/*
Sends rigid body data out over OSC.
Address Pattern: \rigidBody
Format: String[4]
RigidBodyName
GlobalPosition.x
GlobalPosition.y
GlobalPosition.z
GlobalOrientation.qx
GlobalOrientation.qy
GlobalOrientation.qz
GlobalOrientation.qw
*/
private static void sendRigidBodies(Client MyClient, UDPSender sender)
{
// Count the number of subjects
uint SubjectCount = MyClient.GetSubjectCount().SubjectCount;
for (uint SubjectIndex = 0; SubjectIndex < SubjectCount; ++SubjectIndex)
{
// Get the subject name
string SubjectName = MyClient.GetSubjectName(SubjectIndex).SubjectName;
Console.WriteLine(" Name: {0}", SubjectName);
// Get the root segment
string RootSegment = MyClient.GetSubjectRootSegmentName(SubjectName).SegmentName;
Console.WriteLine(" Root Segment: {0}", RootSegment);
//Get the static segment translation
Output_GetSegmentGlobalTranslation _Output_GetSegmentGlobalTranslation =
MyClient.GetSegmentGlobalTranslation(SubjectName, RootSegment);
Console.WriteLine(" Global Translation: ({0},{1},{2}) {3}",
_Output_GetSegmentGlobalTranslation.Translation[0],
_Output_GetSegmentGlobalTranslation.Translation[1],
_Output_GetSegmentGlobalTranslation.Translation[2],
_Output_GetSegmentGlobalTranslation.Occluded);
// Get the global segment rotation in quaternion co-ordinates
Output_GetSegmentGlobalRotationQuaternion _Output_GetSegmentGlobalRotationQuaternion =
MyClient.GetSegmentGlobalRotationQuaternion(SubjectName, RootSegment);
Console.WriteLine(" Global Rotation Quaternion: ({0},{1},{2},{3}) {4}",
_Output_GetSegmentGlobalRotationQuaternion.Rotation[0],
_Output_GetSegmentGlobalRotationQuaternion.Rotation[1],
_Output_GetSegmentGlobalRotationQuaternion.Rotation[2],
_Output_GetSegmentGlobalRotationQuaternion.Rotation[3],
_Output_GetSegmentGlobalRotationQuaternion.Occluded);
String[] msg = new String[8];
msg[0] = "RigidBody Name: "+ SubjectName;
msg[1] = "pos.x: " + _Output_GetSegmentGlobalTranslation.Translation[0].ToString();
msg[2] = "pos.y: " + _Output_GetSegmentGlobalTranslation.Translation[1].ToString();
msg[3] = "pos.z: " + _Output_GetSegmentGlobalTranslation.Translation[2].ToString();
msg[4] = "q.x: " + _Output_GetSegmentGlobalRotationQuaternion.Rotation[0].ToString();
msg[5] = "q.y: " + _Output_GetSegmentGlobalRotationQuaternion.Rotation[1].ToString();
msg[6] = "q.z: " + _Output_GetSegmentGlobalRotationQuaternion.Rotation[2].ToString();
msg[7] = "q.w: " + _Output_GetSegmentGlobalRotationQuaternion.Rotation[3].ToString();
// ignore dropped tracking frames
if (_Output_GetSegmentGlobalTranslation.Translation[0] != 0 &&
_Output_GetSegmentGlobalTranslation.Translation[1] != 0 &&
_Output_GetSegmentGlobalTranslation.Translation[2] != 0 ) {
var message = new SharpOSC.OscMessage("/rigidBody", msg);
sender.Send(message);
}
}
}
private static void sendLocalRotationQuaternion(Client MyClient, UDPSender sender)
{
// Count the number of subjects
uint SubjectCount = MyClient.GetSubjectCount().SubjectCount;
for (uint SubjectIndex = 0; SubjectIndex < SubjectCount; ++SubjectIndex)
{
// Get the subject name
string SubjectName = MyClient.GetSubjectName(SubjectIndex).SubjectName;
Console.WriteLine(" Name: {0}", SubjectName);
// Get the root segment
string RootSegment = MyClient.GetSubjectRootSegmentName(SubjectName).SegmentName;
Console.WriteLine(" Root Segment: {0}", RootSegment);
//Get the static segment translation
Output_GetSegmentLocalRotationQuaternion Output =
MyClient.GetSegmentLocalRotationQuaternion(SubjectName, RootSegment);
Console.WriteLine(" LOCAL Rotation Quaternion: ({0},{1},{2},{3})",
Output.Rotation[0],
Output.Rotation[1],
Output.Rotation[2],
Output.Rotation[3]);
String[] msg = new String[5];
msg[0] = "RigidBody Name: " + SubjectName;
msg[1] = "q.x: " + Output.Rotation[0].ToString();
msg[2] = "q.y: " + Output.Rotation[1].ToString();
msg[3] = "q.z: " + Output.Rotation[2].ToString();
msg[4] = "q.w: " + Output.Rotation[3].ToString();
var message = new SharpOSC.OscMessage("/localQuat", msg);
sender.Send(message);
}
}