/// <summary>
/// Updates benmarker system with algorithm rotating.
/// </summary>
void BenmarkerUpdate_AlgorithmRotating()
{
Vector3 rawPos = Vector3.zero;
Quaternion rawRot = Quaternion.identity;
m_SubMarkerMask = 0;
if (!TagTrackingUtil.GetMarkerState(this.MarkerID, out rawPos, out rawRot, out m_SubMarkerMask))
{
return;
}
if (m_FixedQuaternionError)
{
rawRot = rawRot * Quaternion.Euler(-90, 0, 0);
}
var trackingAnchor = TagTrackingUtil.GetNode(UnityEngine.XR.XRNode.TrackingReference);
var head = TagTrackingUtil.GetNode(UnityEngine.XR.XRNode.CenterEye);
if (this.SmoothMarkerRotation)
{
Quaternion rawRot1 = default(Quaternion);
switch (this.smoothRotationMethod)
{
case SmoothRotationMethod.Lerp:
rawRot1 = Quaternion.Lerp(prevRawQ, rawRot, this.SmoothRotationLerpRate);
break;
case SmoothRotationMethod.Angular:
rawRot1 = Quaternion.RotateTowards(prevRawQ, rawRot, this.SmoothRotationAnglarSpeed * Time.deltaTime);
break;
}
prevRawQ = rawRot;
rawRot = rawRot1;
}
else
{
prevRawQ = rawRot;
}
Matrix4x4 markerWorldTRS = Matrix4x4.TRS(trackingAnchor.TransformPoint(rawPos), trackingAnchor.rotation * rawRot, Vector3.one).inverse;
var headInMarkerWorldXYZ = markerWorldTRS.MultiplyPoint3x4(head.position);
var headInMarkerWorldEuler = markerWorldTRS.rotation * head.rotation;
if (this.PositionPrediction)
{
headInMarkerWorldXYZ = this.XYZPrediction.GetPrediction(headInMarkerWorldXYZ);
}
if (this.RotationPrediciton)
{
this.PosePrediction.Update(headInMarkerWorldEuler);
headInMarkerWorldEuler = this.PosePrediction.GetRotationPrediction(headInMarkerWorldEuler, this.RotationPredictionDelayFrame);
}
var markerTrans = this.transform;
head.position = markerTrans.TransformPoint(headInMarkerWorldXYZ);
head.rotation = markerTrans.rotation * headInMarkerWorldEuler;
}
/// <summary>
/// Initializes the device module.
/// </summary>
public static void InitializeDeviceModule(bool isFirst = true)
{
if (isInitialized)
{
return;
}
if (Application.platform == RuntimePlatform.Android)
{
Ximmerse.InputSystem.XDevicePlugin.Init();
//Apply logs:
XDevicePlugin.SetLogger((int level, string _tag, string log) =>
{
Debug.LogFormat("level:{0} ,tag:{1}, log:{2}", level, _tag, log);
});
if (isFirst)
{
XDevicePlugin.CopyAssetsToPath(kConfigFileDirectory);
}
DevicerHandle.SlideInContext = XDevicePlugin.NewContext(XDevicePlugin.XContextTypes.kXContextTypeSlideIn);/// 创建SlideIn设备上下文
DevicerHandle.HmdHandle = XDevicePlugin.GetDeviceHandle(DevicerHandle.SlideInContext, "XHawk-0");
if (isFirst)
{
TagTrackingUtil.ApplyDefaultConfig();
}
DeviceConnectionState vpuConn = (DeviceConnectionState)XDevicePlugin.GetInt(DevicerHandle.HmdHandle, XDevicePlugin.XVpuAttributes.kXVpuAttr_Int_ConnectionState, 0);
isVPUConnected = vpuConn == DeviceConnectionState.Connected;
XDevicePlugin.RegisterObserver(DevicerHandle.HmdHandle, XDevicePlugin.XVpuAttributes.kXVpuAttr_Int_ConnectionState, new XDevicePlugin.XDeviceConnectStateChangeDelegate(OnVPUConnectionStateChanged), DevicerHandle.HmdHandle);
isInitialized = true;
Debug.LogFormat("Slide in HLAPI initialized successfully. HLAPI version : {0}, Algorithm version: {1}", HLAPIVersion.Version, HLAPIVersion.AlgVersion);
