private void SetTransform(Transform bone, Quaternion Rstandard, Quaternion Roffset, Vector3 Poffset)
{
// On récupère le composant DTrackPose
DTrackPose pose = bone.GetComponent <DTrackPose>();
// On applique le changement de repère spécifique à la pièce traquée
Matrix4x4 newRotationMatrix = pose.inv_p * pose.body_desc.rotationMatrix * pose.p;
// nouveau Quaternion
Quaternion newOrientation = newRotationMatrix.ExtractQuaternion();
//Quaternion quat = Quaternion.Inverse (Roffset) * pose.body_desc.orientation;
Quaternion quat = Quaternion.Inverse(Roffset) * newOrientation;
//bone.localRotation = Rstandard*quat;
if (!(Mathf.Abs(quat.x) < eps && Mathf.Abs(quat.y) < eps && Mathf.Abs(quat.z) < eps && Mathf.Abs(quat.w) < eps))
{
bone.localRotation = Rstandard * Quaternion.Inverse(bone.parent.rotation) * quat;
//bone.localRotation = Rstandard * quat;
}
}
private void initListes(Transform parent)
{
if (parent.childCount == 0) //Si l'objet n'a pas d'enfant, il n'y a pas de nouveau bone à traiter
{
return;
}
for (int i = 0; i < parent.childCount; i++)
{
Transform currentChild = parent.GetChild(i);
DTrackPose pose = currentChild.GetComponent <DTrackPose>();
if (pose)
{
bones.Add(currentChild);
rotationDtrack.Add(pose.body_desc.orientation);
positionDtrack.Add(pose.body_desc.position);
}
initListes(currentChild);
}
}
private DTrackPose getDtrackparent(GameObject child)
{
Transform parent = child.GetComponentInParent <Transform>();
if (parent)
{
DTrackPose pose = parent.gameObject.GetComponent <DTrackPose>();
if (pose)
{
return(pose);
}
else
{
pose = getDtrackparent(parent.gameObject);
if (pose.id == -1)
{
if (child.gameObject.GetComponent <DTrackPose>())
{
pose = child.gameObject.GetComponent <DTrackPose>();
}
}
return(pose);
}
}
else
{
DTrackPose pose = child.gameObject.GetComponent <DTrackPose>();
if (pose)
{
return(pose);
}
else
{
pose = new DTrackPose();
pose.id = -1;
return(pose);
}
}
}
/// <summary>
/// Recursive function to store all children having a DTrackPose component in the right order
/// </summary>
/// <param name="parent">Parent.</param>
private void AddChildrenToList(Transform parent)
{
int n = parent.childCount;
if (n == 0)
{
return;
}
for (int i = 0; i < n; i++)
{
currentChild = parent.GetChild(i);
DTrackPose pose = currentChild.GetComponent <DTrackPose>();
if (pose != null)
{
bones.Add(currentChild); // on ajoute à la table le transform de l'enfant
rotationOffsets.Add(pose.body_desc.orientation); // on ajoute la première rotation envoyée par DTrack : ceci sera notre offset pour la suite
rotationStandards.Add(currentChild.localRotation);
//Debug.Log(pose.body_desc.orientation);
positionOffsets.Add(pose.body_desc.position);
}
AddChildrenToList(currentChild); // on traite les petits enfants
}
}