {
                ShapeComponentConstraint constraint = new ShapeComponentConstraint();
                constraint.Type = ShapeComponentConstraintType.SurfaceCount_Min;
                constraint.Param_Int_0 = minCount;
                return constraint;
            }

            public static ShapeComponentConstraint Create_SurfaceCount_Max(int maxCount)
            {
                ShapeComponentConstraint constraint = new ShapeComponentConstraint();
                constraint.Type = ShapeComponentConstraintType.SurfaceCount_Max;
                constraint.Param_Int_0 = maxCount;
                return constraint;
            }

            public static ShapeComponentConstraint Create_SurfaceCount_Between(int minCount, int maxCount)
            {
                ShapeComponentConstraint constraint = new ShapeComponentConstraint();
                constraint.Type = ShapeComponentConstraintType.SurfaceCount_Between;
                constraint.Param_Int_0 = minCount;
                constraint.Param_Int_1 = maxCount;
                return constraint;
            }

            public static ShapeComponentConstraint Create_SurfaceCount_Is(int count)
            {
                ShapeComponentConstraint constraint = new ShapeComponentConstraint();
                constraint.Type = ShapeComponentConstraintType.SurfaceCount_Is;
                constraint.Param_Int_0 = count;
                return constraint;
            }

            public static ShapeComponentConstraint Create_SurfaceArea_Min(float minArea)
            {
                ShapeComponentConstraint constraint = new ShapeComponentConstraint();
                constraint.Type = ShapeComponentConstraintType.SurfaceArea_Min;
                constraint.Param_Float_0 = minArea;
                return constraint;
            }

            public static ShapeComponentConstraint Create_SurfaceArea_Max(float maxArea)
            {
                ShapeComponentConstraint constraint = new ShapeComponentConstraint();
                constraint.Type = ShapeComponentConstraintType.SurfaceArea_Max;
                constraint.Param_Float_0 = maxArea;
                return constraint;
            }

            public static ShapeComponentConstraint Create_SurfaceArea_Between(float minArea, float maxArea)
            {
                ShapeComponentConstraint constraint = new ShapeComponentConstraint();
                constraint.Type = ShapeComponentConstraintType.SurfaceArea_Between;
                constraint.Param_Float_0 = minArea;
                constraint.Param_Float_1 = maxArea;
                return constraint;
            }

            public static ShapeComponentConstraint Create_SurfaceArea_Is(float area)
            {
                ShapeComponentConstraint constraint = new ShapeComponentConstraint();
                constraint.Type = ShapeComponentConstraintType.SurfaceArea_Is;
                constraint.Param_Float_0 = area;
                return constraint;
            }

            public static ShapeComponentConstraint Create_IsRectangle(float similarityMin = 0.5f)
            {
                ShapeComponentConstraint constraint = new ShapeComponentConstraint();
                constraint.Type = ShapeComponentConstraintType.IsRectangle;
                constraint.Param_Float_0 = similarityMin;
                return constraint;
            }

            public static ShapeComponentConstraint Create_RectangleSize_Min(float minLength, float minWidth)
            {
                ShapeComponentConstraint constraint = new ShapeComponentConstraint();
                constraint.Type = ShapeComponentConstraintType.RectangleSize_Min;
                constraint.Param_Float_0 = minLength;
                constraint.Param_Float_1 = minWidth;
                return constraint;
            }

            public static ShapeComponentConstraint Create_RectangleSize_Max(float maxLength, float maxWidth)
            {
                ShapeComponentConstraint constraint = new ShapeComponentConstraint();
                constraint.Type = ShapeComponentConstraintType.RectangleSize_Max;
                constraint.Param_Float_0 = maxLength;
                constraint.Param_Float_1 = maxWidth;
                return constraint;
            }

            public static ShapeComponentConstraint Create_RectangleSize_Between(float minLength, float minWidth, float maxLength, float maxWidth)
            {
                ShapeComponentConstraint constraint = new ShapeComponentConstraint();
                constraint.Type = ShapeComponentConstraintType.RectangleSize_Between;
                constraint.Param_Float_0 = minLength;
                constraint.Param_Float_1 = minWidth;
                constraint.Param_Float_2 = maxLength;
                constraint.Param_Float_3 = maxWidth;
                return constraint;
            }

