HMDUtils.FusionService.Quat Adapt(HMDUtils.OVRPluginServices.Quatf In)
{
HMDUtils.FusionService.Quat Output = new HMDUtils.FusionService.Quat(In.x, In.y, In.z, In.w);
return(Output);
}
void LateUpdate()
{
try
{
double Time = HMDUtils.FusionService.GetTime();
uint ViconFrameNumber = Client.GetFrameNumber();
//position
Output_GetSubjectRootSegmentName RootName = Client.GetSubjectRootSegmentName(HmdName);
Output_GetSegmentLocalTranslation Translation = Client.GetSegmentTranslation(HmdName, RootName.SegmentName);
// Raw Vicon position, scale is in mm. The data here is in the datastream default; x-forward, y-left, z-up for the global coordinate system
HMDUtils.FusionService.Vec ViconPosition = new HMDUtils.FusionService.Vec(Translation.Translation[0], Translation.Translation[1], Translation.Translation[2]);
//orientation. The local coordinate system of the HMD object is x-right, y-up, z-back
Output_GetSegmentLocalRotationQuaternion Rot = Client.GetSegmentRotation(HmdName, RootName.SegmentName);
// Raw Vicon orientation
HMDUtils.FusionService.Quat ViconOrientation = new HMDUtils.FusionService.Quat(Rot.Rotation[0], Rot.Rotation[1], Rot.Rotation[2], Rot.Rotation[3]);
// If we don't get a result, or the pose returned from the datastream is occluded, then we will use the last known good position that we received.
bool bViconPoseValid = true;
if (Rot.Result != ViconDataStreamSDK.CSharp.Result.Success || Rot.Occluded || Translation.Occluded)
{
// We use this flag to determine whether to initialize the fusion algorithm; we don't want to initialize it on occluded frames
bViconPoseValid = false;
if (m_LastGoodPose != null)
{
ViconPosition = m_LastGoodPose.Position;
ViconOrientation = m_LastGoodPose.Rotation;
}
else
{
// If all else fails, we will return the origin :(
ViconOrientation = new HMDUtils.FusionService.Quat(0, 0, 0, 1);
}
}
else
{
if (m_LastGoodPose == null)
{
m_LastGoodPose = new HMDUtils.FusionService.Pose(ViconPosition, ViconOrientation);
}
else
{
m_LastGoodPose.Position = ViconPosition;
m_LastGoodPose.Rotation = ViconOrientation;
}
}
//Oculus space. We need to translate to the oculus coordinate system here so that the fusion algorithm can work with all data in the same coordinate system.
// The Vicon data comes in as z-up, x-forward rhs. We convert to y-up, z-back rhs. The local coordinate system of the tracked Oculus object in the Vicon data is already y-up, z-back.
// The conversion also scales from mm to m.
// Vicon Oculus Unity
// forward x -z z
// up z y y
// right -y x x
//HMDUtils.FusionService.Quat ViconOrientationInOculus = new HMDUtils.FusionService.Quat(-ViconOrientation.Y, ViconOrientation.Z, -ViconOrientation.X, ViconOrientation.W);
//HMDUtils.FusionService.Vec ViconPositionInOculus = new HMDUtils.FusionService.Vec(-ViconPosition.Y * 0.001, ViconPosition.Z * 0.001, -ViconPosition.X * 0.001);
//HMDUtils.FusionService.Pose ViconInOculus = new HMDUtils.FusionService.Pose( ViconPositionInOculus, ViconOrientationInOculus );
HMDUtils.FusionService.Pose ViconInOculus = HMDUtils.FusionService.GetMappedVicon(ViconOrientation, ViconPosition);
// The pose from the oculus; this is already in oculus coordinate system - y-up, z-back, rhs
HMDUtils.OVRPluginServices.PoseStatef HMDState = HMDUtils.OVRPluginServices.ovrp_GetNodePoseState(HMDUtils.OVRPluginServices.Step.Render, HMDUtils.OVRPluginServices.Node.EyeCenter);
HMDUtils.OVRPluginServices.Quatf HmdOrt = HMDState.Pose.Orientation;
HMDUtils.OVRPluginServices.Vector3f HmdOrtV = HMDState.AngularVelocity;
HMDUtils.OVRPluginServices.Vector3f HmdOrtA = HMDState.AngularAcceleration;
HMDUtils.OVRPluginServices.Vector3f HmdPos = HMDState.Pose.Position;
HMDUtils.OVRPluginServices.Vector3f HmdPosV = HMDState.Velocity;
HMDUtils.OVRPluginServices.Vector3f HmdPosA = HMDState.Acceleration;
if (m_Service != null)
{
HMDUtils.FusionService.Quat Output;
if (m_Service.GetUpdatedOrientation(Time,
Adapt(HmdOrt),
Adapt(HmdOrtV),
Adapt(HmdOrtA),
ViconInOculus.Rotation,
ViconInOculus.Position,
bViconPoseValid,
(float)1,
(float)0.0137,
(float)0.00175,
out Output))
{
if (Log)
{
m_Log.WriteLine("{0},{1},{2},{3},{4},{5},{6},{7},{8},{9},{10},{11},{12},{13},{14},{15},{16},{17},{18},{19},{20},{21},{22},{23},{24},{25},{26},{27},{28},{29},{30},{31},{32},{33},{34},{35}",
Time, HMDState.Time,
HmdOrt.x, HmdOrt.y, HmdOrt.z, HmdOrt.w,
HmdOrtV.x, HmdOrtV.y, HmdOrtV.z,
HmdOrtA.x, HmdOrtA.y, HmdOrtA.z,
HmdPos.x, HmdPos.y, HmdPos.z,
HmdPosV.x, HmdPosV.y, HmdPosV.z,
HmdPosA.x, HmdPosA.y, HmdPosA.z,
ViconFrameNumber,
ViconInOculus.Rotation.X, ViconInOculus.Rotation.Y, ViconInOculus.Rotation.Z, ViconInOculus.Rotation.W,
ViconInOculus.Position.X, ViconInOculus.Position.Y, ViconInOculus.Position.Z,
ViconOrientation.X, ViconOrientation.Y, ViconOrientation.Z, ViconOrientation.W,
ViconPosition.X, ViconPosition.Y, ViconPosition.Z);
}
// We are in Oculus co-ordinate space: y-up, z-backward rhs. We need to convert to Unity, which is y-up, z-forward lhs - eg a reflection in the xy plane
Quaternion OutputOrt = new Quaternion((float)-Output.X, (float)-Output.Y, (float)Output.Z, (float)Output.W);
Quaternion OculusOrt = new Quaternion((float)-HmdOrt.x, (float)-HmdOrt.y, (float)HmdOrt.z, (float)HmdOrt.w);
transform.localPosition = new Vector3((float)ViconInOculus.Position.X, (float)ViconInOculus.Position.Y, (float)-ViconInOculus.Position.Z);
transform.localRotation = OutputOrt * Quaternion.Inverse(OculusOrt);
}
}
}
catch (DllNotFoundException ex)
{
Debug.LogError(string.Format("XR must be enabled for this project to use the HMD fusion script: Error {0}", ex.Message));
}
}
