void LateUpdate()
{
//try {
if (zmq != null)
{
if (zmq.getNewestData(out output))
{
//Expect righthand, X front, Z up coordinate system
m_position = CoordinateTransformations.VectorToGameEngine(new Vector3(output.px, output.py, output.pz));
m_rotation = CoordinateTransformations.QuaternionToGameEngine(new Quaternion(output.qx, output.qy, output.qz, output.qw));
//update height if walking on ground
if (WalkOnGround)
{
//trace from new x,z coordinates and old height, with height = new height
m_position = FallToGround(m_position, m_position.y);
}
}
}
transform.position = m_position;
transform.rotation = m_rotation;
//trigger position update
TriggerPositionUpdate(m_position, m_rotation);
}
void doUpdate()
{
//try {
if (zmq != null)
{
if (zmq.getNewestData(out output))
{
//Expect righthand, X front, Z up coordinate system
pos = CoordinateTransformations.VectorToGameEngine(new Vector3(output.px, output.py, output.pz));
ori = CoordinateTransformations.QuaternionToGameEngine(new Quaternion(output.qx, output.qy, output.qz, output.qw));
m_rotation = ori;
//update height if walking on ground
if (WalkOnGround)
{
//trace from new x,z coordinates and old height, with height = new height
m_position = FallToGround(new Vector3(pos.x, m_position.y, pos.z), pos.y);
}
else
{
m_position = pos;
}
}
Invoke("doUpdate", updateTime);
}
else
{
Invoke("doUpdate", 1f);
}
//trigger position update
TriggerPositionUpdate(m_position, m_rotation);
}