private void CalculateCurrentPose()
{
if (GetIsTrackedRemote())
{
CurrentPose = new PoseFrame
{
voiceAmplitude = voiceAmplitude,
headPosition = headPos,
headRotation = headRot,
handLeftPosition = OVRInput.GetLocalControllerPosition(OVRInput.Controller.LTrackedRemote),
handLeftRotation = OVRInput.GetLocalControllerRotation(OVRInput.Controller.LTrackedRemote),
handRightPosition = OVRInput.GetLocalControllerPosition(OVRInput.Controller.RTrackedRemote),
handRightRotation = OVRInput.GetLocalControllerRotation(OVRInput.Controller.RTrackedRemote),
controllerLeftPose = GetMalibuControllerPose(OVRInput.Controller.LTrackedRemote),
controllerRightPose = GetMalibuControllerPose(OVRInput.Controller.RTrackedRemote),
};
}
else
{
CurrentPose = new PoseFrame
{
voiceAmplitude = voiceAmplitude,
headPosition = headPos,
headRotation = headRot,
handLeftPosition = OVRInput.GetLocalControllerPosition(OVRInput.Controller.LTouch),
handLeftRotation = OVRInput.GetLocalControllerRotation(OVRInput.Controller.LTouch),
handRightPosition = OVRInput.GetLocalControllerPosition(OVRInput.Controller.RTouch),
handRightRotation = OVRInput.GetLocalControllerRotation(OVRInput.Controller.RTouch),
controllerLeftPose = GetControllerPose(OVRInput.Controller.LTouch),
controllerRightPose = GetControllerPose(OVRInput.Controller.RTouch),
};
}
}
/// <summary>
/// 75個のデータを受けて、サーボ情報を調べます。
/// </summary>
/// <param name="servoStrings"></param>
/// <returns></returns>
PoseFrame ParseOneFrame(string[] servoStrings)
{
if (servoStrings.Length != 80)
{
Debug.LogError("不正なフレームです");
}
PoseFrame ret = new PoseFrame();
ret.commandLength = servoStrings[0];
ret.command = servoStrings[1];
ret.commandPadding = servoStrings[2];
ret.frameWait = servoStrings[3];
ret.wait = HexToInt(ret.frameWait);
//25軸だと信じていますよ
for (int i = 0; i < 25; i++)
{
Servo tmp = new Servo();
tmp.id = servoStrings[4 + i * 3];
tmp.hb = servoStrings[4 + i * 3 + 1];
tmp.lb = servoStrings[4 + i * 3 + 2];
tmp.servoValue = ServoStringToValue(servoStrings[4 + (i * 3) + 1], servoStrings[4 + (i * 3) + 2]);
tmp.eulerAngle = (tmp.servoValue - 7500) * 0.03375f; //0.03375= 135/4000
ret.servos.Add(tmp);
}
//checkbyte
ret.checkByte = servoStrings[79];
return(ret);
}
void ApplyPose(PoseFrame prevFrame, PoseFrame nextFrame, float weight)
{
foreach (var prevServo in prevFrame.servos)
{
float angle = prevServo.eulerAngle;
string id = prevServo.id;
var nextServo = nextFrame.servos.First(servo => servo.id.Equals(id));
if (nextServo != null)
{
// -135～135 [deg] ということだとLeapAngle()は一旦 +180 してから -180 とかしないとダメかも
//angle = Mathf.LerpAngle(prevServo.eulerAngle, nextServo.eulerAngle, weight);
// サーボが 360 [deg] 回らないため、単にLerp()で良いのでは
angle = Mathf.Lerp(prevServo.eulerAngle, nextServo.eulerAngle, weight);
}
try
{
var modelJoint = _joints.FirstOrDefault(joint => joint.ServoID == prevServo.id);
if (modelJoint != null)
{
modelJoint.SetServoValue(angle);
}
}
catch (Exception e)
{
Debug.Log("some exeption:" + e);
}
}
}
public void DisposeFrames()
{
if (colorFrame != null)
{
colorFrame.Dispose();
colorFrame = null;