Debug.LogFormat("VPU device state {0} ", vpuConn);
}
else if (Application.platform == RuntimePlatform.WindowsEditor || Application.platform == RuntimePlatform.WindowsPlayer)
{
Ximmerse.InputSystem.XDevicePlugin.Init();
XDevicePlugin.SetLogger((int level, string _tag, string log) =>
{
Debug.LogFormat("level:{0} ,tag:{1}, log:{2}", level, _tag, log);
});
DevicerHandle.SlideInContext = XDevicePlugin.NewContext(XDevicePlugin.XContextTypes.kXContextTypeSlideIn);/// 创建SlideIn设备上下文
DevicerHandle.HmdHandle = XDevicePlugin.GetDeviceHandle(DevicerHandle.SlideInContext, "XHawk-0");
Debug.LogFormat("VPU Context: {0}, Hmd handle:{1}", DevicerHandle.SlideInContext.mNativeHandle.ToInt32(), DevicerHandle.HmdHandle.mNativeHandle.ToInt32());
TagTrackingUtil.ApplyDefaultConfig();
var vpuConn = (DeviceConnectionState)XDevicePlugin.GetInt(DevicerHandle.HmdHandle, XDevicePlugin.XVpuAttributes.kXVpuAttr_Int_ConnectionState, 0);
isVPUConnected = vpuConn == DeviceConnectionState.Connected;
XDevicePlugin.RegisterObserver(DevicerHandle.HmdHandle, XDevicePlugin.XVpuAttributes.kXVpuAttr_Int_ConnectionState, new XDevicePlugin.XDeviceConnectStateChangeDelegate(OnVPUConnectionStateChanged), DevicerHandle.HmdHandle);
isInitialized = true;
Debug.LogFormat("Slide in HLAPI initialized successfully. HLAPI version : {0}, Algorithm version: {1}", HLAPIVersion.Version, HLAPIVersion.AlgVersion);
Debug.LogFormat("VPU device state {0} ", vpuConn);
}
else
{
Debug.LogWarningFormat("Tracking Library not available for current platform : {0}. Currently we supports Android/Windows platform.", Application.platform);
}
}
public void RevertToDefaultSetting()
{
var tagTracker = this;
tagTracker.TrackingAnchorPosition = TrackingConfig.TrackingAnchor_Positional_Offset;
tagTracker.TrackingAnchorTilt = TrackingConfig.TrackingAnchor_Euler_Offset;
tagTracker.TrackingAnchorScale = TrackingConfig.TrackingAnchor_Scale;
TagTrackingUtil.ApplyDefaultConfig();
}
/// <summary>
/// Inits the tag tracking module.
/// </summary>
void InitTagTrackingModule()
{
//Create tracking reference anchor:
m_TrackingAnchorPosition = TrackingConfig.TrackingAnchor_Positional_Offset;
m_TrackingAnchorTilt = TrackingConfig.TrackingAnchor_Euler_Offset;
m_TrackingAnchorScale = TrackingConfig.TrackingAnchor_Scale;
this.m_MarkerPosePreTilt = TrackingConfig.MarkerPosePreTilt;
this.m_MarkerPosePostTilt = TrackingConfig.MarkerPosePostTilt;
m_TrackingAnchor = new GameObject("Tracking-Anchor").transform;
m_TrackingAnchor.transform.SetParent(this.transform, false);
OnTrackingAnchorConfigDirty();
TagTrackingUtil.InitializeDeviceModule(isFirst: true);
Debug.LogFormat("Tag tracking module init done, tracking anchor: {0}-{1}-{2} ", m_TrackingAnchorPosition, m_TrackingAnchorTilt, m_TrackingAnchorScale);
}
protected void UpdateMarkerPose()
{
//raw pos : the tracked position retrieved from VPU
Vector3 rawPos = Vector3.zero;
//raw rot : the tracked oritentation retrieved from VPU
Quaternion rawRot = Quaternion.identity;
var markerTrans = this.transform;
m_SubMarkerMask = 0;
