| author | manager | services | ms.date | ms.topic | ms.author | ms.service |
|---|---|---|---|---|---|---|
pamistel |
MehranAzimi-msft |
azure-spatial-anchors |
01/01/2022 |
include |
pamistel |
azure-spatial-anchors |
using Microsoft.Azure.SpatialAnchors;
using Microsoft.Azure.SpatialAnchors.Unity;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Threading.Tasks;
using UnityEngine;
using UnityEngine.XR;
[RequireComponent(typeof(SpatialAnchorManager))]
public class AzureSpatialAnchorsScript : MonoBehaviour
{
/// <summary>
/// Used to distinguish short taps and long taps
/// </summary>
private float[] _tappingTimer = { 0, 0 };
/// <summary>
/// Main interface to anything Spatial Anchors related
/// </summary>
private SpatialAnchorManager _spatialAnchorManager = null;
/// <summary>
/// Used to keep track of all GameObjects that represent a found or created anchor
/// </summary>
private List<GameObject> _foundOrCreatedAnchorGameObjects = new List<GameObject>();
/// <summary>
/// Used to keep track of all the created Anchor IDs
/// </summary>
private List<String> _createdAnchorIDs = new List<String>();
// <Start>
// Start is called before the first frame update
void Start()
{
_spatialAnchorManager = GetComponent<SpatialAnchorManager>();
_spatialAnchorManager.LogDebug += (sender, args) => Debug.Log($"ASA - Debug: {args.Message}");
_spatialAnchorManager.Error += (sender, args) => Debug.LogError($"ASA - Error: {args.ErrorMessage}");
_spatialAnchorManager.AnchorLocated += SpatialAnchorManager_AnchorLocated;
}
// </Start>
// <Update>
// Update is called once per frame
void Update()
{
//Check for any air taps from either hand
for (int i = 0; i < 2; i++)
{
InputDevice device = InputDevices.GetDeviceAtXRNode((i == 0) ? XRNode.RightHand : XRNode.LeftHand);
if (device.TryGetFeatureValue(CommonUsages.primaryButton, out bool isTapping))
{
if (!isTapping)
{
//Stopped Tapping or wasn't tapping
if (0f < _tappingTimer[i] && _tappingTimer[i] < 1f)
{
//User has been tapping for less than 1 sec. Get hand position and call ShortTap
if (device.TryGetFeatureValue(CommonUsages.devicePosition, out Vector3 handPosition))
{
ShortTap(handPosition);
}
}
_tappingTimer[i] = 0;
}
else
{
_tappingTimer[i] += Time.deltaTime;
if (_tappingTimer[i] >= 2f)
{
//User has been air tapping for at least 2sec. Get hand position and call LongTap
if (device.TryGetFeatureValue(CommonUsages.devicePosition, out Vector3 handPosition))
{
LongTap();
}
_tappingTimer[i] = -float.MaxValue; // reset the timer, to avoid retriggering if user is still holding tap
}
}
}
}
}
// </Update>
// <ShortTap>
/// <summary>
/// Called when a user is air tapping for a short time
/// </summary>
/// <param name="handPosition">Location where tap was registered</param>
private async void ShortTap(Vector3 handPosition)
{
await _spatialAnchorManager.StartSessionAsync();
if (!IsAnchorNearby(handPosition, out GameObject anchorGameObject))
{
//No Anchor Nearby, start session and create an anchor
await CreateAnchor(handPosition);
}
else
{
//Delete nearby Anchor
DeleteAnchor(anchorGameObject);
}
}
// </ShortTap>
// <LongTap>
/// <summary>
/// Called when a user is air tapping for a long time (>=2 sec)
/// </summary>
private async void LongTap()
{
if (_spatialAnchorManager.IsSessionStarted)
{
// Stop Session and remove all GameObjects. This does not delete the Anchors in the cloud
_spatialAnchorManager.DestroySession();
RemoveAllAnchorGameObjects();
