Merge from 'develop' into 'main' for CLOiSim-4.5.1 (#281)

Assets/Scripts/CLOiSimPlugins/Modules/Base/CLOiSimPlugin.cs

@@ -27,7 +27,7 @@ public abstract partial class CLOiSimPlugin : MonoBehaviour, ICLOiSimPlugin
 
 	private Pose pluginPose = Pose.identity;
 
-	private SDF.Plugin pluginParameters;
+	private SDF.Plugin _pluginParameters;
 
 	private List<ushort> allocatedDevicePorts = new List<ushort>();
 	private List<string> allocatedDeviceHashKeys = new List<string>();
@@ -36,9 +36,13 @@ public abstract partial class CLOiSimPlugin : MonoBehaviour, ICLOiSimPlugin
 
 	protected abstract void OnAwake();
 	protected abstract void OnStart();
-	protected virtual void OnPluginLoad() { }
 	protected virtual void OnReset() { }
 
+	/// <summary>
+	/// This method should be called in Awake()
+	/// </summary>
+	protected virtual void OnPluginLoad() { }
+
 	protected void OnDestroy()
 	{
 		thread.Dispose();
@@ -55,29 +59,36 @@ public void ChangePluginType(in ICLOiSimPlugin.Type targetType)
 
 	public void SetPluginParameters(in SDF.Plugin plugin)
 	{
-		pluginParameters = plugin;
+		_pluginParameters = plugin;
 	}
 
 	public SDF.Plugin GetPluginParameters()
 	{
-		return pluginParameters;
+		return _pluginParameters;
+	}
+
+	public void StorePluginParametersInAttachedDevices()
+	{
+		foreach (var device in attachedDevices.Values)
+		{
+			device.SetPluginParameters(_pluginParameters);
+		}
 	}
 
 	void Awake()
 	{
 		SetCustomHandleRequestMessage();
 
 		OnAwake();
+
+		StorePluginParametersInAttachedDevices();
+
+		OnPluginLoad();
 	}
 
 	// Start is called before the first frame update
 	void Start()
 	{
-		foreach (var device in attachedDevices.Values)
-		{
-			device.SetPluginParameters(pluginParameters);
-		}
-
 		StorePose();
 
 		if (string.IsNullOrEmpty(modelName))
@@ -87,11 +98,9 @@ void Start()
 
 		if (string.IsNullOrEmpty(partsName))
 		{
-			partsName = pluginParameters.Name;
+			partsName = _pluginParameters.Name;
 		}
 
-		OnPluginLoad();
-
 		OnStart();
 
 		thread.Start();

Assets/Scripts/Devices/DepthCamera.cs

@@ -99,6 +99,7 @@ protected override void SetupTexture()
 			var width = camParameter.image.width;
 			var height = camParameter.image.height;
 			var format = CameraData.GetPixelFormat(camParameter.image.format);
+
 			GraphicsFormat graphicFormat;
 			switch (format)
 			{

