/// <summary>
/// Apply any needed changes to the pose.
/// </summary>
private void Update()
{
popManager.TriggerUpdateFPS();
#if UNITY_ANDROID && !UNITY_EDITOR
if (Input.GetKeyDown(KeyCode.Escape))
{
if (m_tangoApplication != null)
{
m_tangoApplication.Shutdown();
}
// This is a temporary fix for a lifecycle issue where calling
// Application.Quit() here, and restarting the application immediately,
// results in a hard crash.
AndroidHelper.AndroidQuit();
}
#else
popManager.tangoInitialized = true;
Vector3 tempPosition = transform.position;
Quaternion tempRotation = transform.rotation;
PoseProvider.GetMouseEmulation(ref tempPosition, ref tempRotation);
transform.rotation = tempRotation;
transform.position = transform.position + ((tempPosition - transform.position) * m_metersToWorldUnitsScaler);
#endif
popManager.debugText = "Interpolation: " + enableInterpolation;
}
// Update is called once per frame
void Update()
{
#if !UNITY_ANDROID || UNITY_EDITOR
Vector3 tempPosition = transform.position;
Quaternion tempRotation = transform.rotation;
PoseProvider.GetMouseEmulation(ref tempPosition, ref tempRotation);
Camera.main.transform.rotation = tempRotation;
Camera.main.transform.position = tempPosition;
#endif
}
/// <summary>
/// Apply any needed changes to the pose.
/// </summary>
private void Update()
{
#if UNITY_ANDROID && !UNITY_EDITOR
if (m_isDirty)
{
// This rotation needs to be put into Unity coordinate space.
Quaternion rotationFix = Quaternion.Euler(90.0f, 0.0f, 0.0f);
if (!m_isRelocalized)
{
Quaternion axisFix = Quaternion.Euler(-m_tangoRotation[0].eulerAngles.x,
-m_tangoRotation[0].eulerAngles.z,
m_tangoRotation[0].eulerAngles.y);
transform.rotation = m_startingRotation * (rotationFix * axisFix);
transform.position = (m_startingRotation * (m_tangoPosition[0] * m_movementScale)) + m_startingOffset;
}
else
{
Quaternion axisFix = Quaternion.Euler(-m_tangoRotation[1].eulerAngles.x,
-m_tangoRotation[1].eulerAngles.z,
m_tangoRotation[1].eulerAngles.y);
transform.rotation = m_startingRotation * (rotationFix * axisFix);
transform.position = (m_startingRotation * (m_tangoPosition[1] * m_movementScale)) + m_startingOffset;
}
m_isDirty = false;
}
if (Input.GetKeyDown(KeyCode.Escape))
{
if (m_tangoApplication != null)
{
m_tangoApplication.Shutdown();
}
// This is a temporary fix for a lifecycle issue where calling
// Application.Quit() here, and restarting the application immediately,
// results in a hard crash.
AndroidHelper.AndroidQuit();
}
#else
Vector3 tempPosition = transform.position;
Quaternion tempRotation = transform.rotation;
PoseProvider.GetMouseEmulation(ref tempPosition, ref tempRotation);
transform.rotation = tempRotation;
transform.position = tempPosition;
#endif
}
/// <summary>
/// Apply any needed changes to the pose.
/// </summary>
private void Update()
{
#if UNITY_ANDROID && !UNITY_EDITOR
if (m_shouldInitTango)
{
m_tangoApplication.InitApplication();
m_tangoApplication.InitProviders(string.Empty);
m_tangoApplication.ConnectToService();
m_shouldInitTango = false;
}
if (m_isDirty)
{
// Construct the start of service with respect to device matrix from the pose.
Matrix4x4 ssTd = Matrix4x4.TRS(m_tangoPosition, m_tangoRotation, Vector3.one);
// Converting from Tango coordinate frame to Unity coodinate frame.
Matrix4x4 uwTuc = m_uwTss * ssTd * m_dTuc;
// Extract new local position
transform.position = uwTuc.GetColumn(3);
// Extract new local rotation
transform.rotation = Quaternion.LookRotation(uwTuc.GetColumn(2), uwTuc.GetColumn(1));
}
if (Input.GetKeyDown(KeyCode.Escape))
{
if (m_tangoApplication != null)
{
m_tangoApplication.Shutdown();
}
// This is a temporary fix for a lifecycle issue where calling
// Application.Quit() here, and restarting the application immediately,
// results in a hard crash.
AndroidHelper.AndroidQuit();
}
#else
Vector3 tempPosition = transform.position;
Quaternion tempRotation = transform.rotation;
PoseProvider.GetMouseEmulation(ref tempPosition, ref tempRotation);
transform.rotation = tempRotation;
transform.position = tempPosition;
#endif
}
// Update is called once per frame
void Update()
{
// Debug.Log("Tango update: " + m_tangoPosition + " " + m_tangoRotation);
#if UNITY_EDITOR
PoseProvider.GetMouseEmulation(ref m_tangoPosition, ref m_tangoRotation);
transform.position = m_tangoPosition + m_startPosition;
transform.rotation = m_tangoRotation;
#else
Matrix4x4 uwTuc = TransformTangoPoseToUnityCoordinateSystem(m_tangoPosition, m_tangoRotation, Vector3.one);
// Extract new local position
transform.position = (uwTuc.GetColumn(3));
transform.position = transform.position + m_startPosition;
// Extract new local rotation
transform.rotation = Quaternion.LookRotation(uwTuc.GetColumn(2), uwTuc.GetColumn(1));
#endif
}
/// <summary>
/// Apply any needed changes to the pose.