Debug.Log("ASA - Stopped Session and removed all Anchor Objects");
}
else
{
//Start session and search for all Anchors previously created
await _spatialAnchorManager.StartSessionAsync();
LocateAnchor();
}
}
// </LongTap>
// <RemoveAllAnchorGameObjects>
/// <summary>
/// Destroys all Anchor GameObjects
/// </summary>
private void RemoveAllAnchorGameObjects()
{
foreach (var anchorGameObject in _foundOrCreatedAnchorGameObjects)
{
Destroy(anchorGameObject);
}
_foundOrCreatedAnchorGameObjects.Clear();
}
// </RemoveAllAnchorGameObjects>
// <IsAnchorNearby>
/// <summary>
/// Returns true if an Anchor GameObject is within 15cm of the received reference position
/// </summary>
/// <param name="position">Reference position</param>
/// <param name="anchorGameObject">Anchor GameObject within 15cm of received position. Not necessarily the nearest to this position. If no AnchorObject is within 15cm, this value will be null</param>
/// <returns>True if a Anchor GameObject is within 15cm</returns>
private bool IsAnchorNearby(Vector3 position, out GameObject anchorGameObject)
{
anchorGameObject = null;
if (_foundOrCreatedAnchorGameObjects.Count <= 0)
{
return false;
}
//Iterate over existing anchor gameobjects to find the nearest
var (distance, closestObject) = _foundOrCreatedAnchorGameObjects.Aggregate(
new Tuple<float, GameObject>(Mathf.Infinity, null),
(minPair, gameobject) =>
{
Vector3 gameObjectPosition = gameobject.transform.position;
float distance = (position - gameObjectPosition).magnitude;
return distance < minPair.Item1 ? new Tuple<float, GameObject>(distance, gameobject) : minPair;
});
if (distance <= 0.15f)
{
//Found an anchor within 15cm
anchorGameObject = closestObject;
return true;
}
else
{
return false;
}
}
// </IsAnchorNearby>
// <CreateAnchor>
/// <summary>
/// Creates an Azure Spatial Anchor at the given position rotated towards the user
/// </summary>
/// <param name="position">Position where Azure Spatial Anchor will be created</param>
/// <returns>Async Task</returns>
private async Task CreateAnchor(Vector3 position)
{
//Create Anchor GameObject. We will use ASA to save the position and the rotation of this GameObject.
if (!InputDevices.GetDeviceAtXRNode(XRNode.Head).TryGetFeatureValue(CommonUsages.devicePosition, out Vector3 headPosition))
{
headPosition = Vector3.zero;
}
Quaternion orientationTowardsHead = Quaternion.LookRotation(position - headPosition, Vector3.up);
GameObject anchorGameObject = GameObject.CreatePrimitive(PrimitiveType.Cube);
anchorGameObject.GetComponent<MeshRenderer>().material.shader = Shader.Find("Legacy Shaders/Diffuse");
anchorGameObject.transform.position = position;
anchorGameObject.transform.rotation = orientationTowardsHead;
anchorGameObject.transform.localScale = Vector3.one * 0.1f;
//Add and configure ASA components
CloudNativeAnchor cloudNativeAnchor = anchorGameObject.AddComponent<CloudNativeAnchor>();
await cloudNativeAnchor.NativeToCloud();
CloudSpatialAnchor cloudSpatialAnchor = cloudNativeAnchor.CloudAnchor;
cloudSpatialAnchor.Expiration = DateTimeOffset.Now.AddDays(3);
//Collect Environment Data
while (!_spatialAnchorManager.IsReadyForCreate)
{
float createProgress = _spatialAnchorManager.SessionStatus.RecommendedForCreateProgress;
Debug.Log($"ASA - Move your device to capture more environment data: {createProgress:0%}");
}
Debug.Log($"ASA - Saving cloud anchor... ");
try
{
// Now that the cloud spatial anchor has been prepared, we can try the actual save here.
