public bool GetHeadPose(ref Pose pose, UInt64 timestamp = 0, UInt64 predict = 0)
{
UInt64 headPoseHandle = 0;
UInt64 hmd_nanos = 0;
NativeApi.NRTrackingGetHMDTimeNanos(m_NativeInterface.TrackingHandle, ref hmd_nanos);
if (timestamp != 0)
{
hmd_nanos = timestamp;
}
else if (predict != 0)
{
hmd_nanos -= predict;
}
else
{
UInt64 predict_time = 0;
NativeApi.NRHeadTrackingGetRecommendPredictTime(m_NativeInterface.TrackingHandle, headTrackingHandle, ref predict_time);
hmd_nanos += predict_time;
}
var acquireTrackingPoseResult = NativeApi.NRHeadTrackingAcquireTrackingPose(m_NativeInterface.TrackingHandle, headTrackingHandle, hmd_nanos, ref headPoseHandle);
NativeMat4f headpos_native = new NativeMat4f(Matrix4x4.identity);
var getPoseResult = NativeApi.NRTrackingPoseGetPose(m_NativeInterface.TrackingHandle, headPoseHandle, ref headpos_native);
ConversionUtility.ApiPoseToUnityPose(headpos_native, out pose);
NativeApi.NRTrackingPoseDestroy(m_NativeInterface.TrackingHandle, headPoseHandle);
return((acquireTrackingPoseResult == NativeResult.Success) && (getPoseResult == NativeResult.Success));
}
public static void ApiPoseToUnityMatrix(NativeMat4f apiPose, out Matrix4x4 unityMatrix)
{
Matrix4x4 glWorld_T_glLocal = apiPose.ToUnityMat4f();
Matrix4x4 unityWorld_T_glWorld = Matrix4x4.Scale(new Vector3(1, 1, -1));
Matrix4x4 unityWorld_T_unityLocal = unityWorld_T_glWorld * glWorld_T_glLocal * unityWorld_T_glWorld.inverse;
unityMatrix = unityWorld_T_unityLocal;
}
public bool DoRender(IntPtr left_eye_texture, IntPtr right_eye_texture, ref NativeMat4f head_pose)
{
#if UNITY_ANDROID && !UNITY_EDITOR
var result = NativeApi.NRRenderingDoRender(m_RenderingHandle, left_eye_texture, right_eye_texture, ref head_pose);
return(result == NativeResult.Success);
#else
return(true);
#endif
}
public Pose GetCenterPose(UInt64 trackble_handle)
{
Pose pose = Pose.identity;
NativeMat4f center_native_pos = NativeMat4f.identity;
NativeApi.NRTrackablePlaneGetCenterPose(m_NativeInterface.TrackingHandle, trackble_handle, ref center_native_pos);
ConversionUtility.ApiPoseToUnityPose(center_native_pos, out pose);
return(pose);
}
public bool GetProjectionMatrix(ref Matrix4x4 outLeftProjectionMatrix, ref Matrix4x4 outRightProjectionMatrix)
{
NativeMat4f projectmatrix = new NativeMat4f(Matrix4x4.identity);
NativeResult result_left = NativeApi.NRInternalGetProjectionMatrix((int)NativeEye.LEFT, ref projectmatrix);
outLeftProjectionMatrix = projectmatrix.ToUnityMat4f();
NativeResult result_right = NativeApi.NRInternalGetProjectionMatrix((int)NativeEye.RIGHT, ref projectmatrix);
outRightProjectionMatrix = projectmatrix.ToUnityMat4f();
return(result_left == NativeResult.Success && result_right == NativeResult.Success);
}
public static void ApiPoseToUnityPose(NativeMat4f apiPose, out Pose unityPose)
{
Matrix4x4 glWorld_T_glLocal = apiPose.ToUnityMat4f();
Matrix4x4 unityWorld_T_glWorld = Matrix4x4.Scale(new Vector3(1, 1, -1));
Matrix4x4 unityWorld_T_unityLocal = unityWorld_T_glWorld * glWorld_T_glLocal * unityWorld_T_glWorld.inverse;
Vector3 position = unityWorld_T_unityLocal.GetColumn(3);
Quaternion rotation = unityWorld_T_unityLocal.rotation;
unityPose = new Pose(position, rotation);
}
public Pose GetAnchorPose(UInt64 anchor_handle)
{
NativeMat4f nativePose = NativeMat4f.identity;
NativeApi.NRAnchorGetPose(m_NativeInterface.TrackingHandle, anchor_handle, ref nativePose);
Pose unitypose;
ConversionUtility.ApiPoseToUnityPose(nativePose, out unitypose);
return(unitypose);
}
public Pose GetPose(int controllerIndex)
{
Pose controllerPos = Pose.identity;
NativeMat4f mat4f = new NativeMat4f(Matrix4x4.identity);
NativeResult result = NativeApi.NRControllerStateGetPose(m_StateHandles[controllerIndex], ref mat4f);
if (result == NativeResult.Success)
{
ConversionUtility.ApiPoseToUnityPose(mat4f, out controllerPos);
}
return(controllerPos);
}
public Pose GetEyePoseFromHead(NativeEye eye)
{
Pose outEyePoseFromHead = Pose.identity;
NativeMat4f mat4f = new NativeMat4f(Matrix4x4.identity);
NativeResult result = NativeApi.NRHMDGetEyePoseFromHead(m_HmdHandle, (int)eye, ref mat4f);
if (result == NativeResult.Success)
{
ConversionUtility.ApiPoseToUnityPose(mat4f, out outEyePoseFromHead);
}
return(outEyePoseFromHead);
}
