public bool Connect(IMoCapClient_ConnectionInfo connectionInfo)
{
connected = VRDevice.isPresent;
if (connected)
{
system = OpenVR.System;
if (system == null)
{
connected = false;
Debug.LogWarning("Could not find OpenVR System instance.");
}
compositor = OpenVR.Compositor;
if (compositor == null)
{
connected = false;
Debug.LogWarning("Could not find OpenVR Compositor instance.");
}
}
if (connected)
{
poses = new TrackedDevicePose_t[OpenVR.k_unMaxTrackedDeviceCount];
gamePoses = new TrackedDevicePose_t[0];
FindControllerIndices();
scene.actors = new Actor[controllerIndices.Length];
scene.devices = new Device[controllerIndices.Length];
states = new VRControllerState_t[controllerIndices.Length];
for (int idx = 0; idx < controllerIndices.Length; idx++)
{
string name = "Controller" + (idx + 1);
Actor actor = new Actor(scene, name, idx);
actor.bones = new Bone[1];
actor.bones[0] = new Bone(actor, "root", 0);
scene.actors[idx] = actor;
Device device = new Device(scene, name, idx);
device.channels = new Channel[7];
device.channels[0] = new Channel(device, "button1"); // fire
device.channels[1] = new Channel(device, "button2"); // menu
device.channels[2] = new Channel(device, "button3"); // grip
device.channels[3] = new Channel(device, "axis1"); // touchpad + press
device.channels[4] = new Channel(device, "axis2");
device.channels[5] = new Channel(device, "axis1raw"); // touchpad touch
device.channels[6] = new Channel(device, "axis2raw");
scene.devices[idx] = device;
}
}
return connected;
}
public List<Bone> chain; // chain from root bone to this bone
/// <summary>
/// Creates a new bone with a name and ID.
/// </summary>
/// <param name="actor">actor this bonebelongs to</param>
/// <param name="name">name of the bone</param>
/// <param name="in">ID of the bone</param>
///
public Bone(Actor actor, string name, int id)
{
this.actor = actor;
this.name = name;
this.id = id;
ox = oy = oz = 0; // no offset
parent = null; // no parent
px = py = pz = 0; // origin position
qx = qy = qz = 0; qw = 1; // no rotation
length = 0; // no length
children = new List<Bone>();
chain = new List<Bone>();
chain.Add(this); // this bone is part of the chain
}
public bool tracked; // tracking state
/// <summary>
/// Creates a new marker with a name.
/// </summary>
/// <param name="actor">actor this marker is associated with</param>
/// <param name="name">name of the marker</param>
///
public Marker(Actor actor, string name)
{
this.actor = actor;
this.name = name;
px = py = pz = 0;
tracked = false;
}
private void ReadSkeletonDescription(ref List<Actor> actors)
{
int skeletonId = dataStream.GetInt(); // ID
string skeletonName = dataStream.GetString(); // name
// rigid body name should be equal to actor name: search
Actor actor = null;
foreach (Actor a in actors)
{
if (a.name.CompareTo(skeletonName) == 0)
{
actor = a;
actor.id = skeletonId; // associate actor and skeleton
}
}
if (actor == null)
{
// names don't match > try IDs
if ((skeletonId >= 0) && (skeletonId < actors.Count))
{
actor = actors[skeletonId];
}
}
if (actor == null)
{
Debug.LogWarning("Skeleton " + skeletonName + " could not be matched to an actor.");
actor = new Actor(scene, skeletonName, skeletonId);
actors.Add(actor);
}
int nBones = dataStream.GetInt(); // Skeleton bone count
actor.bones = new Bone[nBones];
for (int boneIdx = 0; boneIdx < nBones; boneIdx++)
{
int id = dataStream.GetInt(); // bone ID
String name = dataStream.GetString(); // bone name
Bone bone = new Bone(actor, name, id);
int parentId = dataStream.GetInt(); // Skeleton parent ID
bone.parent = actor.FindBone(parentId);
if (bone.parent != null)
{
// if bone has a parent, update child list of parent
bone.parent.children.Add(bone);
}
bone.BuildChain(); // build chain from root to this bone
bone.ox = dataStream.GetFloat(); // X offset
bone.oy = dataStream.GetFloat(); // Y offset
bone.oz = dataStream.GetFloat(); // Z offset
actor.bones[boneIdx] = bone;
}
}
private void ReadRigidBodyDescription(ref List<Actor> actors)
{
int id = dataStream.GetInt(); // ID
string name = dataStream.GetString(); // name
