public Quaternion GetRotFromViconInfo(ViconInfo v)
{
var rotationMatrix = new Matrix4x4();
int matrixIndex = 0;
for (int i = 0; i < 3; i++)
{
for (int j = 0; j < 3; j++)
{
rotationMatrix[i, j] = (float)v.Rotation[matrixIndex];
matrixIndex = matrixIndex + 1;
rotationMatrix[3, j] = 0;
}
rotationMatrix[i, 3] = 0;
}
rotationMatrix[3, 3] = 1;
Quaternion _q = rotationMatrix.rotation;
Quaternion q = new Quaternion(_q.x, -_q.z, _q.y, _q.w);
//Vector3 euler = rotationMatrix.rotation.eulerAngles;
//Vector3 newEuler = new Vector3(euler.x, -euler.z, euler.y);
//Quaternion q = Quaternion.Euler(newEuler);
return(q);
}
private void Awake()
{
viconInfos = new List <ViconInfo>();
foreach (Transform t in trackedObjects)
{
var newViconInfo = new ViconInfo(t);
viconInfos.Add(newViconInfo);
}
}
public Vector3 GetPosFromViconInfo(ViconInfo v)
{
Vector3 newPos = new Vector3(0, 0, 0);
if (v.Translation != null)
{
newPos = new Vector3(-(float)v.Translation[0], (float)v.Translation[2], -(float)v.Translation[1]) * 0.001f;
}
return(newPos);
}
private void udpReceive(IAsyncResult res)
{
IPEndPoint RemoteIpEndPoint = new IPEndPoint(IPAddress.Any, port);
byte[] received = client.EndReceive(res, ref RemoteIpEndPoint);
string str = Encoding.UTF8.GetString(received);
ViconInfo commingVicon = JsonUtility.FromJson <ViconInfo>(str);
//Vector3 newPos = new Vector3(-(float)commingVicon.Translation[0], (float)commingVicon.Translation[1], (float)commingVicon.Translation[2]);
foreach (ViconInfo v in viconInfos)
{
if (v.Name == commingVicon.Name)
{
v.Translation = commingVicon.Translation;
v.Rotation = commingVicon.Rotation;
}
}
if (!isDestroyed)
{
client.BeginReceive(new AsyncCallback(udpReceive), null);
}
}
