/// <summary>
/// Checks the Tracker-Status and Updates the Position, Rotation and Velocity.
/// </summary>
protected override void UpdateTracker()
{
// Setting 'trackingOK' to false (In case we have an Error and return before the end of the method).
trackingOK = false;
// Check if OpenVR-System is found correctly.
if (OpenVR.System == null)
{
Debug.LogError("<b>DHUI</b> | DroneTracking_Vive | OpenVR-System was not found.");
return;
}
// If we didn't set the Action Pose.
if (_VRTrackerActionPose == null)
{
// Check if there is an Active Action called "VRTracker".
SteamVR_Action_Pose ap = SteamVR_Input.GetAction <SteamVR_Action_Pose>("VRTracker");
if (ap.GetActive(SteamVR_Input_Sources.Any))
{
_VRTrackerActionPose = ap;
droneTrackerIndex = _VRTrackerActionPose.GetDeviceIndex(SteamVR_Input_Sources.Any);
}
else
{
Debug.LogError("<b>DHUI</b> | DroneTracking_Vive | No Active VR-Tracker was found.");
return;
}
}
// Copy Position and Rotation to the 'trackedTransform' and save the Velocity.
// If 'trackTransformAsLocal' is true: Copy the real tracked pose to 'trackedTransform' as localPosition & localRotation
if (trackTransformAsLocal)
{
trackedTransform.localPosition = _VRTrackerActionPose.GetLocalPosition(SteamVR_Input_Sources.Any) - trackerToDroneOffset_Position;
trackedTransform.localRotation = _VRTrackerActionPose.GetLocalRotation(SteamVR_Input_Sources.Any) * Quaternion.Euler(trackerToDroneOffset_Rotation);
}
// If 'trackTransformAsLocal' is false (= default): Copy the real tracked pose to 'trackedTransform' as (global) position & rotation
else
{
trackedTransform.position = _VRTrackerActionPose.GetLocalPosition(SteamVR_Input_Sources.Any) - trackerToDroneOffset_Position;
trackedTransform.rotation = _VRTrackerActionPose.GetLocalRotation(SteamVR_Input_Sources.Any) * Quaternion.Euler(trackerToDroneOffset_Rotation);
}
velocity = _VRTrackerActionPose.GetVelocity(SteamVR_Input_Sources.Any);
// Calculate the current pose for our device. [See https://github.com/ValveSoftware/openvr/wiki/IVRSystem::GetDeviceToAbsoluteTrackingPose]
TrackedDevicePose_t[] trackedDevicePoses = new TrackedDevicePose_t[OpenVR.k_unMaxTrackedDeviceCount];
OpenVR.System.GetDeviceToAbsoluteTrackingPose(ETrackingUniverseOrigin.TrackingUniverseStanding, 0.0f, trackedDevicePoses);
TrackedDevicePose_t droneTrackedDevicePose = trackedDevicePoses[droneTrackerIndex];
// If the 'TrackedDevicePose' of the drone is valid, connected and running ok, we can set the 'trackingOK' to true.