}
if (depthFrame != null)
{
depthFrame.Dispose();
depthFrame = null;
}
if (infraredFrame != null)
{
infraredFrame.Dispose();
infraredFrame = null;
}
if (poseFrame != null)
{
poseFrame.Dispose();
poseFrame = null;
}
}
private void CalculateCurrentPose()
{
// Platform and device agnostic calls to return center eye pose, used to pass in head pose to sdk
OVRNodeStateProperties.GetNodeStatePropertyVector3(UnityEngine.XR.XRNode.CenterEye, NodeStatePropertyType.Position,
OVRPlugin.Node.EyeCenter, OVRPlugin.Step.Render, out centerEyePosition);
OVRNodeStateProperties.GetNodeStatePropertyQuaternion(UnityEngine.XR.XRNode.CenterEye, NodeStatePropertyType.Orientation,
OVRPlugin.Node.EyeCenter, OVRPlugin.Step.Render, out centerEyeRotation);
Debug.Log("gggg");
if (!is_hand_movment_locked)
{
Debug.Log("log");
CurrentPose = new PoseFrame
{
voiceAmplitude = voiceAmplitude,
headPosition = centerEyePosition,
headRotation = centerEyeRotation,
handLeftPosition = OVRInput.GetLocalControllerPosition(OVRInput.Controller.LTouch),
handLeftRotation = OVRInput.GetLocalControllerRotation(OVRInput.Controller.LTouch),
handRightPosition = OVRInput.GetLocalControllerPosition(OVRInput.Controller.RTouch),
handRightRotation = OVRInput.GetLocalControllerRotation(OVRInput.Controller.RTouch),
controllerLeftPose = GetControllerPose(OVRInput.Controller.LTouch),
controllerRightPose = GetControllerPose(OVRInput.Controller.RTouch),
};
}
}
public override bool GetCurrentPose(out PoseFrame pose)
{
if (currentPose != null)
{
pose = currentPose;
return(true);
}
pose = null;
return(false);
}
public override bool GetCurrentPose(out PoseFrame pose)
{
if (currentPose.HasValue)
{
pose = currentPose.Value;
return(true);
}
pose = new PoseFrame();
return(false);
}
/// <summary>
/// 指定コマ（本当はフレーム）に該当する姿勢を前後の姿勢から補間して返す
/// </summary>
/// <param name="koma"></param>
void ApplyPoseByKoma(int koma)
{
if (_frames.Count < 1)
{
// キーフレームが1つもなければ何もしない
return;
}
else if ((_frames.Count == 1) || (koma < _frames[0].wait))
{
// キーフレームが1つしかないか、指定コマが負なら先頭の姿勢を単にとる
currentFrame = 0;
ApplyPose(currentFrame);
return;
}
PoseFrame prevFrame = _frames[0];
PoseFrame nextFrame = null;
currentFrame = 0;
int elapsedKoma = prevFrame.wait;
float weight = 0f;
for (int frameNumber = 1; frameNumber < _frames.Count; frameNumber++)
{
nextFrame = _frames[frameNumber];
// 次のフレームで指定時刻以上になるなら、ここが求めたいタイミングである
if ((elapsedKoma + nextFrame.wait) >= koma)
{
// 2つのコマ間の重みを0～1で求める
weight = Mathf.Clamp01((float)(koma - elapsedKoma) / nextFrame.wait);
break;
}
elapsedKoma += nextFrame.wait;
prevFrame = nextFrame;
currentFrame = frameNumber;
}
// 最後まで指定タイミングが見つからなければ、最終姿勢をとらせる
if (prevFrame == nextFrame)
{
currentFrame = _frames.Count - 1;
ApplyPose(currentFrame);
return;
}
// 2つのキーフレームの間の姿勢をとらせる
ApplyPose(prevFrame, nextFrame, weight);
}
private void CalculateCurrentPose()
{
#if UNITY_2017_2_OR_NEWER
Vector3 headPos = UnityEngine.XR.InputTracking.GetLocalPosition(UnityEngine.XR.XRNode.CenterEye):
#else
Vector3 headPos = UnityEngine.VR.InputTracking.GetLocalPosition(UnityEngine.VR.VRNode.CenterEye):
