public static extern NpHmdResult NpHmd_MeasurementUpdate(IntPtr hmdHandle, ref NpHmdQuaternion opticalOrientation, ref NpHmdQuaternion inertialOrientation, float deltaTimeSec);
public static extern NpHmdResult NpHmd_GetOrientationCorrection(IntPtr hmdHandle, out NpHmdQuaternion correction);
void UpdatePose()
{
OptitrackRigidBodyState rbState = StreamingClient.GetLatestRigidBodyState(RigidBodyId);
if (rbState != null && rbState.DeliveryTimestamp.AgeSeconds < 1.0f)
{
this.transform.localPosition = rbState.Pose.Position;
if (m_nphmdHandle != IntPtr.Zero && m_deviceInitialized)
{
NpHmdQuaternion inertialOri = new NpHmdQuaternion(m_hmdCameraObject.transform.localRotation);
NpHmdQuaternion opticalOri;
switch (RigidBodyOrientation)
{
case OptitrackHmdRbOrientation.NegativeZForward:
opticalOri = new NpHmdQuaternion(rbState.Pose.Orientation * Quaternion.Euler(0.0f, 180.0f, 0.0f));
break;
case OptitrackHmdRbOrientation.PositiveZForward:
opticalOri = new NpHmdQuaternion(rbState.Pose.Orientation);
break;
case OptitrackHmdRbOrientation.PositiveXForward:
opticalOri = new NpHmdQuaternion(rbState.Pose.Orientation * Quaternion.Euler(0.0f, -90.0f, 0.0f));
break;
default:
return;
}
NpHmdResult result = NativeMethods.NpHmd_MeasurementUpdate(
m_nphmdHandle,
ref opticalOri, // const
ref inertialOri, // const
Time.deltaTime
);
if (result == NpHmdResult.OK)
{
NpHmdQuaternion newCorrection;
result = NativeMethods.NpHmd_GetOrientationCorrection(m_nphmdHandle, out newCorrection);
if (result == NpHmdResult.OK)
{
this.transform.localRotation = newCorrection;
}
else
{
Debug.LogError(GetType().FullName + ": NpHmd_GetOrientationCorrection failed.", this);
this.enabled = false;
return;
}
}
else
{
Debug.LogError(GetType().FullName + ": NpHmd_MeasurementUpdate failed.", this);
this.enabled = false;
return;
}
}
}
}
