/// <summary>
/// Apply any needed changes to the pose.
/// </summary>
private void Update()
{
popManager.TriggerUpdateFPS();
#if UNITY_ANDROID && !UNITY_EDITOR
if (Input.GetKeyDown(KeyCode.Escape))
{
if (m_tangoApplication != null)
{
m_tangoApplication.Shutdown();
}
// This is a temporary fix for a lifecycle issue where calling
// Application.Quit() here, and restarting the application immediately,
// results in a hard crash.
AndroidHelper.AndroidQuit();
}
#else
popManager.tangoInitialized = true;
Vector3 tempPosition = transform.position;
Quaternion tempRotation = transform.rotation;
PoseProvider.GetMouseEmulation(ref tempPosition, ref tempRotation);
transform.rotation = tempRotation;
transform.position = transform.position + ((tempPosition - transform.position) * m_metersToWorldUnitsScaler);
#endif
popManager.debugText = "Interpolation: " + enableInterpolation;
}
/// <summary>
/// Quit the room properly.
/// </summary>
private void _QuitGame()
{
if (PhotonNetwork.inRoom)
{
PhotonNetwork.LeaveRoom();
}
m_tangoApplication.Shutdown();
Application.LoadLevel("AreaDescriptionPicker");
}
void DisconnectService()
{
if (!tango.IsServiceConnected)
{
Debug.LogWarning("Service not connected.");
}
else
{
tango.Shutdown();
}
}
/// <summary>
/// Apply any needed changes to the pose.
/// </summary>
private void Update()
{
if (m_shouldInitTango)
{
m_tangoApplication.InitApplication();
m_tangoApplication.InitProviders(string.Empty);
m_tangoApplication.ConnectToService();
m_shouldInitTango = false;
double timestamp = 0.0;
TangoCoordinateFramePair pair;
TangoPoseData poseData = new TangoPoseData();
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_IMU;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
PoseProvider.GetPoseAtTime(poseData, timestamp, pair);
Vector3 position = new Vector3((float)poseData.translation[0], (float)poseData.translation[1], (float)poseData.translation[2]);
Quaternion quat = new Quaternion((float)poseData.orientation[0], (float)poseData.orientation[1], (float)poseData.orientation[2], (float)poseData.orientation[3]);
m_imuTd = Matrix4x4.TRS(position, quat, new Vector3(1.0f, 1.0f, 1.0f));
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_IMU;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_CAMERA_COLOR;
PoseProvider.GetPoseAtTime(poseData, timestamp, pair);
position = new Vector3((float)poseData.translation[0], (float)poseData.translation[1], (float)poseData.translation[2]);
quat = new Quaternion((float)poseData.orientation[0], (float)poseData.orientation[1], (float)poseData.orientation[2], (float)poseData.orientation[3]);
m_imuTc = Matrix4x4.TRS(position, quat, new Vector3(1.0f, 1.0f, 1.0f));
}
if (m_isDirty)
{
Matrix4x4 ssTd = Matrix4x4.TRS(m_tangoPosition, m_tangoRotation, Vector3.one);
Matrix4x4 uwTuc = m_uwTss * ssTd * Matrix4x4.Inverse(m_imuTd) * m_imuTc * m_cTuc;
// Extract new local position
transform.position = uwTuc.GetColumn(3);
// Extract new local rotation
transform.rotation = Quaternion.LookRotation(uwTuc.GetColumn(2), uwTuc.GetColumn(1));
}
if (Input.GetKeyDown(KeyCode.Escape))
{
if (m_tangoApplication != null)
{
m_tangoApplication.Shutdown();
}
// This is a temporary fix for a lifecycle issue where calling
// Application.Quit() here, and restarting the application immediately,
// results in a hard crash.
AndroidHelper.AndroidQuit();
}
}
/// <summary>
/// Apply any needed changes to the pose.
/// </summary>
private void Update()
{
#if UNITY_ANDROID && !UNITY_EDITOR
if (Input.GetKeyDown(KeyCode.Escape))
{
if (m_tangoApplication != null)
{
m_tangoApplication.Shutdown();
}
// This is a temporary fix for a lifecycle issue where calling
// Application.Quit() here, and restarting the application immediately,
// results in a hard crash.
AndroidHelper.AndroidQuit();
}
#else
Vector3 tempPosition = transform.position;
Quaternion tempRotation = transform.rotation;
PoseProvider.GetMouseEmulation(ref tempPosition, ref tempRotation);
transform.rotation = tempRotation;
transform.position = tempPosition;
#endif
}
/// <summary>
/// Apply any needed changes to the pose.
/// </summary>
private void Update()
{
#if UNITY_ANDROID && !UNITY_EDITOR
if (m_isDirty)
{
// This rotation needs to be put into Unity coordinate space.
