public override void receivePose(SimplePose newPose)
{
lock (thisLock)
{
m_pose = UbiMeasurementUtils.ubitrackToUnity(newPose);
}
}
// Use this for initialization
public override void utInit(SimpleFacade simpleFacade)
{
base.utInit(simpleFacade);
switch (ubitrackEvent)
{
case UbitrackEventType.Pull: {
m_posePull = simpleFacade.getSimplePullSinkPose(patternID);
m_simplePose = new SimplePose();
if (m_posePull == null)
{
throw new Exception("SimpleApplicationPullSinkPose not found for poseID:" + patternID);
}
break;
}
case UbitrackEventType.Push: {
m_poseReceiver = new UnityPoseReceiver();
if (!simpleFacade.setPoseCallback(patternID, m_poseReceiver))
{
throw new Exception("SimplePoseReceiver could not be set for poseID:" + patternID);
}
break;
}
default:
break;
}
}
// Use this for initialization
public override void utInit(Ubitrack.SimpleFacade simpleFacade)
{
base.utInit(simpleFacade);
switch(ubitrackEvent)
{
case UbitrackEventType.Pull:{
m_posePull = simpleFacade.getSimplePullSinkPose(patternID);
m_simplePose = new SimplePose();
if (m_posePull == null)
{
throw new Exception("SimpleApplicationPullSinkPose not found for poseID:" + patternID);
}
break;
}
case UbitrackEventType.Push:{
m_poseReceiver = new UnityPoseReceiver();
if (!simpleFacade.setPoseCallback(patternID, m_poseReceiver))
{
throw new Exception("SimplePoseReceiver could not be set for poseID:" + patternID);
}
break;
}
default:
break;
}
}
internal static SimplePose getGameObjectPose(UbitrackRelativeToUnity relative, GameObject go)
{
SimplePose pose = new SimplePose();
Vector3 pos = new Vector3();
Quaternion rot = new Quaternion();
switch (relative)
{
case UbitrackRelativeToUnity.Local:
{
UbiMeasurementUtils.coordsysemChange(go.transform.localPosition, ref pos);
UbiMeasurementUtils.coordsysemChange(go.transform.localRotation, ref rot);
break;
}
case UbitrackRelativeToUnity.World:
{
UbiMeasurementUtils.coordsysemChange(go.transform.position, ref pos);
UbiMeasurementUtils.coordsysemChange(go.transform.rotation, ref rot);
break;
}
default:
break;
}
pose.tx = pos.x;
pose.ty = pos.y;
pose.tz = pos.z;
pose.rx = rot.x;
pose.ry = rot.y;
pose.rz = rot.z;
pose.rw = rot.w;
return(pose);
}
public override void receivePose(SimplePose newPose)
{
lock (thisLock)
{
m_pose = UbiMeasurementUtils.ubitrackToUnity(newPose);
}
}
internal static Measurement <Pose> ubitrackToUnity(SimplePose ubitrackPose)
{
// mirrored at z-Axis, rotation inverted
Vector3 trans = new Vector3((float)ubitrackPose.tx, (float)ubitrackPose.ty, (float)ubitrackPose.tz);
Quaternion rot = new Quaternion((float)ubitrackPose.rx, (float)ubitrackPose.ry, (float)ubitrackPose.rz, (float)ubitrackPose.rw);
Pose data = new Pose();
trans = trans * UbiToUnityScaleFactor;
coordsysemChange(trans, ref data.pos);
coordsysemChange(rot, ref data.rot);
return(new Measurement <Pose>(data, ubitrackPose.timestamp));
}
void Update()
{
switch (ubitrackEvent)
{
case UbitrackEventType.Push: {
SimplePose simplePose = UbiUnityUtils.getGameObjectPose(relative, gameObject);
m_poseReciever.receivePose(simplePose);
if (once)
{
this.enabled = false;
}
break;
}
case UbitrackEventType.Pull:
default:
break;
}
}
