use threading for point searching

Assets/Scenes/SampleScene.unity

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Assets/Scrips/Controllers/SelectPointsController.cs

@@ -7,6 +7,7 @@ using MathNet.Numerics.LinearAlgebra.Factorization;
 using MathNet.Numerics.LinearAlgebra;
 using Unity.Mathematics;
 using static PointCloudDataReader;
+using System.Threading.Tasks;
 
 public class SelectPointsController : MonoBehaviour
 {
@@ -44,32 +45,64 @@ public class SelectPointsController : MonoBehaviour
 
     private void SelectPointsHandler(InputAction.CallbackContext context)
     {
-        List<Vector3> selectedPoints = new();
-        foreach (GameObject cloud in pointClouds)
+        Vector3[] cloudPositions = new Vector3[pointClouds.Count];
+        Quaternion[] cloudRotations = new Quaternion[pointClouds.Count];
+        List<Point[]> points = new();
+        for (int i = 0; i < pointClouds.Count; i++)
         {
-            Transform cloudTransform = cloud.transform;
-            Point[] points = cloud.GetComponent<PointCloudDataReader>().PointData;
-            for (int i = 0; i < points.Length; i++)
+            cloudPositions[i] = pointClouds[i].transform.position;
+            cloudRotations[i] = pointClouds[i].transform.rotation;
+            points.Add(pointClouds[i].GetComponent<PointCloudDataReader>().PointData);
+        }
+        Bounds[] selectionBounds = new Bounds[_blockSelections.Count];
+        for (int i = 0; i < _blockSelections.Count; i++)
+        {
+            selectionBounds[i] = _blockSelections[i].GetComponent<MeshCollider>().bounds;
+        }
+        _ = FitPlaneToSelectedPointsAsync(cloudPositions, cloudRotations, points, selectionBounds);
+    }
+
+    private async Task FitPlaneToSelectedPointsAsync(Vector3[] cloudPositions, Quaternion[] cloudRotations, List<Point[]> cloudPoints, Bounds[] selectionBounds)
+    {
+        Debug.Log("task");
+        Task<List<Vector3>> task = Task.Run(() =>
+        {
+            Debug.Log("running task");
+            List<Vector3> selectedPoints = new();
+            for (int i1 = 0; i1 < cloudPoints.Count; i1++)
             {
-                Vector3 point = points[i].position;
-                point.x *= -1f;
-                foreach (GameObject blockSelection in _blockSelections)
+                // GameObject cloud = pointClouds[i1];
+                // Transform cloudTransform = cloud.transform;
+                // Point[] points = cloud.GetComponent<PointCloudDataReader>().PointData;
+                Point[] points = cloudPoints[i1];
+                for (int i = 0; i < points.Length; i++)
                 {
-                    MeshCollider collider = blockSelection.GetComponent<MeshCollider>();
-                    Vector3 ptGlobal = cloudTransform.rotation * point + cloudTransform.position;
-                    if (collider.bounds.Contains(ptGlobal))
+                    Vector3 point = points[i].position;
+                    point.x *= -1f;
+                    // foreach (GameObject blockSelection in _blockSelections)
+                    foreach (Bounds bound in selectionBounds)
                     {
-                        selectedPoints.Add(ptGlobal);
+                        // MeshCollider collider = blockSelection.GetComponent<MeshCollider>();
+                        // Vector3 ptGlobal = cloudTransform.rotation * point + cloudTransform.position;
+                        Vector3 ptGlobal = cloudRotations[i1] * point + cloudPositions[i1];
+                        // if (collider.bounds.Contains(ptGlobal))
+                        if (bound.Contains(ptGlobal))
+                        {
+                            selectedPoints.Add(ptGlobal);
+                        }
                     }
                 }
             }
-        }
-        CalculatePlane(selectedPoints);
+            Debug.Log("finished collecting points");
+            return selectedPoints;
+        });
+        CalculatePlane(await task);
     }
 
