void Update()
{
this.transform.localPosition = headPosition;
if (!m_initialPoseSet)
{
m_initialPoseSet = true;
m_fusion.setCurrentYaw(this.transform.localRotation);
}
}
void Update()
{
if (!useOptitrack)
{
this.transform.localPosition = new Vector3(0, 0, 0);
if (!m_initialPoseSet)
{
m_initialPoseSet = true;
m_fusion.setCurrentOrientation(this.transform.localRotation);
}
return;
}
OptitrackRigidBodyState rbState = StreamingClient.GetLatestRigidBodyState(RigidBodyId);
if (rbState != null && rbState.DeliveryTimestamp.AgeSeconds < 1.0f)
{
Debug.Log("new position", this);
// Update position.
this.transform.localPosition = rbState.Pose.Position;
// Update drift correction.
if (m_lastTimestamp.AgeSeconds != rbState.DeliveryTimestamp.AgeSeconds)
{
// If we're coming here the first time: reset to optical pose. Otherwise
// we're using the optical orientation for drift correction.
if (!m_initialPoseSet)
{
m_initialPoseSet = true;
m_fusion.setCurrentYaw(rbState.Pose.Orientation);
}
else if (enableDriftCorrection)
{
m_fusion.setCurrentYawSoft(rbState.Pose.Orientation);
}
m_lastTimestamp = rbState.DeliveryTimestamp;
}
}
}
