public Transform GetIKTargetTransform(IK_TARGET target)
{
if (ikTargets.ContainsKey(target))
{
return(ikTargets[target].transform);
}
else
{
return(null);
}
}
public Transform GetEmulatedIKTargetTransform(IK_TARGET bodyPart)
{
if (emulatedIKTargets.ContainsKey(bodyPart))
{
return(emulatedIKTargets[bodyPart].transform);
}
else
{
return(null);
}
}
public Transform GetTrackingTargetTransform(IK_TARGET target)
{
if (trackingTargets.ContainsKey(target))
{
return(trackingTargets[target]);
}
else
{
return(null);
}
}
public Quaternion GetIkTargetRotation(IK_TARGET ikTarget)
{
Transform ikTargetTransform = null;
if (useAnimation)
{
ikTargetTransform = animationManager.GetEmulatedIKTargetTransform(ikTarget);
}
else
{
ikTargetTransform = vrTrackingManager.GetIKTargetTransform(ikTarget);
}
return(ikTargetTransform.rotation);
}
public Vector3 GetIkTargetPosition(IK_TARGET ikTarget)
{
Transform ikTargetTransform = null;
if (useAnimation)
{
ikTargetTransform = animationManager.GetEmulatedIKTargetTransform(ikTarget);
}
else
{
ikTargetTransform = vrTrackingManager.GetIKTargetTransform(ikTarget);
}
return(ikTargetTransform.position + manualPositionOffset);
}
public SteamVR_TrackedObject GetTrackedObject(IK_TARGET target)
{
if (this.debugUseMockIKTargets)
{
return(null);
}
if (trackingTargets.ContainsKey(target))
{
return(trackingTargets[target].GetComponent <SteamVR_TrackedObject>());
}
else
{
return(null);
}
}
public static GameObject GenerateIKTarget(
string name,
Transform parent,
IK_TARGET part,
Vector3 localPos = new Vector3(),
Quaternion localRot = new Quaternion())
{
GameObject ikTarget = new GameObject(name);
ikTarget.transform.parent = parent;
ikTarget.transform.localRotation = localRot;
ikTarget.transform.localPosition = localPos;
//AddIndicator(ikTarget.transform);
return(ikTarget);
}
async void InitIKTopics()
{
foreach (IK_TARGET ikTarget in Enum.GetValues(typeof(IK_TARGET)))
{
GameObject ikTargetObject = new GameObject("IK-Target PoseEstimator " + ikTarget.ToString());
mapIKTargetTransforms.Add(ikTarget, ikTargetObject.transform);
mapIKTarget2UbiiPose.Add(ikTarget, new UbiiPose3D
{
position = new Vector3(),
rotation = new Quaternion()
});
}
tokenIkTargetPose = await ubiiNode.SubscribeTopic(ubiiComponentIkTargets.GetTopicIKTargets(), (Ubii.TopicData.TopicDataRecord record) =>
{
for (int i = 0; i < record.Object3DList.Elements.Count; i++)
{
string ikTargetString = record.Object3DList.Elements[i].Id;
Ubii.DataStructure.Pose3D pose3D = record.Object3DList.Elements[i].Pose;
IK_TARGET ikTarget;
if (IK_TARGET.TryParse(ikTargetString, out ikTarget))
{
UbiiPose3D pose = mapIKTarget2UbiiPose[ikTarget];
pose.position.Set(
(float)pose3D.Position.X,
(float)pose3D.Position.Y,
(float)pose3D.Position.Z);
pose.rotation.Set(
(float)pose3D.Quaternion.X,
(float)pose3D.Quaternion.Y,
(float)pose3D.Quaternion.Z,
(float)pose3D.Quaternion.W);
mapIKTarget2UbiiPose[ikTarget] = pose;
}
}
});
initialized = true;
}
public static string GetIKTargetBodyPartString(IK_TARGET ikTarget)
{
return(ikTarget.ToString().ToLower());
}