// rigid body name should be equal to actor name: search
Actor actor = null;
foreach (Actor a in actors)
{
if (a.name.Equals(name))
{
actor = a;
}
}
if (actor == null)
{
Debug.LogWarning("Rigid Body " + name + " could not be matched to an actor.");
actor = new Actor(scene, name, id);
actors.Add(actor);
}
Bone bone = new Bone(actor, name, id);
dataStream.GetInt(); // Parent ID (ignore for rigid body)
bone.parent = null; // rigid bodies should not have a parent
bone.ox = dataStream.GetFloat(); // X offset
bone.oy = dataStream.GetFloat(); // Y offset
bone.oz = dataStream.GetFloat(); // Z offset
actor.bones = new Bone[1];
actor.bones[0] = bone;
}
private void ReadMarkersetDescription(ref List<Actor> actors)
{
int id = 0; // no ID for markersets
string name = dataStream.GetString(); // markerset name
Actor actor = new Actor(scene, name, id);
int nMarkers = dataStream.GetInt(); // marker count
actor.markers = new Marker[nMarkers];
for (int markerIdx = 0; markerIdx < nMarkers; markerIdx++)
{
name = dataStream.GetString();
Marker marker = new Marker(actor, name);
actor.markers[markerIdx] = marker;
}
actors.Add(actor);
}
private void ParseSkeleton(NatNetPacket_In packet, List<Actor> actors)
{
bool includesBoneNames = // starting at v2.0
(serverInfo.versionNatNet[0] >= 2);
String skeletonName = packet.GetString(); // name
int skeletonId = packet.GetInt32(); // ID
// rigid body name should be equal to actor name: search
Actor actor = null;
foreach (Actor a in actors)
{
if (a.name.CompareTo(skeletonName) == 0)
{
actor = a;
actor.id = skeletonId; // associate actor and skeleton
}
}
if (actor == null)
{
// names don't match > try IDs
if ((skeletonId >= 0) && (skeletonId < actors.Count))
{
actor = actors[skeletonId];
}
}
if (actor == null)
{
Debug.LogWarning("Skeleton " + skeletonName + " could not be matched to an actor.");
actor = new Actor(scene, skeletonName, skeletonId);
actors.Add(actor);
}
int nBones = packet.GetInt32(); // Skeleton bone count
// TODO: Sanity check on the number before allocating that much space
actor.bones = new Bone[nBones];
for ( int boneIdx = 0 ; boneIdx < nBones ; boneIdx++ )
{
String name = "";
if (includesBoneNames)
{
name = packet.GetString(); // bone name
}
int id = packet.GetInt32(); // bone ID
Bone bone = new Bone(actor, name, id);
bone.parent = actor.FindBone(packet.GetInt32()); // Skeleton parent ID
if (bone.parent != null)
{
// if bone has a parent, update child list of parent
bone.parent.children.Add(bone);
}
bone.BuildChain(); // build chain from root to this bone
bone.ox = packet.GetFloat(); // X offset
bone.oy = packet.GetFloat(); // Y offset
bone.oz = -packet.GetFloat(); // Z offset
actor.bones[boneIdx] = bone;
}
}
private void ParseRigidBody(NatNetPacket_In packet, List<Actor> actors)
{
string name = packet.GetString(); // name, TODO: No name in major version < 2
int id = packet.GetInt32(); // ID
// rigid body name should be equal to actor name: search
Actor actor = null;
foreach (Actor a in actors)
{
if (a.name.Equals(name))
{
actor = a;
}
}
if (actor == null)
{
Debug.LogWarning("Rigid Body " + name + " could not be matched to an actor.");
actor = new Actor(scene, name, id);
actors.Add(actor);
}
Bone bone = new Bone(actor, name, id);
packet.GetInt32(); // Parent ID (ignore for rigid body)
bone.parent = null; // rigid bodies should not have a parent
bone.ox = packet.GetFloat(); // X offset
bone.oy = packet.GetFloat(); // Y offset
bone.oz = -packet.GetFloat(); // Z offset
actor.bones = new Bone[1];
actor.bones[0] = bone;
}
private void ParseMarkerset(NatNetPacket_In packet, List<Actor> actors)
{
int id = 0; // no ID for markersets
string name = packet.GetString(); // markerset name
Actor actor = new Actor(scene, name, id);
int nMarkers = packet.GetInt32(); // marker count
// TODO: Sanity check on the number before allocating that much space
actor.markers = new Marker[nMarkers];
for ( int markerIdx = 0 ; markerIdx < nMarkers ; markerIdx++ )
{
name = packet.GetString();
Marker marker = new Marker(actor, name);
actor.markers[markerIdx] = marker;
}
actors.Add(actor);
}