            public static ShapeComponentConstraint Create_RectangleSize_Is(float length, float width)
            {
                ShapeComponentConstraint constraint = new ShapeComponentConstraint();
                constraint.Type = ShapeComponentConstraintType.RectangleSize_Is;
                constraint.Param_Float_0 = length;
                constraint.Param_Float_1 = width;
                return constraint;
            }

            public static ShapeComponentConstraint Create_RectangleLength_Min(float minLength)
            {
                ShapeComponentConstraint constraint = new ShapeComponentConstraint();
                constraint.Type = ShapeComponentConstraintType.RectangleLength_Min;
                constraint.Param_Float_0 = minLength;
                return constraint;
            }

            public static ShapeComponentConstraint Create_RectangleLength_Max(float maxLength)
            {
                ShapeComponentConstraint constraint = new ShapeComponentConstraint();
                constraint.Type = ShapeComponentConstraintType.RectangleLength_Max;
                constraint.Param_Float_0 = maxLength;
                return constraint;
            }

            public static ShapeComponentConstraint Create_RectangleLength_Between(float minLength, float maxLength)
            {
                ShapeComponentConstraint constraint = new ShapeComponentConstraint();
                constraint.Type = ShapeComponentConstraintType.RectangleLength_Between;
                constraint.Param_Float_0 = minLength;
                constraint.Param_Float_1 = maxLength;
                return constraint;
            }

            public static ShapeComponentConstraint Create_RectangleLength_Is(float length)
            {
                ShapeComponentConstraint constraint = new ShapeComponentConstraint();
                constraint.Type = ShapeComponentConstraintType.RectangleLength_Is;
                constraint.Param_Float_0 = length;
                return constraint;
            }

            public static ShapeComponentConstraint Create_RectangleWidth_Min(float minWidth)
            {
                ShapeComponentConstraint constraint = new ShapeComponentConstraint();
                constraint.Type = ShapeComponentConstraintType.RectangleWidth_Min;
                constraint.Param_Float_0 = minWidth;
                return constraint;
            }

            public static ShapeComponentConstraint Create_RectangleWidth_Max(float maxWidth)
            {
                ShapeComponentConstraint constraint = new ShapeComponentConstraint();
                constraint.Type = ShapeComponentConstraintType.RectangleWidth_Max;
                constraint.Param_Float_0 = maxWidth;
                return constraint;
            }
            public static ShapeComponentConstraint Create_RectangleWidth_Between(float minWidth, float maxWidth)
            {
                ShapeComponentConstraint constraint = new ShapeComponentConstraint();
                constraint.Type = ShapeComponentConstraintType.RectangleWidth_Between;
                constraint.Param_Float_0 = minWidth;
                constraint.Param_Float_1 = maxWidth;
                return constraint;
            }

            public static ShapeComponentConstraint Create_RectangleWidth_Is(float width)
            {
                ShapeComponentConstraint constraint = new ShapeComponentConstraint();
                constraint.Type = ShapeComponentConstraintType.RectangleWidth_Is;
                constraint.Param_Float_0 = width;
                return constraint;
            }

            public static ShapeComponentConstraint Create_IsSquare(float similarityMin = 0.5f)
            {
                ShapeComponentConstraint constraint = new ShapeComponentConstraint();
                constraint.Type = ShapeComponentConstraintType.IsSquare;
                constraint.Param_Float_0 = similarityMin;
                return constraint;
            }

            public static ShapeComponentConstraint Create_SquareSize_Min(float minSize)
            {
                ShapeComponentConstraint constraint = new ShapeComponentConstraint();
                constraint.Type = ShapeComponentConstraintType.SquareSize_Min;
                constraint.Param_Float_0 = minSize;
                return constraint;
            }

            public static ShapeComponentConstraint Create_SquareSize_Max(float maxSize)
            {
                ShapeComponentConstraint constraint = new ShapeComponentConstraint();
                constraint.Type = ShapeComponentConstraintType.SquareSize_Max;
                constraint.Param_Float_0 = maxSize;
                return constraint;
            }

