public static Quaternion ParseQuaternion(ARTMatrix artM)
{
Matrix4x4 mat = UnityParser.ParseMatrix(artM, true);
Vector3 targetDir = mat.MultiplyVector(Vector3.forward);
Vector3 targetUp = mat.MultiplyVector(Vector3.up);
return(UnityParser.ParseQuaternion(targetDir, targetUp));
}
/// <summary>
/// Method used for parsing ARTMatrices to Unity3d matrices (Matrix4x4).
/// </summary>
///<returns>
/// Returns the converted Matrix4x4 object.
/// </returns>
/// <param name="artM">
/// To be converted ARTMatrix
/// </param>
public static Matrix4x4 ParseMatrix(ARTMatrix artM, bool transposed)
{
uM = new Matrix4x4();
Vector4 v4_0 = new Vector4(artM.getB0(), artM.getB1(), artM.getB2(), 0);
Vector4 v4_1 = new Vector4(artM.getB3(), artM.getB4(), artM.getB5(), 0);
Vector4 v4_2 = new Vector4(artM.getB6(), artM.getB7(), artM.getB8(), 0);
Vector4 v4_end = new Vector4(0, 0, 0, 1);
uM.SetColumn(0, v4_0);
uM.SetColumn(1, v4_1);
uM.SetColumn(2, v4_2);
uM.SetColumn(3, v4_end);
if (transposed)
{
return(uM.transpose);
}
return(uM);
}
/// <summary>
/// This method parses various input objects and computes a quaternion to use with a camera object in Unity3d.
/// E.g. mapping the rotation of a ART 6d object to the camera.
///
/// If you wish to inverse an axis just change the correspondent boolean to true.
/// </summary>
/// <param name="artM">Input ARTMatrix</param>
/// <param name="invX">Boolean used to inverse X axis</param>
/// <param name="invY">Boolean used to inverse Y axis</param>
/// <param name="invZ">Boolean used to inverse Z axis</param>
/// <returns>Returns a quaternion</returns>
public static Quaternion ParseCameraQuaternion(ARTMatrix artM, bool invX, bool invY, bool invZ)
{
Quaternion target = UnityParser.ParseQuaternion(artM);
float angle = 0;
Vector3 axis = Vector3.zero;
target.ToAngleAxis(out angle, out axis);
if (invX)
{
axis.x *= -1;
}
if (invY)
{
axis.y *= -1;
}
if (invZ)
{
axis.z *= -1;
}
return(target = Quaternion.AngleAxis(angle, axis));
}
protected void parse6d(String msg)
{
int id = 0;
ARTPoint position = ARTPoint.Empty();
ARTAngle angle = ARTAngle.Empty();
ARTMatrix matrix = ARTMatrix.Empty();
msg = msg.Replace("]", "");
msg = msg.Replace("[", "x");
String[] tmp = msg.Split('x');
if (tmp.Length >= 4)
{
numberOf6dTargets = parseInt(tmp[0]);
String[] tmp2 = tmp[1].Split(' ');
if (tmp2.Length >= 2)
{
id = parseInt(tmp2[0]);
}
tmp2 = tmp[2].Split(' ');
if (tmp2.Length >= 6)
{
position = new ARTPoint(parseFloat(tmp2[0]),
parseFloat(tmp2[1]), parseFloat(tmp2[2]));
angle = new ARTAngle(parseFloat(tmp2[3]), parseFloat(tmp2[4]),
parseFloat(tmp2[5]));
}
tmp2 = tmp[3].Split(' ');
if (tmp2.Length >= 9)
{
matrix = new ARTMatrix(parseFloatArray(tmp2));
}
add6dObject(new ART6d(id, position, angle, matrix));
for (int i = 0; i < observers.Count; i++)
{
((ARTObserver)observers[i]).on6dUpdate(this);
}
}
}
protected void parse6df2(String msg)
{
int id = 1;
int numberOfButtons = 0;
int numberOfControllers = 0;
bool visible = false;
ARTPoint position = ARTPoint.Empty();
ARTMatrix matrix = ARTMatrix.Empty();
int buttonStates = 0;
var controllerStates = new float[0];
msg = msg.Replace("]", "");
msg = msg.Replace("[", "x");
String[] tmp = msg.Split('x');
if (tmp.Length >= 5)
{
numberOfFlysticks = parseInt(tmp[0]);
String[] tmp2 = tmp[1].Split(' ');
if (tmp2.Length >= 4)
{
id = parseInt(tmp2[0]);
if (parseFloat(tmp2[1]) > 0.0F)
{
visible = true;
}
numberOfButtons = parseInt(tmp2[2]);
numberOfControllers = parseInt(tmp2[3]);
}
tmp2 = tmp[2].Split(' ');
if (tmp2.Length >= 3)
{
position = new ARTPoint(parseFloat(tmp2[0]),
parseFloat(tmp2[1]), parseFloat(tmp2[2]));
}
tmp2 = tmp[3].Split(' ');
if (tmp2.Length >= 9)
{
matrix = new ARTMatrix(parseFloatArray(tmp2));
}
tmp2 = tmp[4].Split(' ');
if (tmp2.Length >= 1)
{
if (numberOfButtons > 0)
{
buttonStates = parseInt(tmp2[0]);
controllerStates = new float[tmp2.Length - 1];
for (int i = 0; i < controllerStates.Length; i++)
{
controllerStates[i] = parseFloat(tmp2[(i + 1)]);
}
}
else
{
controllerStates = new float[tmp2.Length];
for (int i = 0; i < controllerStates.Length; i++)
{
controllerStates[i] = parseFloat(tmp2[i]);
}
}
}
addFlystick(new ARTFlystick(id, visible, numberOfButtons,
buttonStates, numberOfControllers, controllerStates,
position, matrix));
for (int i = 0; i < observers.Count; i++)
{
((ARTObserver)observers[i]).onFlystickUpdate(this);
}
foreach (IFlystickListener listener in flystickListener)
{
UpdateFlystickListener(listener);
}
}
}
public ART6d(int id, ARTPoint position, ARTAngle angle, ARTMatrix matrix) : base(id, position, matrix)
{
this.angle = angle;
}
public static ART6d Empty()
{
return(new ART6d(-1, ARTPoint.Empty(), ARTAngle.Empty(), ARTMatrix.Empty()));
}
public ARTFlystick(int id, bool visible, int numberOfButtons, int buttonStates, int numberOfControllers, float[] controllerStates, ARTPoint position, ARTMatrix matrix) : base(id, position, matrix)
{
this.visible = visible;
this.numberOfButtons = numberOfButtons;
this.numberOfControllers = numberOfControllers;
this.buttonStates = buttonStates;
this.controllerStates = controllerStates;
}
public static ARTFlystick Empty()
{
return(new ARTFlystick(-1, false, 0, 0, 0, new float[0], ARTPoint.Empty(), ARTMatrix.Empty()));
}
public ARTObject(int id, ARTPoint position, ARTMatrix matrix)
{
this.id = id;
this.position = position;
this.matrix = matrix;
}
