public Pose ExtractPoseValue(IntPtr poseHandle)
{
ApiPoseData poseValue = new ApiPoseData(Pose.identity);
ExternApi.ArPose_getPoseRaw(_nativeSession.SessionHandle, poseHandle, ref poseValue);
return(poseValue.ToUnityPose());
}
private static void _OnPoseAvailableAsync(IntPtr callbackContext, ref ApiPoseData pose)
{
lock (m_poseQueueLock)
{
m_poseQueue.Enqueue(pose);
}
}
public IntPtr Create(Pose pose)
{
ApiPoseData rawPose = new ApiPoseData(pose);
IntPtr poseHandle = IntPtr.Zero;
ExternApi.ArPose_create(m_NativeSession.SessionHandle, ref rawPose, ref poseHandle);
return(poseHandle);
}
public static void ApiPoseToUnityPose(ApiPoseData apiPose, out Pose unityPose)
{
Matrix4x4 glWorld_T_glLocal = Matrix4x4.TRS(new Vector3(apiPose.X, apiPose.Y, apiPose.Z),
new Quaternion(apiPose.Qx, apiPose.Qy, apiPose.Qz, apiPose.Qw), Vector3.one);
Matrix4x4 unityWorld_T_glWorld = Matrix4x4.Scale(new Vector3(1, 1, -1));
Matrix4x4 unityWorld_T_unityLocal = unityWorld_T_glWorld * glWorld_T_glLocal * unityWorld_T_glWorld.inverse;
Vector3 position = unityWorld_T_unityLocal.GetColumn(3);
Quaternion rotation = Quaternion.LookRotation(unityWorld_T_unityLocal.GetColumn(2),
unityWorld_T_unityLocal.GetColumn(1));
unityPose = new Pose(position, rotation);
}
public void EarlyUpdate()
{
lock (m_poseQueueLock)
{
while (m_poseQueue.Count > 0)
{
ApiPoseData pose = m_poseQueue.Dequeue();
if (pose.framePair.baseFrame == ApiCoordinateFrameType.AreaDescription &&
pose.framePair.targetFrame == ApiCoordinateFrameType.StartOfService)
{
IsLocalized = pose.statusCode == ApiPoseStatusType.Valid;
}
}
}
}
public static void UnityPoseToApiPose(Pose unityPose, out ApiPoseData apiPose)
{
Matrix4x4 glWorld_T_glLocal = Matrix4x4.TRS(unityPose.position, unityPose.rotation, Vector3.one);
Matrix4x4 unityWorld_T_glWorld = Matrix4x4.Scale(new Vector3(1, 1, -1));
Matrix4x4 unityWorld_T_unityLocal = unityWorld_T_glWorld * glWorld_T_glLocal * unityWorld_T_glWorld.inverse;
Vector3 position = unityWorld_T_unityLocal.GetColumn(3);
Quaternion rotation = Quaternion.LookRotation(unityWorld_T_unityLocal.GetColumn(2),
unityWorld_T_unityLocal.GetColumn(1));
apiPose.X = position.x;
apiPose.Y = position.y;
apiPose.Z = position.z;
apiPose.Qx = rotation.x;
apiPose.Qy = rotation.y;
apiPose.Qz = rotation.z;
apiPose.Qw = rotation.w;
}
public static extern void ArPose_getPoseRaw(
IntPtr sessionHandle, IntPtr poseHandle, ref ApiPoseData rawPose);
public static extern void ArPose_create(
IntPtr session, ref ApiPoseData rawPose, ref IntPtr poseHandle);