void Awake()
{
if (Instance == null)
{
Instance = this;
DontDestroyOnLoad(gameObject);
StartClient();
}
else
{
Destroy(gameObject);
}
}
void Update() //prev.fixed
{
if (tauTrackerInstance == null)
{
tauTrackerInstance = TauTrackerClient.Instance;
}
else
{
SensorData sensorData = tauTrackerInstance.GetSensorData(sensor);
if (sensorData != null && sensorData.active)
{
Vector3 sens_pos = sensorData.GetPosition();
Quaternion sens_rot = sensorData.GetRotation();
float pos_factor = tauTrackerInstance.trackerPositionFactor;
Transform parent_transform = transform.parent.transform;
transform.localPosition = (
parent_transform.rotation * sens_pos / pos_factor +
transform.forward * forwardShift / 10 +
transform.up * upShift / 10 +
transform.right * rightShift / 10
);
transform.SetPositionAndRotation(
parent_transform.position +
(
parent_transform.rotation * sens_pos / pos_factor +
transform.forward * forwardShift / 10 +
transform.up * upShift / 10 +
transform.right * rightShift / 10
),
parent_transform.rotation * sens_rot
);
/*
* rb.MovePosition((
* transform.parent.transform.position + transform.parent.transform.rotation * sensorData.GetPosition() / TauTrackerClient.Instance.trackerPositionFactor +
* rb.transform.forward * forwardShift / 10 +
* rb.transform.up * upShift / 10 +
* rb.transform.right * rightShift / 10)
* );
* rb.MoveRotation(transform.parent.transform.rotation * sensorData.GetRotation());
*/
Vector3 bone_base = Vector3.zero;
switch (InverseKinematicsType)
{
case IKEnum.Disable:
break;
case IKEnum.DebugLines:
foreach (Vector3 bone_tip in sensorData.ik_data)
{
if (bone_base == Vector3.zero)
{
bone_base = bone_tip;
}
else
{
var convertedBase = ConvertToUnityNotion(bone_base) / pos_factor;
var convertedTip = ConvertToUnityNotion(bone_tip) / pos_factor;
Debug.DrawLine(convertedBase, convertedTip, Color.red);
bone_base = Vector3.zero;
}
}
break;
case IKEnum.CapsulePrimitive:
if (sensorData.ik_data != null && sensorData.ik_data_counter > 0)
{
int counter = 0;
foreach (Vector3 bone_tip in sensorData.ik_data)
{
if (bone_base == Vector3.zero)
{
bone_base = bone_tip;
}
else
{
var convertedBase = ConvertToUnityNotion(bone_base) / pos_factor;
var convertedTip = ConvertToUnityNotion(bone_tip) / pos_factor;
var IKCollection = parent_transform.Find("IKCollection");
if (IKCollection == null)
{
GameObject container = new GameObject("IKCollection");
container.transform.parent = parent_transform;
IKCollection = container.transform;
}
var halfWayVector = (convertedBase + convertedTip) * 0.5f;
if (IKobjList.Count <= counter)
{
GameObject container = new GameObject("IKBasicFragment");
container.transform.parent = IKCollection;
GameObject cube = GameObject.CreatePrimitive(PrimitiveType.Capsule);
cube.transform.parent = container.transform;
cube.transform.Rotate(new Vector3(-90, 0, 0));
cube.transform.localScale = new Vector3(
0.015f,
(convertedTip - convertedBase).magnitude * 0.68f,
0.015f);
cube.transform.GetComponent <CapsuleCollider>().enabled = false;
//Rigidbody gameObjectsRigidBody = cube.AddComponent<Rigidbody>(); // Add the rigidbody.
//gameObjectsRigidBody.isKinematic = true;
//gameObjectsRigidBody.useGravity = false;
IKobjList.Add(container);
}
IKobjList[counter].transform.position = (parent_transform.position + parent_transform.rotation * halfWayVector);
IKobjList[counter].transform.LookAt((parent_transform.position + parent_transform.rotation * convertedTip));
bone_base = bone_tip;
counter++;
}
}
}
break;
default:
break;
}
}
}
}
