async void InitCurrentPoseListTopic()
{
tokenCurrentPoseList = await ubiiNode.SubscribeTopic(ubiiComponentAvatarCurrentPose.GetTopicCurrentPoseList(), (Ubii.TopicData.TopicDataRecord record) =>
{
Google.Protobuf.Collections.RepeatedField <Ubii.DataStructure.Object3D> objects = record.Object3DList.Elements;
for (int i = 0; i < record.Object3DList.Elements.Count; i++)
{
string boneString = record.Object3DList.Elements[i].Id;
HumanBodyBones bone;
if (HumanBodyBones.TryParse(boneString, out bone))
{
Ubii.DataStructure.Pose3D pose = record.Object3DList.Elements[i].Pose;
UbiiPose3D newMapPose = new UbiiPose3D
{
position = new Vector3((float)pose.Position.X, (float)pose.Position.Y, (float)pose.Position.Z),
rotation = new Quaternion((float)pose.Quaternion.X, (float)pose.Quaternion.Y, (float)pose.Quaternion.Z, (float)pose.Quaternion.W)
};
if (mapBone2CurrentPose.ContainsKey(bone))
{
mapBone2CurrentPose[bone] = newMapPose;
}
else
{
mapBone2CurrentPose.Add(bone, newMapPose);
}
}
}
});
}
void Update()
{
if (useTopicData && initialized)
{
foreach (IK_TARGET ikTarget in Enum.GetValues(typeof(IK_TARGET)))
{
UbiiPose3D pose = mapIKTarget2UbiiPose[ikTarget];
Transform ikTargetTransform = mapIKTargetTransforms[ikTarget];
Vector3 pos = pose.position;
Quaternion rot = pose.rotation;
ikTargetTransform.position = new Vector3((float)pos.x, (float)pos.y, (float)pos.z);
ikTargetTransform.rotation = new Quaternion((float)rot.x, (float)rot.y, (float)rot.z, (float)rot.w);
}
}
}
async void InitIKTopics()
{
foreach (IK_TARGET ikTarget in Enum.GetValues(typeof(IK_TARGET)))
{
GameObject ikTargetObject = new GameObject("IK-Target PoseEstimator " + ikTarget.ToString());
mapIKTargetTransforms.Add(ikTarget, ikTargetObject.transform);
mapIKTarget2UbiiPose.Add(ikTarget, new UbiiPose3D
{
position = new Vector3(),
rotation = new Quaternion()
});
}
tokenIkTargetPose = await ubiiNode.SubscribeTopic(ubiiComponentIkTargets.GetTopicIKTargets(), (Ubii.TopicData.TopicDataRecord record) =>
{
for (int i = 0; i < record.Object3DList.Elements.Count; i++)
{
string ikTargetString = record.Object3DList.Elements[i].Id;
Ubii.DataStructure.Pose3D pose3D = record.Object3DList.Elements[i].Pose;
IK_TARGET ikTarget;
if (IK_TARGET.TryParse(ikTargetString, out ikTarget))
{
UbiiPose3D pose = mapIKTarget2UbiiPose[ikTarget];
pose.position.Set(
(float)pose3D.Position.X,
(float)pose3D.Position.Y,
(float)pose3D.Position.Z);
pose.rotation.Set(
(float)pose3D.Quaternion.X,
(float)pose3D.Quaternion.Y,
(float)pose3D.Quaternion.Z,
(float)pose3D.Quaternion.W);
mapIKTarget2UbiiPose[ikTarget] = pose;
}
}
});
initialized = true;
}
