private void RigidBodyDataToState(sRigidBodyData rbData, OptitrackHiResTimer.Timestamp timestamp, OptitrackRigidBodyState rbState)
{
rbState.DeliveryTimestamp = timestamp;
rbState.Pose = new OptitrackPose
{
Position = new Vector3(-rbData.X, rbData.Y, rbData.Z),
Orientation = new Quaternion(-rbData.QX, rbData.QY, rbData.QZ, -rbData.QW),
};
}
//update the transform position, rotation and timestamp every frame
void Update()
{
rbState = StreamingClient.GetLatestRigidBodyState(RigidBodyId);
if (rbState != null)
{
this.transform.localPosition = rbState.Pose.Position;
this.transform.localRotation = rbState.Pose.Orientation;
this.rbTimestamp = rbState.DeliveryTimestamp;
}
}
System.Collections.IEnumerator CheckConnectionHealth()
{
const float kHealthCheckIntervalSeconds = 1.0f;
const float kRecentFrameThresholdSeconds = 5.0f;
// The lifespan of these variables is tied to the lifespan of a single connection session.
// The coroutine is stopped on disconnect and restarted on connect.
YieldInstruction checkIntervalYield = new WaitForSeconds(kHealthCheckIntervalSeconds);
OptitrackHiResTimer.Timestamp connectionInitiatedTimestamp = OptitrackHiResTimer.Now();
OptitrackHiResTimer.Timestamp lastFrameReceivedTimestamp;
bool wasReceivingFrames = false;
bool warnedPendingFirstFrame = false;
while (true)
{
yield return(checkIntervalYield);
if (m_receivedFrameSinceConnect == false)
{
// Still waiting for first frame. Warn exactly once if this takes too long.
if (connectionInitiatedTimestamp.AgeSeconds > kRecentFrameThresholdSeconds)
{
if (warnedPendingFirstFrame == false)
{
Debug.LogWarning(GetType().FullName + ": No frames received from the server yet. Verify your connection settings are correct and that the server is streaming.", this);
warnedPendingFirstFrame = true;
}
continue;
}
}
else
{
// We've received at least one frame, do ongoing checks for changes in connection health.
lastFrameReceivedTimestamp.m_ticks = Interlocked.Read(ref m_lastFrameDeliveryTimestamp.m_ticks);
bool receivedRecentFrame = lastFrameReceivedTimestamp.AgeSeconds < kRecentFrameThresholdSeconds;
if (wasReceivingFrames == false && receivedRecentFrame == true)
{
// Transition: Bad health -> good health.
wasReceivingFrames = true;
Debug.Log(GetType().FullName + ": Receiving streaming data from the server.", this);
continue;
}
else if (wasReceivingFrames == true && receivedRecentFrame == false)
{
// Transition: Good health -> bad health.
wasReceivingFrames = false;
Debug.LogWarning(GetType().FullName + ": No streaming frames received from the server recently.", this);
continue;
}
}
}
}
// Use this for initialization
void Start()
{
reference = OptitrackHiResTimer.Now();
// Get the camera component
Camera cam = GetComponentInChildren <Camera>();
cam.nearClipPlane = 0.000001f;
// set the OSC communication
osc.SetAddressHandler("/Close", OnReceiveStop);
writer = new StreamWriter(Paths.recording_path, true);
mouse2 = GameObject.CreatePrimitive(PrimitiveType.Sphere);
mouse2.SetActive(false);
}
// Use this for initialization
void Start()
{
// get the reference timer
reference = OptitrackHiResTimer.Now();
// Set up the camera (so it doesn't clip objects too close to the mouse)
Camera cam = GetComponentInChildren <Camera>();
cam.nearClipPlane = 0.000001f;
// set the OSC communication
osc.SetAddressHandler("/Close", OnReceiveStop);
// Set the writer
writer = new StreamWriter(Paths.recording_path, true);
}
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;
}
}
}
// Use this for initialization
void Start()
{
// Force full screen on projector
Screen.fullScreen = true;
// Get the reference timer
reference = OptitrackHiResTimer.Now();
// set the OSC communication
osc.SetAddressHandler("/Close", OnReceiveStop);
// Set up the camera (so it doesn't clip objects too close to the mouse)
Camera cam = GetComponentInChildren <Camera>();
cam.nearClipPlane = 0.000001f;
// Set the writer
writer = new StreamWriter(Paths.recording_path, true);
// Get cricket object array sorted by name/number
CricketObjs = FindObsWithTag("Cricket");
}