if (droneTrackedDevicePose.bPoseIsValid && droneTrackedDevicePose.bDeviceIsConnected && droneTrackedDevicePose.eTrackingResult == ETrackingResult.Running_OK)
{
trackingOK = true;
}
}
private void handlePose()
{
if (debugPoseMarkerStart != null && poseAction.GetActive(_controller))
{
Vector3 posePos = poseAction.GetLocalPosition(_controller);
debugPoseMarkerStart.transform.localPosition = posePos;
LineRenderer line = debugPoseMarkerStart.GetComponent <LineRenderer>();
line.transform.position = debugPoseMarkerStart.transform.position;
if (line != null)
{
line.SetPosition(0, debugPoseMarkerStart.transform.position);
line.transform.localRotation = poseAction.GetLocalRotation(_controller);
RaycastHit hit;
// Shorten the default magnitude of the beam by 0.3
Vector3 direction = poseAction.GetLocalRotation(_controller) * vectorFoward * 0.3f;
Vector3 endPoint = line.transform.position + direction * 10000;
line.SetPosition(1, endPoint);
debugPoseMarkerEnd.transform.position = endPoint;
Ray ray = new Ray(line.transform.position, direction);
if (Physics.Raycast(ray, out hit))
{
//Debug.Log("Hit!");
debugPoseMarkerEnd.transform.position = hit.point;
line.SetPosition(1, hit.point);
handleHit(hit);
}
else
{
//Debug.Log("Missed!");
//line.SetPosition(1, line.transform.position + direction * 10000);
//debugPoseMarkerEnd.transform.position = line.transform.position + direction * 10000;
handleMiss();
}
}
}
}
// Update is called once per frame
void Update()
{
Vector3 pos = Poser.GetLocalPosition(source);
Quaternion rot = Poser.GetLocalRotation(source);
// Move rocket when thrust is active
float thrust = Engine_manager.g_ThrustLevel;
if (thrust > 0.0f)
{
pos += (transform.localRotation * Vector3.forward) * 2.0f * thrust;
}
float rotSpeed = 0.6f;
transform.localRotation = Quaternion.Slerp(transform.localRotation, rot, rotSpeed * Time.deltaTime);
float movSpeed = 0.8f;
transform.localPosition = Vector3.Slerp(transform.localPosition, pos, movSpeed * Time.deltaTime);
}
public Quaternion GetHandRot(MyHand hand)
{
return(flyDirection.GetLocalRotation(hand.handType));
}
public Quaternion DifferenceLocalRotation()
{
return(pose.GetLocalRotation(handType) * Quaternion.Inverse(pose.GetLastLocalRotation(handType)));
}
// Update is called once per frame
void Update()
{
// Adapted from: http://3dcognition.com/unity-flight-simulator-phase-2/
// and http://wiki.unity3d.com/index.php/SmoothMouseLook
if (ResetButton.GetState(SteamVR_Input_Sources.Any))
{
Reset();
}
float altitude = transform.position.magnitude;
float rotateSpeed = 30.0f; // degrees/second
float speed = 0.5f * (altitude - 0.99f); // WASD movement, earth radius/second
float mouseSpeed = 140.0f; // degrees rotation per pixel of mouse movement / second
float transAmount = speed * Time.deltaTime;
float rotateAmount = rotateSpeed * Time.deltaTime;
// Update time zooming
if (Input.GetKeyDown("."))
{
TimeControl.ui_timelapse *= 4.0f;
}
if (Input.GetKeyDown(","))
{
TimeControl.ui_timelapse /= 4.0f;
}
if (Input.GetKeyDown("/"))
{
TimeControl.ui_timelapse = 1.0f;
}
// Debug.Log("Orbital camera vive running");
float zoom = TimeZoomAxis.GetAxis(TimeHand);
if (zoom > 0.0f)
{
Debug.Log(" time axis active: " + zoom);
TimeControl.ui_timelapse = 16.0f * Mathf.Pow(4.0f, 1.0f + 2.0f * zoom);
}
else
{
TimeControl.ui_timelapse = 1.0f;
}
TimeControl.Update();
float rotX = 0.0f;
float rotY = 0.0f;
if (Input.GetMouseButton(0))
{
rotX += Input.GetAxis("Mouse X") * mouseSpeed * Time.deltaTime;
rotY -= Input.GetAxis("Mouse Y") * mouseSpeed * Time.deltaTime;
}
if (Input.GetKey("up"))
{
rotY += rotateAmount;
}
if (Input.GetKey("down"))
{
rotY -= rotateAmount;
}
if (Input.GetKey("left"))
{
rotX -= rotateAmount;
}
if (Input.GetKey("right"))
{
rotX += rotateAmount;
}
Vector3 rocket = new Vector3(0.0f, 0.0f, 0.0f);
float rocketAccel = 50.0f; // m/s^2 acceleration in vacuum
if (Input.GetKey("a"))
{
rocket.x = -rocketAccel;
}
