public Pose ExtractPoseValue(IntPtr poseHandle)
{
ApiPoseData poseValue = new ApiPoseData(Pose.identity);
ExternApi.arPoseGetPoseRaw(poseHandle, ref poseValue);
return(poseValue.ToUnityPose());
}
public IntPtr Create(Pose pose)
{
ApiPoseData rawPose = new ApiPoseData(pose);
IntPtr poseHandle = IntPtr.Zero;
ExternApi.arPoseCreate(ref rawPose, ref poseHandle);
return(poseHandle);
}
public static void ApiPoseToUnityPose(ApiPoseData apiPose, out Pose unityPose)
{
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_glWorld = Matrix4x4.Scale(new Vector3(1, 1, -1));
Matrix4x4 unityWorld_T_unityLocal = unityWorld_T_glWorld * glWorld_T_glLocal * unityWorld_T_glWorld.inverse;
Vector3 position = unityWorld_T_unityLocal.GetColumn(3);
Quaternion rotation = Quaternion.LookRotation(unityWorld_T_unityLocal.GetColumn(2),
unityWorld_T_unityLocal.GetColumn(1));
unityPose = new Pose(position, rotation);
}
public static void UnityPoseToApiPose(Pose unityPose, out ApiPoseData apiPose)
{
Matrix4x4 glWorld_T_glLocal = Matrix4x4.TRS(unityPose.position, unityPose.rotation, Vector3.one);
Matrix4x4 unityWorld_T_glWorld = Matrix4x4.Scale(new Vector3(1, 1, -1));
Matrix4x4 unityWorld_T_unityLocal = unityWorld_T_glWorld * glWorld_T_glLocal * unityWorld_T_glWorld.inverse;
Vector3 position = unityWorld_T_unityLocal.GetColumn(3);
Quaternion rotation = Quaternion.LookRotation(unityWorld_T_unityLocal.GetColumn(2),
unityWorld_T_unityLocal.GetColumn(1));
apiPose.X = position.x;
apiPose.Y = position.y;
apiPose.Z = position.z;
apiPose.Qx = rotation.x;
apiPose.Qy = rotation.y;
apiPose.Qz = rotation.z;
apiPose.Qw = rotation.w;
}
public static extern void arPoseGetPoseRaw(IntPtr poseHandle,
ref ApiPoseData rawPose);
public static extern void arPoseCreate(ref ApiPoseData rawPose, ref IntPtr poseHandle);
