public UnityARCamera(UnityARMatrix4x4 wt, UnityARMatrix4x4 pm, ARTrackingState ats, ARTrackingStateReason atsr, UnityVideoParams uvp, Vector3[] pointCloud)
{
worldTransform = wt;
projectionMatrix = pm;
trackingState = ats;
trackingReason = atsr;
videoParams = uvp;
pointCloudData = pointCloud;
}
public static UnityARMatrix4x4 GetMatrix(Matrix4x4 nativeMatrix)
{
var matrix = new UnityARMatrix4x4();
matrix.column0 = nativeMatrix.GetColumn(0);
matrix.column1 = nativeMatrix.GetColumn(1);
matrix.column2 = nativeMatrix.GetColumn(2);
matrix.column3 = nativeMatrix.GetColumn(3);
return(matrix);
}
public static Matrix4x4 GetMatrix(UnityARMatrix4x4 unityMatrix)
{
var matrix = new Matrix4x4();
matrix.SetColumn(0, unityMatrix.column0);
matrix.SetColumn(1, unityMatrix.column1);
matrix.SetColumn(2, unityMatrix.column2);
matrix.SetColumn(3, unityMatrix.column3);
return(matrix);
}
public UnityARCamera(UnityARMatrix4x4 wt, UnityARMatrix4x4 pm, ARTrackingState ats, ARTrackingStateReason atsr, UnityVideoParams uvp, UnityARLightData lightDat, UnityARMatrix4x4 dt, Vector3[] pointCloud, ARWorldMappingStatus awms)
{
worldTransform = wt;
projectionMatrix = pm;
trackingState = ats;
trackingReason = atsr;
videoParams = uvp;
lightData = lightDat;
displayTransform = dt;
pointCloudData = pointCloud;
worldMappingStatus = awms;
}
//Written by Chris 13/12/2017
public static UnityARMatrix4x4 InsertRotation(UnityARMatrix4x4 result, Quaternion q)
{
//Adapted from: http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToMatrix/index.htm
double sqw = q.w * q.w;
double sqx = q.x * q.x;
double sqy = q.y * q.y;
double sqz = q.z * q.z;
// invs (inverse square length) is only required if quaternion is not already normalised
double invs = 1 / (sqx + sqy + sqz + sqw);
float m00 = (float)((sqx - sqy - sqz + sqw) * invs); // since sqw + sqx + sqy + sqz =1/invs*invs
float m11 = (float)((-sqx + sqy - sqz + sqw) * invs);
float m22 = (float)((-sqx - sqy + sqz + sqw) * invs);
double tmp1 = q.x * q.y;
double tmp2 = q.z * q.w;
float m10 = (float)(2.0 * (tmp1 + tmp2) * invs);
float m01 = (float)(2.0 * (tmp1 - tmp2) * invs);
tmp1 = q.x * q.z;
tmp2 = q.y * q.w;
float m20 = (float)(2.0 * (tmp1 - tmp2) * invs);
float m02 = (float)(2.0 * (tmp1 + tmp2) * invs);
tmp1 = q.y * q.z;
tmp2 = q.x * q.w;
float m21 = (float)(2.0 * (tmp1 + tmp2) * invs);
float m12 = (float)(2.0 * (tmp1 - tmp2) * invs);
result.column0 = new Vector4(m00, m10, m20, 0);
result.column1 = new Vector4(m01, m11, m21, 0);
result.column2 = new Vector4(m02, m12, m22, 0);
return(result);
}
public static Pose GetPose(UnityARMatrix4x4 unityMatrix)
{
return(GetPose(GetMatrix(unityMatrix)));
}
//TODO: finish implementing this.
//Use this to contrsuct a world transform matrix (from old matrix, with offset values for position and rotation)
public static UnityARMatrix4x4 offset(UnityARMatrix4x4 m, Vector4 position, Quaternion rotation)
{
return(new UnityARMatrix4x4());
}
//Written by Chris
//This method is required because of the lack of implicit conversion support between UnityARMatrix4x4 and Matrix4x4
static Quaternion QuaternionFromMatrix(UnityARMatrix4x4 m)
{
Matrix4x4 um = new Matrix4x4(m.column0, m.column1, m.column2, m.column3);
return(QuaternionFromMatrix(um));
}
public static Quaternion GetRotation(UnityARMatrix4x4 m)
{
return(GetRotation(new Matrix4x4(m.column0, m.column1, m.column2, m.column3)));
}