if (Input.GetKey("d"))
{
rocket.x = +rocketAccel;
}
if (Input.GetKey("z"))
{
rocket.y = -rocketAccel;
}
if (Input.GetKey("q"))
{
rocket.y = +rocketAccel;
}
if (Input.GetKey("s"))
{
rocket.z = -rocketAccel;
}
if (Input.GetKey("w"))
{
rocket.z = +rocketAccel;
}
// Rotate keyboard rocket thrust to match local motion frame
rocket = rocket.x * transform.right + rocket.y * transform.up + rocket.z * transform.forward;
float thrust = RocketThrustAxis.GetAxis(RocketHand);
Quaternion rot = RocketPose.GetLocalRotation(RocketHand);
rot = transform.rotation * rot; // local to world rotation
Vector3 rocketForward = rot * Vector3.forward;
if (thrust > 0.0f)
{
Debug.Log(" thrust axis active: " + thrust + " direction " + rocketForward);
rocket += thrust * rocketForward * rocketAccel; // FIXME: rotate to match controller orientation
Engine_manager.g_ThrustLevel = thrust;
}
else
{
Engine_manager.g_ThrustLevel = 0.0f;
}
float me = 5.972e24f; // mass of Earth, in kilograms
float G = 6.67408e-11f; // gravitational constant, MKS units
float r = P.magnitude; // distance to spacecraft, in meters
float accel = -G * me / (r * r); // scalar acceleration due to gravity (m/s^2)
Vector3 A = P * (accel / P.magnitude); // vector acceleration due to gravity
A += rocket; // acceleration due to rocket
float dt = Time.deltaTime * TimeControl.timelapse;
V = V + dt * A; // Euler update for velocity
P = P + dt * V; // Euler update for position
float height = (P.magnitude - Re) / (km); // kilometers altitude
float airdrag = 0.0f;
if (height < 60.0f)
{
float air_density = Mathf.Exp(-height / 8.0f);
float dragfactor = 0.01f + 0.2f * Vector3.Cross(rocketForward.normalized, V.normalized).magnitude;
airdrag = dragfactor * air_density;
float dragloss = (1.0f - airdrag * dt);
if (dragloss < 0.5f)
{
dragloss = 0.5f;
}
V = V * dragloss;
airdrag *= V.magnitude;
}
float min_altitude = 1.00001f * Re; // stay outside of the planet
if (P.magnitude < min_altitude)
{
P = P * (min_altitude / P.magnitude);
}
float max_altitude = 100.0f * Re; // stay fairly near the planet
if (P.magnitude > max_altitude)
{
P = P * (max_altitude / P.magnitude);
V = V * 0.001f;
}
// Bake output camera position
Vector3 pos = P * (1.0f / km);// copy out simulated position to GUI position (in Earth radii)
//pos.y-=1.8f; // make up for user height
transform.position = pos;
transform.Rotate(rotY, rotX, 0);
// Update the text readout gizmo
var TimeReadout = GameObject.FindWithTag("TimeReadout");
if (TimeReadout)
{
TimeReadout.transform.localPosition = TimePose.GetLocalPosition(TimeHand);
TimeReadout.transform.localRotation = TimePose.GetLocalRotation(TimeHand);
}
var TextReadout = GameObject.FindWithTag("TimeReadoutText");
if (TextReadout)
{
float alt = (P.magnitude - Re) / km;
float vel = V.magnitude / km;
string pre = "";
if (airdrag > 0.0)
{
pre = "Air drag: " + string.Format("{0:F1}", airdrag) + " m/s/s\n";
}
string text = pre +
"Time: x" + string.Format("{0:F1}", TimeControl.timelapse) + "\n" +
"Thrust: " + string.Format("{0:F0}", rocket.magnitude) + " m/s/s\n" +
"Speed: " + string.Format("{0:F2}", vel) + " km/s\n" +
"Vertical: " + string.Format("{0:F2}", Vector3.Dot(P.normalized, V) / km) + " km/s\n" +
"Altitude: " + (int)alt + " km";
TextReadout.GetComponent <TextMesh>().text = text;
}
if (Input.GetKey("x") || Input.GetKey("escape"))
{
Application.Quit();
}
}
// Update is called once per frame
void FixedUpdate()
{
if (vehicle)
{
// Apply keyboard motor and steering controls
throttle = throttleAction.GetAxis(throttleSource);
brake = brakeAction.GetAxis(brakeSource);
vehicle.complementary_filter(0.1f, ref vehicle.cur_motor_power, throttle - brake);
Vector3 headPos = headPoser.GetLocalPosition(headSource);
localHead = headPos;
Quaternion headRot = headPoser.GetLocalRotation(headSource);
// Slightly bank the user's head during turns,
// so the real gravity vector lines up with apparent acceleration.