            public static ShapeComponentConstraint Create_SquareSize_Between(float minSize, float maxSize)
            {
                ShapeComponentConstraint constraint = new ShapeComponentConstraint();
                constraint.Type = ShapeComponentConstraintType.SquareSize_Between;
                constraint.Param_Float_0 = minSize;
                constraint.Param_Float_1 = maxSize;
                return constraint;
            }

            public static ShapeComponentConstraint Create_SquareSize_Is(float size)
            {
                ShapeComponentConstraint constraint = new ShapeComponentConstraint();
                constraint.Type = ShapeComponentConstraintType.SquareSize_Is;
                constraint.Param_Float_0 = size;
                return constraint;
            }

            public static ShapeComponentConstraint Create_IsCircle(float similarityMin = 0.5f)
            {
                ShapeComponentConstraint constraint = new ShapeComponentConstraint();
                constraint.Type = ShapeComponentConstraintType.IsCircle;
                constraint.Param_Float_0 = similarityMin;
                return constraint;
            }

            public static ShapeComponentConstraint Create_CircleRadius_Min(float minRadius)
            {
                ShapeComponentConstraint constraint = new ShapeComponentConstraint();
                constraint.Type = ShapeComponentConstraintType.CircleRadius_Min;
                constraint.Param_Float_0 = minRadius;
                return constraint;
            }

            public static ShapeComponentConstraint Create_CircleRadius_Max(float maxRadius)
            {
                ShapeComponentConstraint constraint = new ShapeComponentConstraint();
                constraint.Type = ShapeComponentConstraintType.CircleRadius_Max;
                constraint.Param_Float_0 = maxRadius;
                return constraint;
            }

            public static ShapeComponentConstraint Create_CircleRadius_Between(float minRadius, float maxRadius)
            {
                ShapeComponentConstraint constraint = new ShapeComponentConstraint();
                constraint.Type = ShapeComponentConstraintType.CircleRadius_Between;
                constraint.Param_Float_0 = minRadius;
                constraint.Param_Float_1 = maxRadius;
                return constraint;
            }

            public static ShapeComponentConstraint Create_CircleRadius_Is(float radius)
            {
                ShapeComponentConstraint constraint = new ShapeComponentConstraint();
                constraint.Type = ShapeComponentConstraintType.CircleRadius_Is;
                constraint.Param_Float_0 = radius;
                return constraint;
            }

            public ShapeComponentConstraintType Type;
            public float Param_Float_0;
            public float Param_Float_1;
            public float Param_Float_2;
            public float Param_Float_3;
            public int Param_Int_0;
            public int Param_Int_1;
            public IntPtr Param_Str_0;
        };

        [StructLayout(LayoutKind.Sequential, Pack = 1)]
        public struct ShapeComponent
        {
            public ShapeComponent(List<ShapeComponentConstraint> componentConstraints)
            {
                ConstraintCount = componentConstraints.Count;
                Constraints = SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(componentConstraints.ToArray());
            }

            public int ConstraintCount;
            public IntPtr Constraints;  // ShapeComponentConstraint
        };

        public enum ShapeConstraintType
        {
            NoOtherSurface,
            AwayFromWalls,

            RectanglesParallel,
            RectanglesPerpendicular,
            RectanglesAligned,
            RectanglesSameLength,

            AtFrontOf,
            AtBackOf,
            AtLeftOf,
            AtRightOf,
        };

        [StructLayout(LayoutKind.Sequential, Pack = 1)]
        public struct ShapeConstraint
        {
            public static ShapeConstraint Create_NoOtherSurface()
            {
                ShapeConstraint constraint = new ShapeConstraint();
                constraint.Type = ShapeConstraintType.NoOtherSurface;
                return constraint;
            }

            public static ShapeConstraint Create_AwayFromWalls()
            {
                ShapeConstraint constraint = new ShapeConstraint();
                constraint.Type = ShapeConstraintType.AwayFromWalls;
                return constraint;
            }

            public static ShapeConstraint Create_RectanglesParallel(int componentIndexA, int componentIndexB)
            {
                ShapeConstraint constraint = new ShapeConstraint();
                constraint.Type = ShapeConstraintType.RectanglesParallel;
                constraint.Param_Int_0 = componentIndexA;
                constraint.Param_Int_1 = componentIndexB;
                return constraint;
            }