/// </summary>
private void Update()
{
#if UNITY_ANDROID && !UNITY_EDITOR
if (Input.GetKeyDown(KeyCode.Escape))
{
if (m_tangoApplication != null)
{
m_tangoApplication.Shutdown();
}
// This is a temporary fix for a lifecycle issue where calling
// Application.Quit() here, and restarting the application immediately,
// results in a hard crash.
AndroidHelper.AndroidQuit();
}
#else
Vector3 tempPosition = transform.position;
Quaternion tempRotation = transform.rotation;
PoseProvider.GetMouseEmulation(ref tempPosition, ref tempRotation);
transform.rotation = tempRotation;
transform.position = tempPosition;
#endif
}
/// <summary>
/// Apply any needed changes to the pose.
/// </summary>
private void Update()
{
#if UNITY_ANDROID && !UNITY_EDITOR
if (m_isDirty)
{
// This rotation needs to be put into Unity coordinate space.
Quaternion rotationFix = Quaternion.Euler(90.0f, 0.0f, 0.0f);
if (!m_isRelocalized)
{
Quaternion axisFix = Quaternion.Euler(-m_tangoRotation[0].eulerAngles.x,
-m_tangoRotation[0].eulerAngles.z,
m_tangoRotation[0].eulerAngles.y);
transform.rotation = rotationFix * axisFix;
transform.position = (m_tangoPosition[0] * m_movementScale) + m_startingOffset;
}
else
{
Quaternion axisFix = Quaternion.Euler(-m_tangoRotation[1].eulerAngles.x,
-m_tangoRotation[1].eulerAngles.z,
m_tangoRotation[1].eulerAngles.y);
transform.rotation = rotationFix * axisFix;
transform.position = (m_tangoPosition[1] * m_movementScale) + m_startingOffset;
}
m_isDirty = false;
}
#else
Vector3 tempPosition = transform.position;
Quaternion tempRotation = transform.rotation;
PoseProvider.GetMouseEmulation(ref tempPosition, ref tempRotation);
transform.rotation = tempRotation;
transform.position = tempPosition;
#endif
}
/// <summary>
/// Apply any needed changes to the pose.
/// </summary>
private void Update()
{
#if UNITY_ANDROID && !UNITY_EDITOR
if (m_shouldInitTango)
{
m_tangoApplication.InitApplication();
if (m_useADF)
{
// Query the full adf list.
PoseProvider.RefreshADFList();
// loading last recorded ADF
string uuid = PoseProvider.GetLatestADFUUID().GetStringDataUUID();
m_tangoApplication.InitProviders(uuid);
}
else
{
m_tangoApplication.InitProviders(string.Empty);
}
// Query extrinsics constant tranformations.
TangoPoseData poseData = new TangoPoseData();
double timestamp = 0.0;
TangoCoordinateFramePair pair;
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_IMU;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
PoseProvider.GetPoseAtTime(poseData, timestamp, pair);
Vector3 position = new Vector3((float)poseData.translation[0], (float)poseData.translation[1], (float)poseData.translation[2]);
Quaternion quat = new Quaternion((float)poseData.orientation[0], (float)poseData.orientation[1], (float)poseData.orientation[2], (float)poseData.orientation[3]);
m_deviceToIMUMatrix = Matrix4x4.TRS(position, quat, new Vector3(1.0f, 1.0f, 1.0f));
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_IMU;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_CAMERA_COLOR;
PoseProvider.GetPoseAtTime(poseData, timestamp, pair);
position = new Vector3((float)poseData.translation[0], (float)poseData.translation[1], (float)poseData.translation[2]);
quat = new Quaternion((float)poseData.orientation[0], (float)poseData.orientation[1], (float)poseData.orientation[2], (float)poseData.orientation[3]);
m_cameraToIMUMatrix = Matrix4x4.TRS(position, quat, new Vector3(1.0f, 1.0f, 1.0f));
m_alreadyInitialized = true;
m_shouldInitTango = false;
m_tangoApplication.ConnectToService();
}
if (m_isDirty)
{
// This rotation needs to be put into Unity coordinate space.
Quaternion rotationFix = Quaternion.Euler(90.0f, 0.0f, 0.0f);
if (!m_isRelocalized)
{
Quaternion axisFix = Quaternion.Euler(-m_tangoRotation[0].eulerAngles.x,
-m_tangoRotation[0].eulerAngles.z,
m_tangoRotation[0].eulerAngles.y);
transform.rotation = m_startingRotation * (rotationFix * axisFix);
transform.position = (m_startingRotation * (m_tangoPosition[0] * m_movementScale)) + m_startingOffset;
}
else
{
Quaternion axisFix = Quaternion.Euler(-m_tangoRotation[1].eulerAngles.x,
-m_tangoRotation[1].eulerAngles.z,
m_tangoRotation[1].eulerAngles.y);
transform.rotation = m_startingRotation * (rotationFix * axisFix);
transform.position = (m_startingRotation * (m_tangoPosition[1] * m_movementScale)) + m_startingOffset;
}
m_isDirty = false;
}
if (Input.GetKeyDown(KeyCode.Escape))
{
if (m_tangoApplication != null)
{
m_tangoApplication.Shutdown();
}
// This is a temporary fix for a lifecycle issue where calling
// Application.Quit() here, and restarting the application immediately,
// results in a hard crash.
AndroidHelper.AndroidQuit();
}
#else
Vector3 tempPosition = transform.position;
Quaternion tempRotation = transform.rotation;
PoseProvider.GetMouseEmulation(ref tempPosition, ref tempRotation);
transform.rotation = tempRotation;
transform.position = tempPosition;
#endif
}
