void Update()
{
if (sending)
{
switch (ubitrackEvent)
{
case UbitrackEventType.Push:
{
SimplePosition3D simplePos3D = new SimplePosition3D();
Vector3 output = Vector3.zero;
UbiMeasurementUtils.coordsysemChange(sendPos, ref output);
simplePos3D.x = output.x;
simplePos3D.y = output.y;
simplePos3D.z = output.z;
simplePos3D.timestamp = UbiMeasurementUtils.getUbitrackTimeStamp();
m_poseReciever.receivePosition3D(simplePos3D);
if (once)
{
this.enabled = false;
}
break;
}
case UbitrackEventType.Pull:
default:
break;
}
}
}
internal static SimplePose getGameObjectPose(UbitrackRelativeToUnity relative, GameObject go)
{
SimplePose pose = new SimplePose();
Vector3 pos = new Vector3();
Quaternion rot = new Quaternion();
switch (relative)
{
case UbitrackRelativeToUnity.Local:
{
UbiMeasurementUtils.coordsysemChange(go.transform.localPosition, ref pos);
UbiMeasurementUtils.coordsysemChange(go.transform.localRotation, ref rot);
break;
}
case UbitrackRelativeToUnity.World:
{
UbiMeasurementUtils.coordsysemChange(go.transform.position, ref pos);
UbiMeasurementUtils.coordsysemChange(go.transform.rotation, ref rot);
break;
}
default:
break;
}
pose.tx = pos.x;
pose.ty = pos.y;
pose.tz = pos.z;
pose.rx = rot.x;
pose.ry = rot.y;
pose.rz = rot.z;
pose.rw = rot.w;
return(pose);
}
public void send(ulong timestamp)
{
SimplePosition3D simplePos3D = new SimplePosition3D();
Vector3 output = Vector3.zero;
UbiMeasurementUtils.coordsysemChange(sendPos, ref output);
simplePos3D.x = output.x;
simplePos3D.y = output.y;
simplePos3D.z = output.z;
simplePos3D.timestamp = timestamp;
m_poseReciever.receivePosition3D(simplePos3D);
if (once)
{
this.enabled = false;
}
}
private void ReceiveData()
{
client = new UdpClient(port);
while (m_keepRunning)
{
try
{
IPEndPoint anyIP = new IPEndPoint(IPAddress.Any, 0);
byte[] data = client.Receive(ref anyIP);
// Bytes mit der UTF8-Kodierung in das Textformat kodieren.
string text = Encoding.UTF8.GetString(data);
Debug.Log(text);
string[] words = text.Split(' ');
Quaternion q = new Quaternion(float.Parse(words[12]),
float.Parse(words[13]),
float.Parse(words[14]),
float.Parse(words[15]));
Vector3 t = new Vector3(float.Parse(words[18]),
float.Parse(words[19]),
float.Parse(words[20]));
m_newData = new Pose();
UbiMeasurementUtils.coordsysemChange(t, ref m_newData.pos);
UbiMeasurementUtils.coordsysemChange(q, ref m_newData.rot);
}
catch (Exception err)
{
Debug.Log(err.ToString());
}
}
client.Close();
}
public static Pose readErrorPoseAsPoseFromString(string input)
{
char[] splitter = { ' ' };
NumberFormatInfo nfi = new CultureInfo("en-US", false).NumberFormat;
nfi.NumberDecimalSeparator = ".";
string[] strList = input.Split(splitter);
Pose result = new Pose();
Vector3 pos = new Vector3(float.Parse(strList[0 + 16], nfi), float.Parse(strList[1 + 16], nfi), float.Parse(strList[2 + 16], nfi));
Quaternion rot = new Quaternion(float.Parse(strList[0 + 10], nfi), float.Parse(strList[1 + 10], nfi), float.Parse(strList[2 + 10], nfi), float.Parse(strList[3 + 10], nfi));
UbiMeasurementUtils.coordsysemChange(pos, ref result.pos);
UbiMeasurementUtils.coordsysemChange(rot, ref result.rot);
return(result);
}
