void Update()
{
OptitrackSkeletonState skelState = StreamingClient.GetLatestSkeletonState(m_skeletonDef.Id);
if (skelState != null)
{
// Update the transforms of the bone GameObjects.
for (int i = 0; i < m_skeletonDef.Bones.Count; ++i)
{
Int32 boneId = m_skeletonDef.Bones[i].Id;
OptitrackPose bonePose;
GameObject boneObject;
bool foundPose = skelState.BonePoses.TryGetValue(boneId, out bonePose);
bool foundObject = m_boneObjectMap.TryGetValue(boneId, out boneObject);
if (foundPose && foundObject)
{
boneObject.transform.localPosition = bonePose.Position;
boneObject.transform.localRotation = bonePose.Orientation;
}
}
// Perform Mecanim retargeting.
if (m_srcPoseHandler != null && m_destPoseHandler != null)
{
// Interpret the streamed pose into Mecanim muscle space representation.
m_srcPoseHandler.GetHumanPose(ref m_humanPose);
// Retarget that muscle space pose to the destination avatar.
m_destPoseHandler.SetHumanPose(ref m_humanPose);
}
}
}
public override void UpdateTracker()
{
base.UpdateTracker();
status = Status.Unavailable;
if (!enabled || streamingClient == null)
{
return;
}
status = Status.Present;
deviceView.position = Target.ToVector(trackerTransform.position);
deviceView.orientation = Target.ToRotation(trackerTransform.rotation);
if (trackingType == TrackingType.Skeleton && m_skeletonDef != null)
{
OptitrackSkeletonState skelState = streamingClient.GetLatestSkeletonState(m_skeletonDef.Id);
if (skelState == null)
{
return;
}
status = Status.Tracking;
// Update the transforms of the bone GameObjects.
for (int i = 0; i < m_skeletonDef.Bones.Count; ++i)
{
int optitrackBoneId = m_skeletonDef.Bones[i].Id;
OptitrackPose bonePose;
Bone boneId;
bool foundPose = skelState.BonePoses.TryGetValue(optitrackBoneId, out bonePose);
if (foundPose)
{
bool foundBone = optitrackBoneMapping.TryGetValue(m_skeletonDef.Bones[i].Name, out boneId);
if (foundBone)
{
bonePositions[(int)boneId] = bonePose.Position;
boneRotations[(int)boneId] = bonePose.Orientation;
}
}
}
}
}
void Update()
{
if (StreamingClient == null)
{
return;
}
OptitrackSkeletonState skelState = StreamingClient.GetLatestSkeletonState(m_skeletonDef.Id);
if (skelState != null)
{
// Update the transforms of the bone GameObjects.
for (int i = 0; i < m_skeletonDef.Bones.Count; ++i)
{
Int32 boneId = m_skeletonDef.Bones[i].Id;
OptitrackPose bonePose;
GameObject boneObject;
bool foundPose = skelState.BonePoses.TryGetValue(boneId, out bonePose);
bool foundObject = m_boneObjectMap.TryGetValue(boneId, out boneObject);
if (foundPose && foundObject)
{
Vector3 startPos = boneObject.transform.localPosition;
Vector3 endPos = bonePose.Position.V3;
float journey = (startPos - endPos).magnitude;
// if bone position change too large, then move smaller
// if (journey > 0.1f)
// {
// boneObject.transform.localPosition =
// Vector3.Lerp(startPos, endPos, Time.deltaTime / (5 * journey));
// Debug.Log ("lerping skeleton");
// }
// else
// {
// boneObject.transform.localPosition = bonePose.Position.V3;
// }
if (StreamingClient.ConnectionType == OptitrackStreamingClient.ClientConnectionType.Photon)
{
boneObject.transform.localPosition = Vector3.Lerp(startPos, endPos, Time.deltaTime * 15);
}
else
{
boneObject.transform.localPosition = bonePose.Position.V3;
}
// Clamp retargetted optitrack bones
#region Clamp bone rotation
angleX = bonePose.Orientation.Q.eulerAngles.x;
angleY = bonePose.Orientation.Q.eulerAngles.y;
angleZ = bonePose.Orientation.Q.eulerAngles.z;
if (bonePose.Orientation.Q.eulerAngles.x > 180f)