Assets/Scripts/Tools/Mesh/ConstrainedDelaunayTriangulation/DelaunayTriangle.cs

@@ -0,0 +1,110 @@
+// Copyright 2021 Alejandro Villalba Avila
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+// IN THE SOFTWARE.
+
+using System.Collections.Generic;
+
+namespace Game.Utils.Triangulation
+{
+	/// <summary>
+	/// Data tha describe a triangle and its context in a triangulation.
+	/// </summary>
+	public unsafe struct DelaunayTriangle
+	{
+		/// <summary>
+		/// The indices of the points that define the triangle.
+		/// </summary>
+		public fixed int p[3];
+
+		/// <summary>
+		/// The indices of the triangles that are adjacent.
+		/// </summary>
+		public fixed int adjacent[3];
+
+		private const int NO_ADJACENT_TRIANGLE = -1;
+
+		/// <summary>
+		/// Constructor that receives 3 vertex indices.
+		/// </summary>
+		/// <param name="point0">The index of the first vertex.</param>
+		/// <param name="point1">The index of the second vertex.</param>
+		/// <param name="point2">The index of the third vertex.</param>
+		public DelaunayTriangle(int point0, int point1, int point2)
+		{
+			p[0] = point0;
+			p[1] = point1;
+			p[2] = point2;
+
+			adjacent[0] = NO_ADJACENT_TRIANGLE;
+			adjacent[1] = NO_ADJACENT_TRIANGLE;
+			adjacent[2] = NO_ADJACENT_TRIANGLE;
+		}
+
+		/// <summary>
+		/// Constructor that receives all the data.
+		/// </summary>
+		/// <param name="point0">The index of the first vertex.</param>
+		/// <param name="point1">The index of the second vertex.</param>
+		/// <param name="point2">The index of the third vertex.</param>
+		/// <param name="adjacent0">The index of the triangle that is adjacent in the first edge.</param>
+		/// <param name="adjacent1">The index of the triangle that is adjacent in the second edge.</param>
+		/// <param name="adjacent2">The index of the triangle that is adjacent in the third edge.</param>
+		public DelaunayTriangle(int point0, int point1, int point2, int adjacent0, int adjacent1, int adjacent2)
+		{
+			p[0] = point0;
+			p[1] = point1;
+			p[2] = point2;
+
+			adjacent[0] = adjacent0;
+			adjacent[1] = adjacent1;
+			adjacent[2] = adjacent2;
+		}
+
+#if UNITY_EDITOR
+
+		/// <summary>
+		/// Gets the content of the triangle vertices array, which cannot be watch by Visual Studio unless you convert it to a list.
+		/// </summary>
+		public List<int> DebugP
+		{
+			get
+			{
+				List<int> debugArray = new List<int>(3);
+				for (int i = 0; i < 3; ++i)
+				{
+					debugArray.Add(p[i]);
+				}
+				return debugArray;
+			}
+		}
+
+		/// <summary>
+		/// Gets the content of the triangle adjacents array, which cannot be watch by Visual Studio unless you convert it to a list.
+		/// </summary>
+		public List<int> DebugAdjacent
+		{
+			get
+			{
+				List<int> debugArray = new List<int>(3);
+				for (int i = 0; i < 3; ++i)
+				{
+					debugArray.Add(adjacent[i]);
+				}
+				return debugArray;
+			}
+		}
+
+#endif
+
+	}
+}
+

Assets/Scripts/Tools/Mesh/ConstrainedDelaunayTriangulation/DelaunayTriangleEdge.cs

@@ -0,0 +1,57 @@
+// Copyright 2021 Alejandro Villalba Avila
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+// IN THE SOFTWARE.
+
+namespace Game.Utils.Triangulation
+{
+	/// <summary>
+	/// Data that describes the edge of a triangle.
+	/// </summary>
+	public struct DelaunayTriangleEdge
+	{
+		/// <summary>
+		/// The index of the triangle.
+		/// </summary>
+		public int TriangleIndex;
+
+		/// <summary>
+		/// The local index of the edge in the triangle (0, 1 or 2).
+		/// </summary>
+		public int EdgeIndex;
+
+		/// <summary>
+		/// The index of the first vertex that form the edge.
+		/// </summary>
+		public int EdgeVertexA;
+
+		/// <summary>
+		/// The index of the second vertex that form the edge.
+		/// </summary>
+		public int EdgeVertexB;
+
+		/// <summary>
+		/// Constructor that receives all the data.
+		/// </summary>
+		/// <param name="triangleIndex">The index of the triangle.</param>
+		/// <param name="edgeIndex">The local index of the edge (0, 1 or 2).</param>
+		/// <param name="edgeVertexA">The index of the first vertex that form the edge.</param>
+		/// <param name="edgeVertexB">The index of the second vertex that form the edge.</param>
+		public DelaunayTriangleEdge(int triangleIndex, int edgeIndex, int edgeVertexA, int edgeVertexB)
+		{
+			TriangleIndex = triangleIndex;
+			EdgeIndex = edgeIndex;
+			EdgeVertexA = edgeVertexA;
+			EdgeVertexB = edgeVertexB;
+		}
+	}
+}
+