// Disadvantage: mismatch in user's roll gyros.
vehicle.complementary_filter(0.1f, ref bank, vehicle.centripital);
if (BankingTurns) // Apply the turn
// Reset full transform
{
BankingTurns.transform.localRotation = Quaternion.Euler(0.0f, 0.0f, 0.0f);
BankingTurns.transform.localPosition = new Vector3(0.0f, 0.0f, 0.0f);
// Rotate around the user's head position
worldHead = BankingTurns.transform.TransformPoint(headPos);
Vector3 axis = BankingTurns.transform.forward; // vehicle.last_velocity;
axis.y = 0.0f;
BankingTurns.transform.RotateAround(worldHead, axis, -30.0f * bank);
}
Vector3 framePos = framePoser.GetLocalPosition(frameSource);
Quaternion frameRot = framePoser.GetLocalRotation(frameSource);
if (VRAreaOffset && !setupVRArea && framePos.x != 0.0f)
{
// Locate VR camera relative to the physical frame:
// SteamVR does wacky things with the initial camera position,
// putting 0,0,0 as the center of the Steam VR room area.
VRAreaOffset.transform.localPosition = new Vector3(-framePos.x, -framePos.y + 1.05f - 0.4f, -framePos.z + 0.7f);
setupVRArea = true;
}
// Plant rollcage relative to the physical frame
rollcage.transform.localPosition = framePos + new Vector3(0.0f, -0.5f, -1.0f);
rollcage.transform.localRotation = frameRot * Quaternion.Euler(-60.0f, 180.0f, 0.0f);
handlebars.transform.localPosition = framePos + new Vector3(0.0f, -0.2f, -0.10f);
Vector3 steerPos = steerPoser.GetLocalPosition(steerSource);
Quaternion steerRot = steerPoser.GetLocalRotation(steerSource);
steerQuat = steerRot * Quaternion.Inverse(frameRot);
float angle = 0.0f;
steerQuat.ToAngleAxis(out angle, out steerAxis);
if (Mathf.Abs(steerAxis.y) > 0.7f) // we're in a reasonable steering configuration
{
steer = angle;
if (steerQuat.w > 0.0f)
{
steer = -angle;
}
if (steer > 180.0f)
{
steer -= 360.0f; // rotation is around zero
}
steer = -steer;
steer -= 30.0f; // baked-in rotation offset (steering trim)
vehicle.complementary_filter(0.1f, ref vehicle.cur_steer, steer / 45.0f);
handlebars.transform.localRotation = frameRot * Quaternion.Euler(-90.0f, 180.0f, 0.0f) * Quaternion.Euler(0.0f, steer, 0.0f);
}
}
}
private void OnPoseChanged(SteamVR_Action_Pose actionIn, SteamVR_Input_Sources hand)
{
transform.position = actionIn.GetLocalPosition(hand);
transform.rotation = actionIn.GetLocalRotation(hand);
}