{
angleX = bonePose.Orientation.Q.eulerAngles.x - 360;
}
if (bonePose.Orientation.Q.eulerAngles.y > 180f)
{
angleY = bonePose.Orientation.Q.eulerAngles.y - 360;
}
if (bonePose.Orientation.Q.eulerAngles.z > 180f)
{
angleZ = bonePose.Orientation.Q.eulerAngles.z - 360;
}
if (boneObject.name.Contains("LThumb1"))
{
SetBoneRotation(boneObject, BoneLimit.LThumb1.xMin, BoneLimit.LThumb1.yMin,
BoneLimit.LThumb1.zMin,
BoneLimit.LThumb1.xMax, BoneLimit.LThumb1.yMax, BoneLimit.LThumb1.zMax);
}
else if (boneObject.name.Contains("LThumb2"))
{
SetBoneRotation(boneObject, BoneLimit.LThumb2.xMin, BoneLimit.LThumb2.yMin,
BoneLimit.LThumb2.zMin,
BoneLimit.LThumb2.xMax, BoneLimit.LThumb2.yMax, BoneLimit.LThumb2.zMax);
}
else if (boneObject.name.Contains("RThumb1"))
{
SetBoneRotation(boneObject, BoneLimit.RThumb1.xMin, BoneLimit.RThumb1.yMin,
BoneLimit.RThumb1.zMin,
BoneLimit.RThumb1.xMax, BoneLimit.RThumb1.yMax, BoneLimit.RThumb1.zMax);
}
else if (boneObject.name.Contains("RThumb2"))
{
SetBoneRotation(boneObject, BoneLimit.RThumb2.xMin, BoneLimit.RThumb2.yMin,
BoneLimit.RThumb2.zMin,
BoneLimit.RThumb2.xMax, BoneLimit.RThumb2.yMax, BoneLimit.RThumb2.zMax);
}
else if (boneObject.name.Contains("RIndex1") || boneObject.name.Contains("RRing1") ||
boneObject.name.Contains("RMiddle1") || boneObject.name.Contains("RPinky1"))
{
SetBoneRotation(boneObject, BoneLimit.RRing1.xMin, BoneLimit.RRing1.yMin, BoneLimit.RRing1.zMin,
BoneLimit.RRing1.xMax, BoneLimit.RRing1.yMax, BoneLimit.RRing1.zMax);
}
else if (boneObject.name.Contains("RIndex2") || boneObject.name.Contains("RIndex3") ||
boneObject.name.Contains("RRing2") || boneObject.name.Contains("RRing3") ||
boneObject.name.Contains("RMiddle2") || boneObject.name.Contains("RMiddle3") ||
boneObject.name.Contains("RPinky2") || boneObject.name.Contains("RPinky3"))
{
SetBoneRotation(boneObject, BoneLimit.RRing2.xMin, BoneLimit.RRing2.yMin, BoneLimit.RRing2.zMin,
BoneLimit.RRing2.xMax, BoneLimit.RRing2.yMax, BoneLimit.RRing2.zMax);
}
else if (boneObject.name.Contains("LIndex1") || boneObject.name.Contains("LRing1") ||
boneObject.name.Contains("LMiddle1") || boneObject.name.Contains("LPinky1"))
{
SetBoneRotation(boneObject, BoneLimit.LRing1.xMin, BoneLimit.LRing1.yMin, BoneLimit.LRing1.zMin,
BoneLimit.LRing1.xMax, BoneLimit.LRing1.yMax, BoneLimit.LRing1.zMax);
}
else if (boneObject.name.Contains("LIndex2") || boneObject.name.Contains("LIndex3") ||
boneObject.name.Contains("LRing2") || boneObject.name.Contains("LRing3") ||
boneObject.name.Contains("LMiddle2") || boneObject.name.Contains("LMiddle3") ||
boneObject.name.Contains("LPinky2") || boneObject.name.Contains("LPinky3"))
{
SetBoneRotation(boneObject, BoneLimit.LRing2.xMin, BoneLimit.LRing2.yMin, BoneLimit.LRing2.zMin,
BoneLimit.LRing2.xMax, BoneLimit.LRing2.yMax, BoneLimit.LRing2.zMax);
}
else
{
if (StreamingClient.ConnectionType == OptitrackStreamingClient.ClientConnectionType.Photon)
{
boneObject.transform.localRotation = Quaternion.Lerp(boneObject.transform.localRotation, bonePose.Orientation.Q, Time.deltaTime * 15);
}
else
{
boneObject.transform.localRotation = bonePose.Orientation.Q;
}
}
#endregion
}
}
// Perform Mecanim retargeting.
if (m_srcPoseHandler != null && m_destPoseHandler != null)
{
// Interpret the streamed pose into Mecanim muscle space representation.
m_srcPoseHandler.GetHumanPose(ref m_humanPose);
// Retarget that muscle space pose to the destination avatar.
m_destPoseHandler.SetHumanPose(ref m_humanPose);
}
}
}