            public static ShapeConstraint Create_RectanglesPerpendicular(int componentIndexA, int componentIndexB)
            {
                ShapeConstraint constraint = new ShapeConstraint();
                constraint.Type = ShapeConstraintType.RectanglesPerpendicular;
                constraint.Param_Int_0 = componentIndexA;
                constraint.Param_Int_1 = componentIndexB;
                return constraint;
            }

            public static ShapeConstraint Create_RectanglesAligned(int componentIndexA, int componentIndexB, float maxDifference = 0.1f)
            {
                ShapeConstraint constraint = new ShapeConstraint();
                constraint.Type = ShapeConstraintType.RectanglesAligned;
                constraint.Param_Int_0 = componentIndexA;
                constraint.Param_Int_1 = componentIndexB;
                constraint.Param_Float_0 = maxDifference;
                return constraint;
            }

            public static ShapeConstraint Create_RectanglesSameLength(int componentIndexA, int componentIndexB, float similarityMin = 0.8f)
            {
                ShapeConstraint constraint = new ShapeConstraint();
                constraint.Type = ShapeConstraintType.RectanglesSameLength;
                constraint.Param_Int_0 = componentIndexA;
                constraint.Param_Int_1 = componentIndexB;
                constraint.Param_Float_0 = similarityMin;
                return constraint;
            }

            public static ShapeConstraint Create_AtFrontOf(int componentIndexA, int componentIndexB)
            {
                ShapeConstraint constraint = new ShapeConstraint();
                constraint.Type = ShapeConstraintType.AtFrontOf;
                constraint.Param_Int_0 = componentIndexA;
                constraint.Param_Int_1 = componentIndexB;
                return constraint;
            }

            public static ShapeConstraint Create_AtBackOf(int componentIndexA, int componentIndexB)
            {
                ShapeConstraint constraint = new ShapeConstraint();
                constraint.Type = ShapeConstraintType.AtBackOf;
                constraint.Param_Int_0 = componentIndexA;
                constraint.Param_Int_1 = componentIndexB;
                return constraint;
            }

            public static ShapeConstraint Create_AtLeftOf(int componentIndexA, int componentIndexB)
            {
                ShapeConstraint constraint = new ShapeConstraint();
                constraint.Type = ShapeConstraintType.AtLeftOf;
                constraint.Param_Int_0 = componentIndexA;
                constraint.Param_Int_1 = componentIndexB;
                return constraint;
            }

            public static ShapeConstraint Create_AtRightOf(int componentIndexA, int componentIndexB)
            {
                ShapeConstraint constraint = new ShapeConstraint();
                constraint.Type = ShapeConstraintType.AtRightOf;
                constraint.Param_Int_0 = componentIndexA;
                constraint.Param_Int_1 = componentIndexB;
                return constraint;
            }

            public ShapeConstraintType Type;
            public float Param_Float_0;
            public int Param_Int_0;
            public int Param_Int_1;
        };

        // Functions
        // Queries (shapes)
        [DllImport("SpatialUnderstanding", CallingConvention = CallingConvention.Cdecl)]
        public static extern int QueryShape_FindPositionsOnShape(
            [In, MarshalAs(UnmanagedType.LPStr)] string shapeName,          // char*
            [In] float minRadius,
            [In] int shapeCount,                                            // Pass in the space allocated in shapeData
            [In, Out] IntPtr shapeData);                                    // ShapeResult

        [DllImport("SpatialUnderstanding", CallingConvention = CallingConvention.Cdecl)]
        public static extern int QueryShape_FindShapeHalfDims(
            [In, MarshalAs(UnmanagedType.LPStr)] string shapeName,         // char*
            [In] int shapeCount,                                            // Pass in the space allocated in shapeData
            [In, Out] IntPtr shapeData);                                    // ShapeResult

        [DllImport("SpatialUnderstanding", CallingConvention = CallingConvention.Cdecl)]
        public static extern int AddShape(
            [In, MarshalAs(UnmanagedType.LPStr)] string shapeName,
            [In] int componentCount,
            [In] IntPtr components,         // ShapeComponent
            [In] int shapeConstraints,
            [In] IntPtr constraints);       // ShapeConstraint

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

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