private void transformSkull(Matrix4x4 latestSkullTransformationMatrix)
{
if (latestSkullTransformationMatrix != null)
{
skullObject.transform.position = HoloEvacUtils.PositionFromMatrix(latestSkullTransformationMatrix);
skullObject.transform.rotation = HoloEvacUtils.QuaternionFromMatrix(latestSkullTransformationMatrix);
}
}
private void transformTool(Matrix4x4 latestSkullTransformationMatrix, Matrix4x4 latestToolTransformationMatrix)
{
if (latestSkullTransformationMatrix != null && latestToolTransformationMatrix != null)
{
// Transform tool's position from HoloLens marker coordinate space to skull's coordinate space
Matrix4x4 toolPositionInSkullSpace = latestSkullTransformationMatrix * latestToolTransformationMatrix;
toolObject.transform.position = HoloEvacUtils.PositionFromMatrix(toolPositionInSkullSpace);
toolObject.transform.rotation = HoloEvacUtils.QuaternionFromMatrix(toolPositionInSkullSpace);
}
}
public void processMessage(string ms)
{
processFlag = 0;
Debug.Log("In processMessage, ms = " + ms);
char delimiter = ';';
bool skullFlag = false;
bool toolFlag = false;
if (ms != null)
{
string[] msSubString = ms.Split(delimiter);
// if two data exists, skull position has changed with position grater than 3mm. Changes less than 3mm will not be updated to prevent jitter and cause discomfort
if (msSubString.Length == 2)
{
int count = 0;
foreach (string substring in msSubString)
{
string[] array = substring.Split(',');
if (array.Length == 12)
{
float[] matrxArray = new float[12];
for (int i = 0; i < matrxArray.Length; i++)
{
matrxArray[i] = float.Parse(array[i]);
}
if (count == 0)
{
latestSkullTransformationMatrix = HoloEvacUtils.ConvertFloatArrayToMatrix4x4(matrxArray);
skullFlag = true;
}
else if (count == 1)
{
latestToolTransformationMatrix = HoloEvacUtils.ConvertFloatArrayToMatrix4x4(matrxArray);
toolFlag = true;
}
else
{
Debug.Log("Wrong Count!!!");
}
}
else
{
Debug.Log("Array size != 12!!!");
}
count++;
}//End of foreach (string substring in msSubString)
}
else if (msSubString.Length == 1)
{
string[] array = msSubString[0].Split(',');
if (array.Length == 12)
{
float[] matrxArray = new float[12];
for (int i = 0; i < matrxArray.Length; i++)
{
matrxArray[i] = float.Parse(array[i]);
}
latestToolTransformationMatrix = HoloEvacUtils.ConvertFloatArrayToMatrix4x4(matrxArray);
toolFlag = true;
}
else
{
Debug.Log("Wrong Count!!!");
}
}
else
{
Debug.Log("Array size != 12!!!");
}
}
else
{
Debug.Log("Message arrived in wrong size, check MicronTracker code!!!");
}
if (skullFlag && toolFlag && overlayFlag)
{
transformSkull(latestSkullTransformationMatrix);
transformTool(latestSkullTransformationMatrix, latestToolTransformationMatrix);
skullFlag = false;
toolFlag = false;
}
else
{
transformTool(Matrix4x4.TRS(skullCachedPosition, skullCachedTransform.rotation, skullCachedTransform.localScale), latestToolTransformationMatrix);
skullFlag = false;
toolFlag = false;
}
}
