public Pose GetPoseValue(IntPtr poseHandle)
{
NDKPoseData poseValue = new NDKPoseData(Pose.identity);
NDKAPI.HwArPose_getPoseRaw(m_ndkSession.SessionHandle, poseHandle, ref poseValue);
return(poseValue.ToUnityPose());
}
public IntPtr Create(Pose pose)
{
NDKPoseData nDKPoseData = new NDKPoseData(pose);
IntPtr poseHandle = IntPtr.Zero;
NDKAPI.HwArPose_create(m_ndkSession.SessionHandle, ref nDKPoseData, ref poseHandle);
return(poseHandle);
}
public static void NDKPoseData2UnityPose(NDKPoseData poseData, out Pose pose)
{
Matrix4x4 glWorld2glLocal = Matrix4x4.TRS(new Vector3(poseData.Tx, poseData.Ty, poseData.Tz),
new Quaternion(poseData.Qx, poseData.Qy, poseData.Qz, poseData.Qw), Vector3.one);
Matrix4x4 unityWorld2glWorld = Matrix4x4.Scale(new Vector3(1, 1, -1));
Matrix4x4 unityWorld2unityLocal = unityWorld2glWorld * glWorld2glLocal * unityWorld2glWorld.inverse;
Vector3 position = unityWorld2unityLocal.GetColumn(3);
Quaternion quaternion = Quaternion.LookRotation(unityWorld2unityLocal.GetColumn(2),
unityWorld2unityLocal.GetColumn(1));
pose = new Pose(position, quaternion);
}
public static void UnityPose2NDKPoseData(Pose pose, out NDKPoseData poseData)
{
Matrix4x4 unityWorld2unityLocal = Matrix4x4.TRS(pose.position, pose.rotation, Vector3.one);
Matrix4x4 glWorld2unityWorld = Matrix4x4.Scale(new Vector3(1, 1, -1));
Matrix4x4 glWorld2glLocal = glWorld2unityWorld * unityWorld2unityLocal * glWorld2unityWorld.inverse;
Vector3 position = glWorld2glLocal.GetColumn(3);
Quaternion quaternion = Quaternion.LookRotation(glWorld2glLocal.GetColumn(2),
glWorld2glLocal.GetColumn(1));
poseData.Tx = position.x;
poseData.Ty = position.y;
poseData.Tz = position.z;
poseData.Qw = quaternion.w;
poseData.Qx = quaternion.x;
poseData.Qy = quaternion.y;
poseData.Qz = quaternion.z;
}
public static extern void HwArPose_getPoseRaw(IntPtr sessionHandle, IntPtr poseHandle,
ref NDKPoseData outPoseRaw);
public static extern void HwArPose_create(IntPtr sessionHandle,
ref NDKPoseData poseRaw, ref IntPtr outPoseHandle);