     // source: https://stackoverflow.com/questions/10900141/fast-plane-fitting-to-many-points
     private void CalculatePlane(List<Vector3> points)
     {
+        Debug.Log("calculating plane");
         if (points.Count < 3)
         {
             Debug.Log("not enough points to calculate plane");
@@ -116,17 +149,18 @@ public class SelectPointsController : MonoBehaviour
         Plane plane = new(planeNormal, -d);
         Debug.Log(plane);
 
-        _debugPoints.Clear();
-        for (int i = 0; i < 200; i++)
-        {
-            Vector3 randomPoint = new(UnityEngine.Random.Range(-8f, 8f), UnityEngine.Random.Range(-8f, 8f), UnityEngine.Random.Range(-8f, 8f));
-            _debugPoints.Add(ProjectPointOntoPlane(plane, randomPoint));
-        }
+        // _debugPoints.Clear();
+        // for (int i = 0; i < 200; i++)
+        // {
+        //     Vector3 randomPoint = new(UnityEngine.Random.Range(-8f, 8f), UnityEngine.Random.Range(-8f, 8f), UnityEngine.Random.Range(-8f, 8f));
+        //     _debugPoints.Add(ProjectPointOntoPlane(plane, randomPoint));
+        // }
 
         Vector<float> colAvg = G.ColumnSums();
         colAvg /= G.RowCount;
         Vector3 pointAvg = new(colAvg[0], colAvg[1], colAvg[2]);
         SpawnPlane(ProjectPointOntoPlane(plane, pointAvg), planeNormal);
+        UIController.Instance.NewStatusMessage("Plane calculation completed.");
     }
 
     public GameObject SpawnPlane(Vector3 pos, Vector3 normal)
@@ -193,8 +227,8 @@ public class SelectPointsController : MonoBehaviour
     {
         // CalculateRealPoints();
         EditState.Instance.RegisterListener(EditChangeHandler);
-        SpawnPlane(new Vector3(0, 0, 0), Vector3.left);
-        SpawnPlane(new Vector3(-1, 0, 0), Vector3.up);
+        // SpawnPlane(new Vector3(0, 0, 0), Vector3.left);
+        // SpawnPlane(new Vector3(-1, 0, 0), Vector3.up);
     }
 
     private void EditChangeHandler()

Assets/Scrips/Events/SpawnBlockEvent.cs

@@ -77,15 +77,15 @@ public class SpawnBlockEvent : MonoBehaviour
     // Start is called before the first frame update
     void Start()
     {
-        GameObject spawnedObject = Instantiate(spawnPrefab, new Vector3(-1.65f, 0.46f, -4.93f), Quaternion.identity);
-        Collider objectCollider = spawnedObject.GetComponent<Collider>();
-        Vector3 adjustment = Vector3.Scale(this.transform.up, objectCollider.bounds.size / 2);
-        spawnedObject.transform.position += adjustment;
-        spawnedObject.transform.parent = this.transform;
+        // GameObject spawnedObject = Instantiate(spawnPrefab, new Vector3(-1.65f, 0.46f, -4.93f), Quaternion.identity);
+        // Collider objectCollider = spawnedObject.GetComponent<Collider>();
+        // Vector3 adjustment = Vector3.Scale(this.transform.up, objectCollider.bounds.size / 2);
+        // spawnedObject.transform.position += adjustment;
+        // spawnedObject.transform.parent = this.transform;
 
         // _selectPointsController.AddSelection(spawnedObject);
         // spawnedObject.GetComponent<BlockSelect>().selectPointsController = _selectPointsController;
-        ProgramController.Instance.RegisterBlock(spawnedObject);
+        // ProgramController.Instance.RegisterBlock(spawnedObject);
     }
 
 }

Assets/mesh.obj

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+v 5.100156 -0.02601445 14.33806
+v 7.014131 0.03212595 14.30453
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+v 6.875519 2.140711 14.31028
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-f 29 32 30
-f 32 29 31