// Position a Trackable relative to the Camera.
protected void PositionTrackable(TrackableBehaviour trackableBehaviour,
Camera arCamera,
QCARManager.PoseData camToTargetPose)
{
trackableBehaviour.transform.position =
arCamera.transform.TransformPoint(camToTargetPose.position);
trackableBehaviour.transform.rotation =
arCamera.transform.rotation *
camToTargetPose.orientation *
Quaternion.AngleAxis(270, Vector3.left);
}
// Position the camera relative to a Trackable.
protected void PositionCamera(TrackableBehaviour trackableBehaviour,
Camera arCamera,
QCARManager.PoseData camToTargetPose)
{
arCamera.transform.localPosition =
trackableBehaviour.transform.rotation *
Quaternion.AngleAxis(90, Vector3.left) *
Quaternion.Inverse(camToTargetPose.orientation) *
(-camToTargetPose.position) +
trackableBehaviour.transform.position;
arCamera.transform.rotation =
trackableBehaviour.transform.rotation *
Quaternion.AngleAxis(90, Vector3.left) *
Quaternion.Inverse(camToTargetPose.orientation);
}
// Method used to update poses of all active Image Targets
// in the scene
public void UpdateTrackablePoses(Camera arCamera,
QCARManager.TrackableData[] trackableDataArray,
int originTrackableID)
{
if (mActiveDataSet == null)
{
return;
}
foreach (QCARManager.TrackableData trackableData in trackableDataArray)
{
// For each Trackable data struct from native
DataSetTrackableBehaviour trackableBehaviour;
if (mActiveDataSet.TryGetTrackableByID(trackableData.id,
out trackableBehaviour))
{
// If this is the world center skip it, we never move the
// world center Trackable in the scene
if (trackableData.id == originTrackableID)
{
continue;
}
if ((trackableData.status ==
TrackableBehaviour.Status.DETECTED
|| trackableData.status ==
TrackableBehaviour.Status.TRACKED) &&
trackableBehaviour.enabled)
{
// The Trackable object is visible and enabled,
// move it into position in relation to the camera
// (which we moved earlier)
PositionTrackable(trackableBehaviour, arCamera,
trackableData.pose);
}
}
}
// Update each Trackable
// Do this once all Trackables have been moved into place
foreach (QCARManager.TrackableData trackableData in trackableDataArray)
{
DataSetTrackableBehaviour trackableBehaviour;
if (mActiveDataSet.TryGetTrackableByID(trackableData.id,
out trackableBehaviour))
{
if (trackableBehaviour.enabled)
{
trackableBehaviour.OnTrackerUpdate(
trackableData.status);
}
}
}
}
public void UpdateCameraPose(Camera arCamera,
QCARManager.TrackableData[] trackableDataArray,
int originTrackableID)
{
if (mActiveDataSet == null)
{
return;
}
// If there is a World Center Trackable use it to position the camera.
if (originTrackableID >= 0)
{
foreach (QCARManager.TrackableData trackableData in trackableDataArray)
{
if (trackableData.id == originTrackableID)
{
if (trackableData.status ==
TrackableBehaviour.Status.DETECTED
|| trackableData.status ==
TrackableBehaviour.Status.TRACKED)
{
DataSetTrackableBehaviour originTrackable = null;
if (mActiveDataSet.TryGetTrackableByID(originTrackableID,
out originTrackable))
{
if (originTrackable.enabled)
{
PositionCamera(originTrackable, arCamera,
trackableData.pose);
}
}
}
break;
}
}
}
}
