// Update is called once per frame
void Update()
{
this.isTracked = XRNetworkClient.IsTracked(label);
this.smoother = Smoother.GetSmoother(smoothing);
IMURot = GetIMURotation();
var newIMU = Quaternion.Slerp(lastIMURot, IMURot, lowPassFactor);
lastIMURot = IMURot;
IMURot = newIMU;
velocity = (transform.position - lastPosition) / Time.deltaTime;
velocity = Vector3.ClampMagnitude(velocity, maxMagnitude);
imuOnly = !isTracked;
if (mode != Mode.Rotation)
{
transform.position = GetCurrentPosition();
}
if (mode != Mode.Position)
{
transform.rotation = GetCurrentRotation();
}
lastPosition = transform.position;
lastRotation = transform.rotation;
lastTracked = isTracked;
if (lastTracked)
{
lastTrackedTime = Time.time;
}
lastVelocity = velocity;
}
public Quaternion GetCurrentRotation()
{
var sourceRotation = XRNetworkClient.GetRotation(label);
Quaternion inv = Quaternion.Inverse(IMURot);
//If we're using sensor fusion, Camera rotation should be IMU rotation.
if (IMUSensorFusion && cameraTransform)
{
cameraTransform.localRotation = IMURot;
}
else if (cameraTransform)
{
cameraTransform.localRotation = Quaternion.identity;
}
if (this.isTracked)
{
if (IMUSensorFusion)
{
//Sensor fusion. Calculate the y-rotation difference, and return.
sourceRotation *= inv;
if (smoother != null)
{
sourceRotation = smoother.Smooth(sourceRotation, ref lastRotation, Time.deltaTime);
}
return(Quaternion.AngleAxis(sourceRotation.eulerAngles.y, Vector3.up));
}
else
{
//No sensor fusion. Smooth based on smoother.
if (smoother != null)
{
sourceRotation = smoother.Smooth(sourceRotation, ref lastRotation, Time.deltaTime);
}
return(sourceRotation);
}
}
else
{
//Untracked. Return last rotation.
return(lastRotation);
}
}
public Vector3 GetCurrentPosition()
{
var sourcePosition = XRNetworkClient.GetPosition(label);
if (isTracked)
{
if (lastTracked && smoother != null)
{
return(smoother.Smooth(sourcePosition, ref lastPosition, Time.deltaTime));
}
else
{
return(sourcePosition);
}
}
else
{
return(lastPosition);// + Vector3.Lerp(lastPosition, lastPosition + lastVelocity, Time.time - lastTrackedTime);
}
}
