private void DumpPoseState(WVR_PoseState_t tPoseState)
{
// if(tPoseState == null || !tPoseState.IsValidPose ) return;
bool tIsValidPose = tPoseState.IsValidPose;
WVR_Matrix4f_t tPoseMatrix = tPoseState.PoseMatrix;
WVR_Vector3f_t tVelocity = tPoseState.Velocity;
WVR_Vector3f_t tAngV = tPoseState.AngularVelocity;
bool tIs6DoFPose = tPoseState.Is6DoFPose;
long tStamp_ns = tPoseState.PoseTimestamp_ns;
WVR_Vector3f_t tAcceleration = tPoseState.Acceleration;
WVR_Vector3f_t tAngAcc = tPoseState.AngularAcceleration;
float tPredictedMilliSec = tPoseState.PredictedMilliSec;
WVR_PoseOriginModel tOriginModel = tPoseState.OriginModel;
WVR_Pose_t tRawPose = tPoseState.RawPose;
WVR_Vector3f_t tPosition = tRawPose.position;
WVR_Quatf_t tRotation = tRawPose.rotation;
Log.d(LOG_TAG, "PoseState:: IsValidPose=" + tIsValidPose +
",Stamp_ns=" + tStamp_ns +
",RawPose.Postion(x,y,z)=" + tPosition.v0 + "," + tPosition.v1 + "," + tPosition.v2 +
",RawPose.Rotation(w,x,y,z)=" + tRotation.w + "," + tRotation.x + "," + tRotation.y + "," + tRotation.z +
",Velocity(x,y,z)=" + tVelocity.v0 + "," + tVelocity.v1 + "," + tVelocity.v2 +
",AngularVelocity(x,y,z)=" + tAngV.v0 + "," + tAngV.v1 + "," + tAngV.v2 +
",Acc(x,y,z)=" + tAcceleration.v0 + "," + tAcceleration.v1 + "," + tAcceleration.v2 +
",AngAcc(x,y,z)=" + tAngAcc.v0 + "," + tAngAcc.v1 + "," + tAngAcc.v2 +
",OriginModel=" + tOriginModel +
",PredictedMilliSec=" + tPredictedMilliSec +
",PoseMatrix(4X1)=" + tPoseMatrix.m0 + "," + tPoseMatrix.m1 + "," + tPoseMatrix.m2 + "," + tPoseMatrix.m3 +
",PoseMatrix(4X2)=" + tPoseMatrix.m4 + "," + tPoseMatrix.m5 + "," + tPoseMatrix.m6 + "," + tPoseMatrix.m7 +
",PoseMatrix(4X3)=" + tPoseMatrix.m8 + "," + tPoseMatrix.m9 + "," + tPoseMatrix.m10 + "," + tPoseMatrix.m11 +
",PoseMatrix(4X4)=" + tPoseMatrix.m12 + "," + tPoseMatrix.m13 + "," + tPoseMatrix.m14 + "," + tPoseMatrix.m15 +
".<end>");
}
public WVR_Vector3f_t GetAngularVelocity(WVR_DeviceType type)
{
WVR_Vector3f_t av = new WVR_Vector3f_t();
switch (type)
{
case WVR_DeviceType.WVR_DeviceType_Controller_Right:
av = pose_right.pose.AngularVelocity;
break;
default:
break;
}
return(av);
}
public WVR_Vector3f_t GetVelocity(WVR_DeviceType type)
{
WVR_Vector3f_t velocity = new WVR_Vector3f_t();
switch (type)
{
case WVR_DeviceType.WVR_DeviceType_Controller_Right:
velocity = pose_right.pose.Velocity;
break;
default:
break;
}
return(velocity);
}
public static void GetVectorFromGL(WVR_Vector3f_t gl_vec, out Vector3 unity_vec)
{
unity_vec.x = gl_vec.v0;
unity_vec.y = gl_vec.v1;
unity_vec.z = -gl_vec.v2;
}
public static Vector3 GetPosition(WVR_Vector3f_t glVector)
{
return(new Vector3(glVector.v0, glVector.v1, -glVector.v2));
}
