async void OnUbiiNodeInitialized()
{
ubiiSpecs = new Ubii.Devices.Component
{
Name = NAME,
Description = DESCRIPTION,
MessageFormat = MESSAGE_FORMAT,
IoType = Ubii.Devices.Component.Types.IOType.Subscriber,
Topic = GetTopicTargetVelocities()
};
ubiiSpecs.Tags.AddRange(TAGS);
tokenTargetVelocities = await ubiiNode.SubscribeTopic(this.ubiiSpecs.Topic, (Ubii.TopicData.TopicDataRecord record) =>
{
for (int i = 0; i < record.Object3DList.Elements.Count; i++)
{
string boneString = record.Object3DList.Elements[i].Id;
HumanBodyBones bone;
if (HumanBodyBones.TryParse(boneString, out bone))
{
Ubii.DataStructure.Pose3D pose = record.Object3DList.Elements[i].Pose;
Vector3 linear = new Vector3((float)pose.Position.X, (float)pose.Position.Y, (float)pose.Position.Z);
Vector3 angular = new Vector3((float)pose.Euler.X, (float)pose.Euler.Y, (float)pose.Euler.Z);
SetTargetVelocity(bone, linear, angular);
}
}
});
ubiiReady = true;
}
void OnUbiiInitialized()
{
ubiiSpecs = new Ubii.Devices.Component
{
Name = "Unity Physical Avatar - Current Position and Orientation",
Description = "Publishes current avatars bone poses as Object3DList. Object3D.Id will be one of UnityEngine.HumanBodyBones (to be changed to .json config). Position and Quaternion also set reflecting current Rigidbody transform.",
MessageFormat = "ubii.dataStructure.Object3DList",
IoType = Ubii.Devices.Component.Types.IOType.Publisher,
Topic = GetTopicCurrentPoseList()
};
ubiiSpecs.Tags.AddRange(new string[] { "avatar", "bones", "pose", "position", "orientation", "quaternion" });
secondsBetweenPublish = 1f / (float)publishFrequency;
tLastPublish = Time.time;
ubiiReady = true;
}