#endif
#if UNITY_ANDROID && !UNITY_EDITOR
headPos.y += mobileBaseHeadHeight:
#endif
if (GetIsTrackedRemote())
{
CurrentPose = new PoseFrame
{
voiceAmplitude = voiceAmplitude,
headPosition = headPos,
#if UNITY_2017_2_OR_NEWER
headRotation = UnityEngine.XR.InputTracking.GetLocalRotation(UnityEngine.XR.XRNode.CenterEye),
#else
headRotation = UnityEngine.VR.InputTracking.GetLocalRotation(UnityEngine.VR.VRNode.CenterEye),
#endif
handLeftPosition = OVRInput.GetLocalControllerPosition(OVRInput.Controller.LTrackedRemote),
handLeftRotation = OVRInput.GetLocalControllerRotation(OVRInput.Controller.LTrackedRemote),
handRightPosition = OVRInput.GetLocalControllerPosition(OVRInput.Controller.RTrackedRemote),
handRightRotation = OVRInput.GetLocalControllerRotation(OVRInput.Controller.RTrackedRemote),
controllerLeftPose = GetMalibuControllerPose(OVRInput.Controller.LTrackedRemote),
controllerRightPose = GetMalibuControllerPose(OVRInput.Controller.RTrackedRemote),
}:
}
else
{
CurrentPose = new PoseFrame
{
voiceAmplitude = voiceAmplitude,
headPosition = headPos,
#if UNITY_2017_2_OR_NEWER
headRotation = UnityEngine.XR.InputTracking.GetLocalRotation(UnityEngine.XR.XRNode.CenterEye),
#else
headRotation = UnityEngine.VR.InputTracking.GetLocalRotation(UnityEngine.VR.VRNode.CenterEye),
#endif
handLeftPosition = OVRInput.GetLocalControllerPosition(OVRInput.Controller.LTouch),
handLeftRotation = OVRInput.GetLocalControllerRotation(OVRInput.Controller.LTouch),
handRightPosition = OVRInput.GetLocalControllerPosition(OVRInput.Controller.RTouch),
handRightRotation = OVRInput.GetLocalControllerRotation(OVRInput.Controller.RTouch),
controllerLeftPose = GetControllerPose(OVRInput.Controller.LTouch),
controllerRightPose = GetControllerPose(OVRInput.Controller.RTouch),
}:
}
}
public override void UpdateTransforms(IntPtr sdkAvatar)
{
if (sdkAvatar != IntPtr.Zero)
{
PoseFrame pose = GetCurrentPose();
ovrAvatarTransform bodyTransform = OvrAvatar.CreateOvrAvatarTransform(pose.headPosition, pose.headRotation);
ovrAvatarHandInputState inputStateLeft = OvrAvatar.CreateInputState(OvrAvatar.CreateOvrAvatarTransform(pose.handLeftPosition, pose.handLeftRotation), pose.controllerLeftPose);
ovrAvatarHandInputState inputStateRight = OvrAvatar.CreateInputState(OvrAvatar.CreateOvrAvatarTransform(pose.handRightPosition, pose.handRightRotation), pose.controllerRightPose);
CAPI.ovrAvatarPose_UpdateBody(sdkAvatar, bodyTransform);
CAPI.ovrAvatarPose_UpdateHands(sdkAvatar, inputStateLeft, inputStateRight);
}
}
public static PoseFrame Interpolate(PoseFrame a, PoseFrame b, float t)
{
return(new PoseFrame
{
headPosition = Vector3.Lerp(a.headPosition, b.headPosition, t),
headRotation = Quaternion.Slerp(a.headRotation, b.headRotation, t),
handLeftPosition = Vector3.Lerp(a.handLeftPosition, b.handLeftPosition, t),
handLeftRotation = Quaternion.Slerp(a.handLeftRotation, b.handLeftRotation, t),
handRightPosition = Vector3.Lerp(a.handRightPosition, b.handRightPosition, t),
handRightRotation = Quaternion.Slerp(a.handRightRotation, b.handRightRotation, t),