await _spatialAnchorManager.CreateAnchorAsync(cloudSpatialAnchor);
bool saveSucceeded = cloudSpatialAnchor != null;
if (!saveSucceeded)
{
Debug.LogError("ASA - Failed to save, but no exception was thrown.");
return;
}
Debug.Log($"ASA - Saved cloud anchor with ID: {cloudSpatialAnchor.Identifier}");
_foundOrCreatedAnchorGameObjects.Add(anchorGameObject);
_createdAnchorIDs.Add(cloudSpatialAnchor.Identifier);
anchorGameObject.GetComponent<MeshRenderer>().material.color = Color.green;
}
catch (Exception exception)
{
Debug.Log("ASA - Failed to save anchor: " + exception.ToString());
Debug.LogException(exception);
}
}
// </CreateAnchor>
// <LocateAnchor>
/// <summary>
/// Looking for anchors with ID in _createdAnchorIDs
/// </summary>
private void LocateAnchor()
{
if (_createdAnchorIDs.Count > 0)
{
//Create watcher to look for all stored anchor IDs
Debug.Log($"ASA - Creating watcher to look for {_createdAnchorIDs.Count} spatial anchors");
AnchorLocateCriteria anchorLocateCriteria = new AnchorLocateCriteria();
anchorLocateCriteria.Identifiers = _createdAnchorIDs.ToArray();
_spatialAnchorManager.Session.CreateWatcher(anchorLocateCriteria);
Debug.Log($"ASA - Watcher created!");
}
}
// </LocateAnchor>
// <SpatialAnchorManagerAnchorLocated>
/// <summary>
/// Callback when an anchor is located
/// </summary>
/// <param name="sender">Callback sender</param>
/// <param name="args">Callback AnchorLocatedEventArgs</param>
private void SpatialAnchorManager_AnchorLocated(object sender, AnchorLocatedEventArgs args)
{
Debug.Log($"ASA - Anchor recognized as a possible anchor {args.Identifier} {args.Status}");
if (args.Status == LocateAnchorStatus.Located)
{
//Creating and adjusting GameObjects have to run on the main thread. We are using the UnityDispatcher to make sure this happens.
UnityDispatcher.InvokeOnAppThread(() =>
{
// Read out Cloud Anchor values
CloudSpatialAnchor cloudSpatialAnchor = args.Anchor;
//Create GameObject
GameObject anchorGameObject = GameObject.CreatePrimitive(PrimitiveType.Cube);
anchorGameObject.transform.localScale = Vector3.one * 0.1f;
anchorGameObject.GetComponent<MeshRenderer>().material.shader = Shader.Find("Legacy Shaders/Diffuse");
anchorGameObject.GetComponent<MeshRenderer>().material.color = Color.blue;
// Link to Cloud Anchor
anchorGameObject.AddComponent<CloudNativeAnchor>().CloudToNative(cloudSpatialAnchor);
_foundOrCreatedAnchorGameObjects.Add(anchorGameObject);
});
}
}
// </SpatialAnchorManagerAnchorLocated>
// <DeleteAnchor>
/// <summary>
/// Deleting Cloud Anchor attached to the given GameObject and deleting the GameObject
/// </summary>
/// <param name="anchorGameObject">Anchor GameObject that is to be deleted</param>
private async void DeleteAnchor(GameObject anchorGameObject)
{
CloudNativeAnchor cloudNativeAnchor = anchorGameObject.GetComponent<CloudNativeAnchor>();
CloudSpatialAnchor cloudSpatialAnchor = cloudNativeAnchor.CloudAnchor;
Debug.Log($"ASA - Deleting cloud anchor: {cloudSpatialAnchor.Identifier}");
//Request Deletion of Cloud Anchor
await _spatialAnchorManager.DeleteAnchorAsync(cloudSpatialAnchor);
//Remove local references
_createdAnchorIDs.Remove(cloudSpatialAnchor.Identifier);
_foundOrCreatedAnchorGameObjects.Remove(anchorGameObject);
Destroy(anchorGameObject);
Debug.Log($"ASA - Cloud anchor deleted!");
}
// </DeleteAnchor>
}