Quaternion rotationFix = Quaternion.Euler(90.0f, 0.0f, 0.0f);
if (!m_isRelocalized)
{
Quaternion axisFix = Quaternion.Euler(-m_tangoRotation[0].eulerAngles.x,
-m_tangoRotation[0].eulerAngles.z,
m_tangoRotation[0].eulerAngles.y);
transform.rotation = m_startingRotation * (rotationFix * axisFix);
transform.position = (m_startingRotation * (m_tangoPosition[0] * m_movementScale)) + m_startingOffset;
}
else
{
Quaternion axisFix = Quaternion.Euler(-m_tangoRotation[1].eulerAngles.x,
-m_tangoRotation[1].eulerAngles.z,
m_tangoRotation[1].eulerAngles.y);
transform.rotation = m_startingRotation * (rotationFix * axisFix);
transform.position = (m_startingRotation * (m_tangoPosition[1] * m_movementScale)) + m_startingOffset;
}
m_isDirty = false;
}
if (Input.GetKeyDown(KeyCode.Escape))
{
if (m_tangoApplication != null)
{
m_tangoApplication.Shutdown();
}
// This is a temporary fix for a lifecycle issue where calling
// Application.Quit() here, and restarting the application immediately,
// results in a hard crash.
AndroidHelper.AndroidQuit();
}
#else
Vector3 tempPosition = transform.position;
Quaternion tempRotation = transform.rotation;
PoseProvider.GetMouseEmulation(ref tempPosition, ref tempRotation);
transform.rotation = tempRotation;
transform.position = tempPosition;
#endif
}
/// <summary>
/// Unity update callback.
/// </summary>
private void Update()
{
if (Input.GetKeyDown(KeyCode.Escape))
{
if (m_tangoApplication != null)
{
m_tangoApplication.Shutdown();
}
// This is a temporary fix for a lifecycle issue where calling
// Application.Quit() here, and restarting the application immediately,
// results in a hard crash.
AndroidHelper.AndroidQuit();
}
}
/// <summary>
/// Apply any needed changes to the pose.
/// </summary>
private void Update()
{
#if UNITY_ANDROID && !UNITY_EDITOR
if (m_shouldInitTango)
{
m_tangoApplication.InitApplication();
m_tangoApplication.InitProviders(string.Empty);
m_tangoApplication.ConnectToService();
m_shouldInitTango = false;
}
if (m_isDirty)
{
// Construct the start of service with respect to device matrix from the pose.
Matrix4x4 ssTd = Matrix4x4.TRS(m_tangoPosition, m_tangoRotation, Vector3.one);
// Converting from Tango coordinate frame to Unity coodinate frame.
Matrix4x4 uwTuc = m_uwTss * ssTd * m_dTuc;
// Extract new local position
transform.position = uwTuc.GetColumn(3);
// Extract new local rotation
transform.rotation = Quaternion.LookRotation(uwTuc.GetColumn(2), uwTuc.GetColumn(1));
}
if (Input.GetKeyDown(KeyCode.Escape))
{
if (m_tangoApplication != null)
{
m_tangoApplication.Shutdown();
}
// This is a temporary fix for a lifecycle issue where calling
// Application.Quit() here, and restarting the application immediately,
// results in a hard crash.
AndroidHelper.AndroidQuit();
}
#else
Vector3 tempPosition = transform.position;
Quaternion tempRotation = transform.rotation;
PoseProvider.GetMouseEmulation(ref tempPosition, ref tempRotation);
transform.rotation = tempRotation;
transform.position = tempPosition;
#endif
}
/// <summary>
/// Unity update function, we update our texture from here.
/// </summary>
private void Update()
{
if (Input.GetKeyDown(KeyCode.Escape))
{
if (m_tangoApplication != null)
{
m_tangoApplication.Shutdown();
}
// This is a temporary fix for a lifecycle issue where calling
// Application.Quit() here, and restarting the application immediately,
// results in a hard crash.
AndroidHelper.AndroidQuit();
}
double timestamp = VideoOverlayProvider.RenderLatestFrame(TangoEnums.TangoCameraId.TANGO_CAMERA_COLOR);
_UpdateTransformation(timestamp);
GL.InvalidateState();
}
/// <summary>
/// Perform updates for the next frame after the
/// normal update has run. This loads next frame.
/// </summary>
private void LateUpdate()
{
if (Input.GetKeyDown(KeyCode.Escape))
{
if (m_isActive)
{
m_isActive = false;
}
else
{
TangoApplication application = FindObjectOfType <TangoApplication>();
if (application != null)
{
application.Shutdown();
}
Application.Quit();
}
}
}
/// <summary>
/// Update is called every frame.