voiceAmplitude = Mathf.Lerp(a.voiceAmplitude, b.voiceAmplitude, t),
controllerLeftPose = ControllerPose.Interpolate(a.controllerLeftPose, b.controllerLeftPose, t),
controllerRightPose = ControllerPose.Interpolate(a.controllerRightPose, b.controllerRightPose, t),
});
}
private void CalculateCurrentPose()
{
CurrentPose = new PoseFrame
{
voiceAmplitude = voiceAmplitude,
headPosition = headPos,
headRotation = headRot,
handLeftPosition = OVRInput.GetLocalControllerPosition(OVRInput.Controller.LTouch),
handLeftRotation = OVRInput.GetLocalControllerRotation(OVRInput.Controller.LTouch),
handRightPosition = OVRInput.GetLocalControllerPosition(OVRInput.Controller.RTouch),
handRightRotation = OVRInput.GetLocalControllerRotation(OVRInput.Controller.RTouch),
controllerLeftPose = GetControllerPose(OVRInput.Controller.LTouch),
controllerRightPose = GetControllerPose(OVRInput.Controller.RTouch),
};
}
public bool MyGetCurrentPose(out PoseFrame pose)
{
pose = new PoseFrame
{
voiceAmplitude = voiceAmplitude,
headPosition = UnityEngine.VR.InputTracking.GetLocalPosition(UnityEngine.VR.VRNode.CenterEye) * 2,
headRotation = UnityEngine.VR.InputTracking.GetLocalRotation(UnityEngine.VR.VRNode.CenterEye),
handLeftPosition = OVRInput.GetLocalControllerPosition(OVRInput.Controller.LTouch),
handLeftRotation = OVRInput.GetLocalControllerRotation(OVRInput.Controller.LTouch),
handRightPosition = OVRInput.GetLocalControllerPosition(OVRInput.Controller.RTouch),
handRightRotation = OVRInput.GetLocalControllerRotation(OVRInput.Controller.RTouch),
controllerLeftPose = GetControllerPose(OVRInput.Controller.LTouch),
controllerRightPose = GetControllerPose(OVRInput.Controller.RTouch),
};
return(true);
}
private void CalculateCurrentPose()
{
#if UNITY_2017_2_OR_NEWER
Vector3 headPos = Vector3.zero;
#else
Vector3 headPos = Vector3.zero;
#endif
if (GetIsTrackedRemote())
{
CurrentPose = new PoseFrame
{
voiceAmplitude = voiceAmplitude,
headPosition = headPos,
#if UNITY_2017_2_OR_NEWER
headRotation = Quaternion.identity,
#else
headRotation = Quaternion.identity,
#endif
handLeftPosition = OVRInput.GetLocalControllerPosition(OVRInput.Controller.LTrackedRemote),
handLeftRotation = OVRInput.GetLocalControllerRotation(OVRInput.Controller.LTrackedRemote),
handRightPosition = OVRInput.GetLocalControllerPosition(OVRInput.Controller.RTrackedRemote),
handRightRotation = OVRInput.GetLocalControllerRotation(OVRInput.Controller.RTrackedRemote),
controllerLeftPose = GetMalibuControllerPose(OVRInput.Controller.LTrackedRemote),
controllerRightPose = GetMalibuControllerPose(OVRInput.Controller.RTrackedRemote),
};
}
else
{
CurrentPose = new PoseFrame
{
voiceAmplitude = voiceAmplitude,
headPosition = headPos,
#if UNITY_2017_2_OR_NEWER
headRotation = Quaternion.identity,
#else
headRotation = Quaternion.identity,
#endif
handLeftPosition = OVRInput.GetLocalControllerPosition(OVRInput.Controller.LTouch),
handLeftRotation = OVRInput.GetLocalControllerRotation(OVRInput.Controller.LTouch),
handRightPosition = OVRInput.GetLocalControllerPosition(OVRInput.Controller.RTouch),
