// Update is called once per frame
void Update()
{
if (!filterInFixedUpdate)
{
if (!inputTransform)
{
Debug.LogError("ERROR: inputTransform is None! Set it in the inspector.");
return;
}
if (inputInLocalCoordinates)
{
inputPos = inputTransform.localPosition;
inputRot = inputTransform.localRotation;
}
else
{
inputPos = inputTransform.position;
inputRot = inputTransform.rotation;
}
measuredPos[0] = inputPos.x;
measuredPos[1] = inputPos.y;
measuredPos[2] = inputPos.z;
filterPos.setR(Time.deltaTime * positionNoiseCovariance);
filterPos.predict();
filterPos.update(measuredPos);
pos = filterPos.getState();
// measuredRot[0] = inputRot.x;
// measuredRot[1] = inputRot.y;
// measuredRot[2] = inputRot.z;
// measuredRot[3] = inputRot.w;
// filterRot.setR(Time.deltaTime * rotationNoiseCovariance);
// filterRot.predict();
// filterRot.update(measuredRot);
// rot = filterRot.getState();
filterRot.rotationNoiseCovariance = rotationNoiseCovariance;
filterRot.Update(inputRot, Time.deltaTime);
if (GetComponent <Rigidbody>() == null)
{
if (inputInLocalCoordinates)
{
outputTransform.localPosition = new Vector3((float)pos[0], (float)pos[1], (float)pos[2]);
outputTransform.localRotation = filterRot.rotationState;
}
else
{
outputTransform.position = new Vector3((float)pos[0], (float)pos[1], (float)pos[2]);
outputTransform.rotation = filterRot.rotationState;
}
}
}
}
public void Update()
{
if (!isTracking && skeletonManager.skeletons[bodyTrackingDeviceID, playerId].isTracking)
{
PlayerFound();
}
else if (isTracking && !skeletonManager.skeletons[bodyTrackingDeviceID, playerId].isTracking)
{
PlayerLost();
}
else if (!skeletonManager.skeletons[bodyTrackingDeviceID, playerId].isTracking)
{
return;
}
if (!highlightStartObject && wandSelector.HighlightedObject)
{
highlightStartObject = wandSelector.HighlightedObject;
gestureRecognizer.EnableGesture();
}
else if (!wandSelector.HighlightedObject)
{
highlightStartObject = null;
if (!wandSelector.Selection)
{
gestureRecognizer.DisableGesture();
}
}
visualizerThreshold = Mathf.Clamp01(visualizerThreshold);
RUISSkeletonManager.JointData startData = skeletonManager.GetJointData(wandStart, playerId, bodyTrackingDeviceID);
RUISSkeletonManager.JointData endData = skeletonManager.GetJointData(wandEnd, playerId, bodyTrackingDeviceID);
if (endData.positionConfidence >= 0.5f)
{
// TUUKKA: Original code
// transform.localPosition = endData.position;
//
// if (startData != null && startData.positionConfidence >= 0.5f)
// {
// transform.localRotation = Quaternion.LookRotation(endData.position - startData.position);
// }
// else if (endData.rotationConfidence >= 0.5f)
// {
// transform.localRotation = endData.rotation;
// }
// First calculate local rotation
if (startData != null && startData.positionConfidence >= 0.5f)
{
tempVector = endData.position - startData.position;
if (Vector3.Angle(startData.rotation * Vector3.up, tempVector) > 5)
{
tempRotation = Quaternion.LookRotation(endData.position - startData.position, startData.rotation * Vector3.up);
}
else
{
tempRotation = Quaternion.LookRotation(endData.position - startData.position, startData.rotation * Vector3.right);
}
filteredRotation = rotationFilter.Update(tempRotation, Time.deltaTime); // HACK with kinect2 filtering is done in SkeletonManager
}
// else if (endData.rotationConfidence >= 0.5f)
// {
// tempRotation = endData.rotation;
// filteredRotation = rotationFilter.Update(tempRotation, Time.deltaTime);
// }
if (rigidbody)
{
// TUUKKA:
if (transform.parent)
{
// If the wand has a parent, we need to apply its transformation first
rigidbody.MovePosition(transform.parent.TransformPoint(endData.position));
rigidbody.MoveRotation(transform.parent.rotation * filteredRotation);
}
else
{
rigidbody.MovePosition(endData.position);
rigidbody.MoveRotation(filteredRotation);
}
}
else
{
// If there is no rigidBody, then just change localPosition & localRotation
transform.localPosition = endData.position;
transform.localRotation = filteredRotation;
}
}
}