/// </summary>
public void Update()
{
if (Input.GetKeyDown(KeyCode.Escape))
{
if (m_tangoApplication != null)
{
m_tangoApplication.Shutdown();
}
// This is a temporary fix for a lifecycle issue where calling
// Application.Quit() here, and restarting the application immediately,
// results in a hard crash.
AndroidHelper.AndroidQuit();
}
if (m_tangoARScreen.m_screenUpdateTime != m_poseTimestamp)
{
_UpdateTransformation(m_tangoARScreen.m_screenUpdateTime);
}
}
// Makes sure to restart the service properly.
// If the service hasn't started, just starts the service normally.
public static void Restart(this TangoApplication self, AreaDescription adf)
{
self.Shutdown();
self.Startup(adf);
}
public override void OnDispose()
{
m_tangoApplication.Shutdown();
}
private void OnDestroy()
{
tangoApplication.Shutdown();
}
/// <summary>
/// Apply any needed changes to the pose.
/// </summary>
private void Update()
{
#if UNITY_ANDROID && !UNITY_EDITOR
if (m_shouldInitTango)
{
m_tangoApplication.InitApplication();
if (m_useADF)
{
// Query the full adf list.
PoseProvider.RefreshADFList();
// loading last recorded ADF
string uuid = PoseProvider.GetLatestADFUUID().GetStringDataUUID();
m_tangoApplication.InitProviders(uuid);
}
else
{
m_tangoApplication.InitProviders(string.Empty);
}
// Query extrinsics constant tranformations.
TangoPoseData poseData = new TangoPoseData();
double timestamp = 0.0;
TangoCoordinateFramePair pair;
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_IMU;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
PoseProvider.GetPoseAtTime(poseData, timestamp, pair);
Vector3 position = new Vector3((float)poseData.translation[0], (float)poseData.translation[1], (float)poseData.translation[2]);
Quaternion quat = new Quaternion((float)poseData.orientation[0], (float)poseData.orientation[1], (float)poseData.orientation[2], (float)poseData.orientation[3]);
m_deviceToIMUMatrix = Matrix4x4.TRS(position, quat, new Vector3(1.0f, 1.0f, 1.0f));
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_IMU;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_CAMERA_COLOR;
PoseProvider.GetPoseAtTime(poseData, timestamp, pair);
position = new Vector3((float)poseData.translation[0], (float)poseData.translation[1], (float)poseData.translation[2]);
quat = new Quaternion((float)poseData.orientation[0], (float)poseData.orientation[1], (float)poseData.orientation[2], (float)poseData.orientation[3]);
m_cameraToIMUMatrix = Matrix4x4.TRS(position, quat, new Vector3(1.0f, 1.0f, 1.0f));
m_alreadyInitialized = true;
m_shouldInitTango = false;
m_tangoApplication.ConnectToService();
}
if (m_isDirty)
{
// This rotation needs to be put into Unity coordinate space.
Quaternion rotationFix = Quaternion.Euler(90.0f, 0.0f, 0.0f);
if (!m_isRelocalized)
{
Quaternion axisFix = Quaternion.Euler(-m_tangoRotation[0].eulerAngles.x,
-m_tangoRotation[0].eulerAngles.z,
m_tangoRotation[0].eulerAngles.y);
transform.rotation = m_startingRotation * (rotationFix * axisFix);
transform.position = (m_startingRotation * (m_tangoPosition[0] * m_movementScale)) + m_startingOffset;
}
else
{
Quaternion axisFix = Quaternion.Euler(-m_tangoRotation[1].eulerAngles.x,
-m_tangoRotation[1].eulerAngles.z,
m_tangoRotation[1].eulerAngles.y);
transform.rotation = m_startingRotation * (rotationFix * axisFix);
transform.position = (m_startingRotation * (m_tangoPosition[1] * m_movementScale)) + m_startingOffset;
}
m_isDirty = false;
}
if (Input.GetKeyDown(KeyCode.Escape))
{
if (m_tangoApplication != null)
{
m_tangoApplication.Shutdown();
}
// This is a temporary fix for a lifecycle issue where calling
// Application.Quit() here, and restarting the application immediately,
// results in a hard crash.
AndroidHelper.AndroidQuit();
}
#else
Vector3 tempPosition = transform.position;
Quaternion tempRotation = transform.rotation;
PoseProvider.GetMouseEmulation(ref tempPosition, ref tempRotation);
transform.rotation = tempRotation;
transform.position = tempPosition;
#endif
}
private void OnDestroy( )
{
m_tangoApplication.Shutdown( );
Debug.Log("Destroying Tango");
}