handRightRotation = OVRInput.GetLocalControllerRotation(OVRInput.Controller.RTouch),
controllerLeftPose = GetControllerPose(OVRInput.Controller.LTouch),
controllerRightPose = GetControllerPose(OVRInput.Controller.RTouch),
};
}
}
void EnqueueFrame(PoseFrame frame)
{
var pose = new Pose {
time = frame.Timestamp
};
PoseData data;
frame.CopyTo(out data);
var t = data.translation;
pose.position = new Vector3(t.x, t.y, -t.z);
var e = data.rotation.eulerAngles;
pose.rotation = Quaternion.Euler(-e.x, -e.y, e.z);
lock (_poseQueue) _poseQueue.Enqueue(pose);
}
public override bool GetCurrentPose(out PoseFrame pose)
{
Vector3 headPos = UnityEngine.XR.InputTracking.GetLocalPosition(UnityEngine.XR.XRNode.CenterEye);
#if UNITY_ANDROID && !UNITY_EDITOR
headPos.y += mobileBaseHeadHeight;
#endif
pose = new PoseFrame
{
voiceAmplitude = voiceAmplitude,
headPosition = headPos,
headRotation = UnityEngine.XR.InputTracking.GetLocalRotation(UnityEngine.XR.XRNode.CenterEye),
handLeftPosition = OVRInput.GetLocalControllerPosition(OVRInput.Controller.LTouch),
handLeftRotation = OVRInput.GetLocalControllerRotation(OVRInput.Controller.LTouch),
handRightPosition = OVRInput.GetLocalControllerPosition(OVRInput.Controller.RTouch),
handRightRotation = OVRInput.GetLocalControllerRotation(OVRInput.Controller.RTouch),
controllerLeftPose = GetControllerPose(OVRInput.Controller.LTouch),
controllerRightPose = GetControllerPose(OVRInput.Controller.RTouch),
};
return(true);
}
private void CalculateCurrentPose()
{
Transform head = VRTK_DeviceFinder.HeadsetTransform();
Transform left = VRTK_DeviceFinder.GetControllerLeftHand().transform;
Transform right = VRTK_DeviceFinder.GetControllerRightHand().transform;
CurrentPose = new PoseFrame
{
voiceAmplitude = voiceAmplitude,
headPosition = head.position,
headRotation = head.rotation,
handLeftPosition = left.TransformPoint(new Vector3(0.025f, 0, -0.04f)),
handLeftRotation = left.rotation,
handRightPosition = right.TransformPoint(new Vector3(-0.025f, 0, -0.04f)),
handRightRotation = right.rotation,
controllerLeftPose = GetControllerPose(left.GetComponent <VRTK_ControllerEvents>()),
controllerRightPose = GetControllerPose(right.GetComponent <VRTK_ControllerEvents>())
};
}
private PoseFrame[] ParseFrames(BinaryDataReader reader)
{
var count = reader.ReadUInt16();
var frames = new PoseFrame[count];
for (int i = 0; i < frames.Length; i++)
{
var frame = new PoseFrame();
frame.Time = reader.ReadFloat40();
frame.Translation = new double[3];
for (int o = 0; o < 3; o++)
{
frame.Translation[o] = reader.ReadFloat40();
}
frame.RotationAngle = reader.ReadFloat40();
frame.RotationAxis = new double[3];
for (int o = 0; o < 3; o++)
{
frame.RotationAxis[o] = reader.ReadFloat40();
}
frames[i] = frame;
}
return(frames);
}
public override bool GetCurrentPose(out PoseFrame pose)
{
pose = remotePose;
return(true);
}
public abstract bool GetCurrentPose(out PoseFrame pose);
public override bool GetCurrentPose(out PoseFrame pose)
{
return(base.GetCurrentPose(out pose));
}
