public static IntPtr Create(IntPtr sessionHandle, Pose pose)
{
ApiPose apiPose = Translators.ToApiPose(pose);
IntPtr poseHandle = IntPtr.Zero;
ExternApi.ArPose_create(
sessionHandle,
ref apiPose,
ref poseHandle);
return(poseHandle);
}
public static IntPtr Create(IntPtr sessionHandle)
{
ApiPose apiPose = new ApiPose();
IntPtr poseHandle = IntPtr.Zero;
ExternApi.ArPose_create(
sessionHandle,
ref apiPose,
ref poseHandle);
return(poseHandle);
}
public static ApiPose GetAnchorPose(
IntPtr sessionHandle,
IntPtr anchorHandle)
{
IntPtr poseHandle = PoseApi.Create(sessionHandle);
ExternApi.ArAnchor_getPose(sessionHandle, anchorHandle, poseHandle);
ApiPose apiPose = PoseApi.ExtractPoseValue(sessionHandle, poseHandle);
PoseApi.Destroy(poseHandle);
return(apiPose);
}
public static ApiPose ExtractPoseValue(
IntPtr sessionHandle,
IntPtr poseHandle)
{
ApiPose apiPose = Translators.ToApiPose(Pose.identity);
ExternApi.ArPose_getPoseRaw(
sessionHandle,
poseHandle,
ref apiPose);
return(apiPose);
}
public static Pose ToUnityPose(ApiPose apiPose)
{
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_unityLocal =
k_UnityWorldToGLWorld * glWorld_T_glLocal * k_UnityWorldToGLWorldInverse;
Vector3 position = unityWorld_T_unityLocal.GetColumn(3);
Quaternion rotation = Quaternion.LookRotation(unityWorld_T_unityLocal.GetColumn(2),
unityWorld_T_unityLocal.GetColumn(1));
return(new Pose(position, rotation));
}
public static extern void ArPose_getPoseRaw(
IntPtr sessionHandle,
IntPtr poseHandle,
ref ApiPose apiPose);
public static extern void ArPose_create(
IntPtr sessionHandle,
ref ApiPose apiPose,
ref IntPtr poseHandle);