void Update()
{
timeSinceLastUpdate += Time.deltaTime;
if (skeletonManager == null)
{
RUISSkeletonManager.JointData jointData = skeletonManager.GetJointData(jointToFollow, player.kinectPlayerId, player.bodyTrackingDeviceID);
PointData newPoint = new PointData(jointData.position, jointData.rotation, timeSinceLastUpdate, Time.timeSinceLevelLoad, previousPoint);
//remove zero velocities just in case, in order for the speeds not to get polluted by nonexisting data
//if (newPoint.velocity == Vector3.zero) return;
points.Add(newPoint);
previousPoint = newPoint;
Normalize();
MoveToStart();
while (points[points.Count - 1].startTime - points[0].startTime >= bufferLength)
{
points.RemoveAt(0);
}
}
//if (points.Count > bufferSize) points.RemoveAt(0);
InvalidateCaches();
//Debug.Log(averageSpeed);
timeSinceLastUpdate = 0;
}
void Update()
{
if (!skeletonManager || !skeletonManager.skeletons[playerId].isTracking)
{
return;
}
RUISSkeletonManager.JointData jointData = skeletonManager.GetJointData(jointToFollow, playerId);
if (jointData.positionConfidence > minimumConfidenceToUpdate)
{
transform.localPosition = Vector3.Lerp(transform.localPosition, jointData.position, positionSmoothing * Time.deltaTime);
}
if (jointData.rotationConfidence > minimumConfidenceToUpdate)
{
transform.localRotation = Quaternion.Slerp(transform.localRotation, jointData.rotation, rotationSmoothing * Time.deltaTime);
}
}
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;
}
}
}
private void doYawFiltering(float deltaT)
{
switch (driftingSensor)
{
case DriftingRotation.OculusRift:
if (OVRDevice.IsSensorPresent(oculusID))
{
OVRDevice.GetOrientation(oculusID, ref driftingRot);
if (oculusCamController)
{
// In the future OVR SDK oculusCamController will have oculusID?
oculusCamController.SetYRotation(-finalYawDifference.eulerAngles.y);
}
}
break;
case DriftingRotation.RazerHydra:
// TODO
//driftingRot = hydraRotation;
break;
case DriftingRotation.InputTransform:
if (driftingTransform)
{
driftingRot = driftingTransform.rotation;
}
break;
}
if (driftingDirectionVisualizer != null)
{
driftingDirectionVisualizer.transform.rotation = driftingRot;
}
driftingEuler = driftingRot.eulerAngles;
switch (compass)
{
case CompassSource.Kinect:
if (!skeletonManager || !skeletonManager.skeletons[kinectPlayerID].isTracking)
{
break;
}
else
{
compassData = skeletonManager.GetJointData(compassJoint, kinectPlayerID);
// First check for high confidence value
if (compassData != null && compassData.rotationConfidence >= 1.0f)
{
updateDifferenceKalman(compassData.rotation.eulerAngles,
driftingEuler, deltaT);
}
}
break;
case CompassSource.PSMove:
if (inputManager)
{
compassMove = inputManager.GetMoveWand(PSMoveID);
if (compassMove)
{
updateDifferenceKalman(compassMove.localRotation.eulerAngles,
driftingEuler, deltaT);
}
}
break;
case CompassSource.InputTransform:
if (compassTransform != null)
{
updateDifferenceKalman(compassTransform.rotation.eulerAngles,
driftingEuler, deltaT);
}
break;
}
float normalizedT = Mathf.Clamp01(deltaT * driftCorrectionRate);
if (normalizedT != 0)
{
finalYawDifference = Quaternion.Lerp(finalYawDifference, filteredYawDifference,
normalizedT);
}
if (correctedDirectionVisualizer != null)
{
correctedDirectionVisualizer.transform.rotation = Quaternion.Euler(
new Vector3(driftingEuler.x,
(360 + driftingEuler.y
- finalYawDifference.eulerAngles.y) % 360,
driftingEuler.z));
}
//driftingRotation*Quaternion.Inverse(finalDifference);
if (correctedDirectionVisualizer != null && driftVisualizerPosition != null)
{
correctedDirectionVisualizer.transform.position = driftVisualizerPosition.position;
}
}