if (TagTrackingUtil.GetMarkerState(this.MarkerID, out rawPos, out rawRot, out this.m_SubMarkerMask))
{
//Anti-jiggering: markers become invisible when TOooo far:
if (this.HasLimitedTrackingDistance && rawPos.magnitude >= MaxTrackingDistance)
{
prevRawPosition = rawPos;
prevRawOritentation = rawRot;
prevWorldPosition = transform.position;
//too far
this.Identity.IsVisible = false;
return;
}
Vector3 rawTrackedPosition = rawPos;
this.Identity.IsVisible = true;
var trackingAnchor = TagTrackingUtil.GetNode(UnityEngine.XR.XRNode.TrackingReference);
//smooth XYZ movement:
if (this.SmoothMarkerPosition)
{
switch (this.smoothPositionMethod)
{
case SmoothPositionMethod.Lerp:
rawTrackedPosition = Vector3.Lerp(prevRawPosition, rawPos, this.PositionSmoothLerp);
break;
case SmoothPositionMethod.Velocity:
rawTrackedPosition = Vector3.MoveTowards(prevRawPosition, rawPos, this.PositionSmoothVelocity * Time.deltaTime);
break;
case SmoothPositionMethod.LerpByDistance:
float distance = Vector3.Distance(rawPos, prevRawPosition);
float lerpByDistance = this.SmoothPositionCurveControl_LerpByDistance.Evaluate(distance);
rawTrackedPosition = Vector3.Lerp(prevRawPosition, rawPos, lerpByDistance);
break;
case SmoothPositionMethod.VelocityByDistance:
distance = Vector3.Distance(rawPos, prevRawPosition);
float velocityByDistance = this.SmoothPositionCurveControl_LerpByDistance.Evaluate(distance);
rawTrackedPosition = Vector3.MoveTowards(prevRawPosition, rawPos, velocityByDistance * Time.deltaTime);
break;
}
}
//basic tracking:
Vector3 tPos = trackingAnchor.TransformPoint(rawTrackedPosition);
//prediction:
if (this.PositionPrediction)
{
tPos = this.XYZPrediction.GetPrediction(tPos);
}
markerTrans.position = tPos;
//Handle Rotation:
if (this.ApplyAlgorithmRotation)
{
Quaternion RawTrackedOritentation = rawRot;
if (this.SmoothMarkerRotation)
{
switch (this.smoothRotationMethod)
{
case SmoothRotationMethod.Lerp:
RawTrackedOritentation = Quaternion.Lerp(prevRawOritentation, rawRot, this.SmoothRotationLerpRate);
break;
case SmoothRotationMethod.Angular:
RawTrackedOritentation = Quaternion.RotateTowards(prevRawOritentation, rawRot, this.SmoothRotationAnglarSpeed * Time.deltaTime);
break;
case SmoothRotationMethod.LerpByDistance:
float distance = rawPos.magnitude;
float lerp = this.SmoothRotationCurveControl_LerpByDistance.Evaluate(distance);
RawTrackedOritentation = Quaternion.Lerp(prevRawOritentation, rawRot, lerp);
break;
case SmoothRotationMethod.AngularByDistance:
distance = rawPos.magnitude;
float angular = this.SmoothRotationCurveControl_AngularByDistance.Evaluate(distance);
RawTrackedOritentation = Quaternion.RotateTowards(prevRawOritentation, rawRot, angular * Time.deltaTime);
break;
}
}
Quaternion worldQ = trackingAnchor.rotation * RawTrackedOritentation;
if (this.RotationPrediciton)
{
this.PosePrediction.Update(worldQ);
worldQ = this.PosePrediction.GetRotationPrediction(worldQ, this.RotationPredictionDelayFrame);
}
markerTrans.rotation = worldQ;
}
prevRawPosition = rawPos;
prevRawOritentation = rawRot;
prevWorldPosition = transform.position;
prevWorldRotation = transform.rotation;
}
else
{
this.Identity.IsVisible = false;
}
}
