internal static SimplePose getGameObjectPose(UbitrackRelativeToUnity relative, GameObject go)
{
SimplePose pose = new SimplePose();
Vector3 pos = new Vector3();
Quaternion rot = new Quaternion();
switch (relative)
{
case UbitrackRelativeToUnity.Local:
{
UbiMeasurementUtils.coordsysemChange(go.transform.localPosition, ref pos);
UbiMeasurementUtils.coordsysemChange(go.transform.localRotation, ref rot);
break;
}
case UbitrackRelativeToUnity.World:
{
UbiMeasurementUtils.coordsysemChange(go.transform.position, ref pos);
UbiMeasurementUtils.coordsysemChange(go.transform.rotation, ref rot);
break;
}
default:
break;
}
pose.tx = pos.x;
pose.ty = pos.y;
pose.tz = pos.z;
pose.rx = rot.x;
pose.ry = rot.y;
pose.rz = rot.z;
pose.rw = rot.w;
return(pose);
}
public static void setGameObjectPose (UbitrackRelativeToUnity relative, GameObject go, Pose pose, UbitrackApplyParts applyData)
{
if (go.GetComponent<Rigidbody>() != null) {
switch (relative) {
case UbitrackRelativeToUnity.Local:
{
throw new NotSupportedException ();
}
case UbitrackRelativeToUnity.World:
{
if(applyData.Equals(UbitrackApplyParts.Pose) ||applyData.Equals(UbitrackApplyParts.Translation))
go.GetComponent<Rigidbody>().MovePosition (pose.pos);
if(applyData.Equals(UbitrackApplyParts.Pose) ||applyData.Equals(UbitrackApplyParts.Rotation))
go.GetComponent<Rigidbody>().MoveRotation (pose.rot);
break;
}
default:
break;
}
} else {
switch (relative) {
case UbitrackRelativeToUnity.Local:
{
if(applyData.Equals(UbitrackApplyParts.Pose) ||applyData.Equals(UbitrackApplyParts.Translation))
go.transform.localPosition = pose.pos;
if(applyData.Equals(UbitrackApplyParts.Pose) ||applyData.Equals(UbitrackApplyParts.Rotation))
go.transform.localRotation = pose.rot;
break;
}
case UbitrackRelativeToUnity.World:
{
if(applyData.Equals(UbitrackApplyParts.Pose) ||applyData.Equals(UbitrackApplyParts.Translation))
go.transform.position = pose.pos;
if(applyData.Equals(UbitrackApplyParts.Pose) ||applyData.Equals(UbitrackApplyParts.Rotation))
go.transform.rotation = pose.rot;
break;
}
default:
break;
}
}
}
public static void setGameObjectPose(UbitrackRelativeToUnity relative, GameObject go, Pose pose)
{
if (go.GetComponent <Rigidbody>() != null)
{
switch (relative)
{
case UbitrackRelativeToUnity.Local:
{
throw new NotSupportedException();
}
case UbitrackRelativeToUnity.World:
{
go.GetComponent <Rigidbody>().MovePosition(pose.pos);
go.GetComponent <Rigidbody>().MoveRotation(pose.rot);
break;
}
default:
break;
}
}
else
{
switch (relative)
{
case UbitrackRelativeToUnity.Local:
{
go.transform.localPosition = pose.pos;
go.transform.localRotation = pose.rot;
break;
}
case UbitrackRelativeToUnity.World:
{
go.transform.position = pose.pos;
go.transform.rotation = pose.rot;
break;
}
default:
break;
}
}
}
public static void setGameObjectPosition (UbitrackRelativeToUnity relative, GameObject go, Vector3 pos)
{
if (go.GetComponent<Rigidbody>() != null) {
switch (relative) {
case UbitrackRelativeToUnity.Local:
{
throw new NotSupportedException ();
}
case UbitrackRelativeToUnity.World:
{
go.GetComponent<Rigidbody>().MovePosition (pos);
break;
}
default:
break;
}
} else {
switch (relative) {
case UbitrackRelativeToUnity.Local:
{
go.transform.localPosition = pos;
break;
}
case UbitrackRelativeToUnity.World:
{
go.transform.position = pos;
break;
}
default:
break;
}
}
}
internal static Ubitrack.SimplePose getGameObjectPose(UbitrackRelativeToUnity relative, GameObject go)
{
Ubitrack.SimplePose pose = new Ubitrack.SimplePose();
Vector3 pos = new Vector3();
Quaternion rot = new Quaternion();
switch (relative)
{
case UbitrackRelativeToUnity.Local:
{
UbiMeasurementUtils.coordsysemChange(go.transform.localPosition ,ref pos);
UbiMeasurementUtils.coordsysemChange(go.transform.localRotation, ref rot);
break;
}
case UbitrackRelativeToUnity.World:
{
UbiMeasurementUtils.coordsysemChange(go.transform.position, ref pos);
UbiMeasurementUtils.coordsysemChange(go.transform.rotation, ref rot);
break;
}
default:
break;
}
pose.tx = pos.x;
pose.ty = pos.y;
pose.tz = pos.z;
pose.rx = rot.x;
pose.ry = rot.y;
pose.rz = rot.z;
pose.rw = rot.w;
return pose;
}