public NativeResult GetEyePose(ref Pose outLeftEyePose, ref Pose outRightEyePose)
{
NativeMat4f lefteyepos = new NativeMat4f(Matrix4x4.identity);
NativeMat4f righteyepos = new NativeMat4f(Matrix4x4.identity);
NativeResult result = NativeApi.NRHeadTrackingGetEyePose(m_NativeInterface.TrackingHandle, headTrackingHandle, ref lefteyepos, ref righteyepos);
if (result == NativeResult.Success)
{
ConversionUtility.ApiPoseToUnityPose(lefteyepos, out outLeftEyePose);
ConversionUtility.ApiPoseToUnityPose(righteyepos, out outRightEyePose);
}
NRDebugger.Log("[NativeHeadTracking] GetEyePose :" + result);
return(result);
}
public static void UnityPoseToApiPose(Pose unityPose, out NativeMat4f apiPose)
{
Matrix4x4 glWorld_T_glLocal = Matrix4x4.TRS(unityPose.position, unityPose.rotation, Vector3.one);
Matrix4x4 unityWorld_T_glWorld = Matrix4x4.Scale(new Vector3(1, 1, -1));
Matrix4x4 unityWorld_T_unityLocal = unityWorld_T_glWorld * glWorld_T_glLocal * unityWorld_T_glWorld.inverse;
Vector3 position = unityWorld_T_unityLocal.GetColumn(3);
Quaternion rotation = Quaternion.LookRotation(unityWorld_T_unityLocal.GetColumn(2),
unityWorld_T_unityLocal.GetColumn(1));
Matrix4x4 matrix = Matrix4x4.TRS(position, rotation, Vector3.one);
apiPose = new NativeMat4f(matrix);
}
public static NativeMat4f GetProjectionMatrixFromFov(NativeFov4f fov, float z_near, float z_far)
{
NativeMat4f pm = NativeMat4f.identity;
float l = -fov.left_tan;
float r = fov.right_tan;
float t = fov.top_tan;
float b = -fov.bottom_tan;
pm.column0.X = 2f / (r - l);
pm.column1.Y = 2f / (t - b);
pm.column2.X = (r + l) / (r - l);
pm.column2.Y = (t + b) / (t - b);
pm.column2.Z = (z_near + z_far) / (z_near - z_far);
pm.column2.W = -1f;
pm.column3.Z = (2 * z_near * z_far) / (z_near - z_far);
pm.column3.W = 0f;
return(pm);
}
public Pose GetHeadPose()
{
UInt64 headPoseHandle = 0;
UInt64 hmd_nanos = 0;
var result = NativeApi.NRTrackingGetHMDTimeNanos(m_NativeInterface.TrackingHandle, ref hmd_nanos);
UInt64 predict_time = 0;
NativeApi.NRHeadTrackingGetRecommendPredictTime(m_NativeInterface.TrackingHandle, headTrackingHandle, ref predict_time);
hmd_nanos += predict_time;
result = NativeApi.NRHeadTrackingAcquireTrackingPose(m_NativeInterface.TrackingHandle, headTrackingHandle, hmd_nanos, ref headPoseHandle);
//NRDebug.Log("[NativeHeadTracking Create :]" + m_NativeInterface.TrackingHandle + " head tracking handle:" + headTrackingHandle.ToString());
NativeMat4f headpos_native = new NativeMat4f(Matrix4x4.identity);
result = NativeApi.NRTrackingPoseGetPose(m_NativeInterface.TrackingHandle, headPoseHandle, ref headpos_native);
Pose head_pose = Pose.identity;
if (result == NativeResult.Success)
{
ConversionUtility.ApiPoseToUnityPose(headpos_native, out head_pose);
}
NativeApi.NRTrackingPoseDestroy(m_NativeInterface.TrackingHandle, headPoseHandle);
return(head_pose);
}
public static extern NativeResult NRAnchorGetPose(UInt64 tracking_handle,
UInt64 anchor_handle, ref NativeMat4f out_pose);
public FrameInfo(IntPtr left, IntPtr right, NativeMat4f p)
{
this.leftTex = left;
this.rightTex = right;
this.pose = p;
}
public static extern NativeResult NRHeadTrackingGetEyePose(UInt64 session_handle, UInt64 head_tracking_handle, ref NativeMat4f left_eye, ref NativeMat4f right_eye);
public static extern NativeResult NRTrackingAcquireNewAnchor(
UInt64 tracking_handle, NativeMat4f pose, ref UInt64 out_anchor_handle);
public static extern NativeResult NRInternalGetProjectionMatrix(int index, ref NativeMat4f eye);
public static extern NativeResult NRControllerStateGetPose(UInt64 controller_state_handle, ref NativeMat4f out_controller_pose);
public static extern NativeResult NRTrackingPoseGetPose(UInt64 tracking_handle,
UInt64 tracking_pose_handle, ref NativeMat4f out_pose);
public static extern NativeResult NRControllerSetHeadPose(UInt64 controller_handle, ref NativeMat4f out_controller_pose);
public static extern NativeResult NRHMDGetEyePoseFromHead(UInt64 hmd_handle, int eye, ref NativeMat4f outEyePoseFromHead);
public static extern NativeResult NRTrackablePlaneGetCenterPose(UInt64 session_handle,
UInt64 trackable_handle, ref NativeMat4f out_center_pose);
public static extern NativeResult NRRenderingDoRender(UInt64 rendering_handle,
IntPtr left_eye_texture, IntPtr right_eye_texture, ref NativeMat4f head_pose);
