// We use Update() here, but be aware that unless ARController has been configured to
// execute first (Unity Editor->Edit->Project Settings->Script Execution Order) then
// state produced by this update may lag by one frame.
void Update()
{
float[] matrixRawArray = new float[16];
//ARController.Log(LogTag + "ARMarker.Update()");
if (UID == NO_ID || !PluginFunctions.inited)
{
visible = false;
return;
}
// Query visibility if we are running in the Player.
if (Application.isPlaying)
{
visible = PluginFunctions.arwQueryMarkerTransformation(UID, matrixRawArray);
//ARController.Log(LogTag + "ARMarker.Update() UID=" + UID + ", visible=" + visible);
if (visible)
{
matrixRawArray[12] *= 0.001f; // Scale the position from ARToolKit units (mm) into Unity units (m).
matrixRawArray[13] *= 0.001f;
matrixRawArray[14] *= 0.001f;
Matrix4x4 matrixRaw = ARUtilityFunctions.MatrixFromFloatArray(matrixRawArray);
//ARController.Log("arwQueryMarkerTransformation(" + UID + ") got matrix: [" + Environment.NewLine + matrixRaw.ToString("F3").Trim() + "]");
// ARToolKit uses right-hand coordinate system where the marker lies in x-y plane with right in direction of +x,
// up in direction of +y, and forward (towards viewer) in direction of +z.
// Need to convert to Unity's left-hand coordinate system where marker lies in x-y plane with right in direction of +x,
// up in direction of +y, and forward (towards viewer) in direction of -z.
transformationMatrix = ARUtilityFunctions.LHMatrixFromRHMatrix(matrixRaw);
}
}
}
// We use Update() here, but be aware that unless ARController has been configured to
// execute first (Unity Editor->Edit->Project Settings->Script Execution Order) then
// state produced by this update may lag by one frame.
void Update()
{
float[] matrixRawArray = new float[16];
ARController.Log(LogTag + "ARMarker.Update()");
if (UID == NO_ID || !PluginFunctions.inited)
{
visible = false;
return;
}
// Query visibility if we are running in the Player.
if (Application.isPlaying)
{
visible = PluginFunctions.arwQueryMarkerTransformation(UID, matrixRawArray);
ARController.Log(LogTag + "ARMarker.Update() UID=" + UID + ", visible=" + visible);
if (visible)
{
matrixRawArray[12] *= 0.001f; // Scale the position from ARToolKit units (mm) into Unity units (m).
matrixRawArray[13] *= 0.001f;
matrixRawArray[14] *= 0.001f;
Matrix4x4 matrixRaw = ARUtilityFunctions.MatrixFromFloatArray(matrixRawArray);
//ARController.Log("arwQueryMarkerTransformation(" + UID + ") got matrix: [" + Environment.NewLine + matrixRaw.ToString("F3").Trim() + "]");
// ARToolKit uses right-hand coordinate system where the marker lies in x-y plane with right in direction of +x,
// up in direction of +y, and forward (towards viewer) in direction of +z.
// Need to convert to Unity's left-hand coordinate system where marker lies in x-y plane with right in direction of +x,
// up in direction of +y, and forward (towards viewer) in direction of -z.
transformationMatrix = ARUtilityFunctions.LHMatrixFromRHMatrix(matrixRaw);
// Output current position: Added by Kazu on Apr 2 2016
Vector3 position = ARUtilityFunctions.PositionFromMatrix(transformationMatrix);
print("Position of Barcode ID #" + BarcodeID + ": (" + position.x * 1000 + ", " + position.y * 1000 + ", " + position.z * 1000 + ")");
// print ("position.x [mm]: "+ position.x * 1000);
// print ("position.y [mm]: "+ position.y * 1000);
// print ("position.z [mm]: "+ position.z * 1000);
// If you need quaternion, you can use the followings.
// Quaternion orientation = ARUtilityFunctions.QuaternionFromMatrix(transformationMatrix);
}
}
}
// 1 - Query for visibility.
// 2 - Determine if visibility state is new.
// 3 - If visible, calculate marker pose.
// 4 - If visible, set marker pose.
// 5 - If visibility state is new, notify event receivers via "OnMarkerFound" or "OnMarkerLost".
// 6 - If visibility state is new, set appropriate active state for marker children.
// 7 - If visible, notify event receivers that the marker's pose has been updated via "OnMarkerTracked".
protected virtual void LateUpdate()
{
if (!Application.isPlaying)
{
return;
}
float[] matrixRawArray = new float[16];
lock (loadLock) {
if (UID == NO_ID || !PluginFunctions.inited)
{
visible = false;
return;
}
Vector3 storedScale = transform.localScale;
transform.localScale = Vector3.one;
// 1 - Query for visibility.
bool nowVisible = PluginFunctions.arwQueryMarkerTransformation(UID, matrixRawArray);
// 2 - Determine if visibility state is new.
bool notify = (nowVisible != visible);
visible = nowVisible;
// 3 - If visible, calculate marker pose.
if (visible)
{
// Scale the position from ARToolKit units (mm) into Unity units (m).
matrixRawArray[12] *= UNITY_TO_ARTOOLKIT;
matrixRawArray[13] *= UNITY_TO_ARTOOLKIT;
matrixRawArray[14] *= UNITY_TO_ARTOOLKIT;
Matrix4x4 matrixRaw = ARUtilityFunctions.MatrixFromFloatArray(matrixRawArray);
// ARToolKit uses right-hand coordinate system where the marker lies in x-y plane with right in direction of +x,
// up in direction of +y, and forward (towards viewer) in direction of +z.
// Need to convert to Unity's left-hand coordinate system where marker lies in x-y plane with right in direction of +x,
// up in direction of +y, and forward (towards viewer) in direction of -z.
transformationMatrix = ARUtilityFunctions.LHMatrixFromRHMatrix(matrixRaw);
// 4 - If visible, set marker pose.
Matrix4x4 pose = ARStaticCamera.Instance.transform.localToWorldMatrix * transformationMatrix;
transform.position = ARUtilityFunctions.PositionFromMatrix(pose);
transform.rotation = ARUtilityFunctions.RotationFromMatrix(pose);
transform.localScale = storedScale;
}
// 5 - If visibility state is new, notify event receivers via "OnMarkerFound" or "OnMarkerLost".
if (notify)
{
if (null != eventReceivers && eventReceivers.Count > 0)
{
if (visible)
{
eventReceivers.ForEach(x => x.OnMarkerFound(this));
}
else
{
eventReceivers.ForEach(x => x.OnMarkerLost(this));
}
}
// 6 - If visibility state is new, set appropriate active state for marker children.
for (int i = 0; i < transform.childCount; ++i)
{
transform.GetChild(i).gameObject.SetActive(visible);
}
}
if (visible)
{
// 7 - If visible, notify event receivers that the marker's pose has been updated via "OnMarkerTracked".
if (null != eventReceivers && eventReceivers.Count > 0)
{
eventReceivers.ForEach(x => x.OnMarkerTracked(this));
}
}
}
}