//This is the listener that is called by the event manager
//It transforms and adds the received report to the reports list
void Record(string name, VRPNTracker.TrackerReport report)
{
if (firstReport)
{
firstTime_sec = report.msg_time.tv_sec;
firstTime_usec = report.msg_time.tv_usec;
firstReport = false;
}
if (report.msg_time.tv_usec < firstTime_usec)
{
report.msg_time.tv_sec = report.msg_time.tv_sec - (firstTime_sec + 1);
report.msg_time.tv_usec = (report.msg_time.tv_usec + 1000000) - firstTime_usec;
}
else
{
report.msg_time.tv_sec = report.msg_time.tv_sec - firstTime_sec;
report.msg_time.tv_usec = report.msg_time.tv_usec - firstTime_usec;
}
VRPNTracker.TrackerReportNew newReport = new VRPNTracker.TrackerReportNew();
VRPNManager.TimeValNew newMsgTime = new VRPNManager.TimeValNew();
newMsgTime.tv_sec = (int)report.msg_time.tv_sec;
newMsgTime.tv_usec = (int)report.msg_time.tv_usec;
newReport.msg_time = newMsgTime;
newReport.pos = report.pos;
newReport.quat = report.quat;
newReport.sensor = report.sensor;
data.list.Add(newReport);
}
void CreateBodyWithoutRD()
{
// Assuming 58 sensors for a body, without reference
GameObject[] objs = new GameObject[59];
GameObject prev;
// sensor 0 comes in ref...
for (int i = 0; i < 59; i++)
{
objs[i] = GameObject.CreatePrimitive(PrimitiveType.Cube);
objs[i].name = ((Neuron.NeuronBones)i).ToString();
objs[i].transform.position = displ[i];
objs[i].transform.localScale = new Vector3(0.03f, 0.03f, 0.03f);
VRPNTracker tr = objs[i].AddComponent <VRPNTracker>();
tr.tracker = tracker;
tr.server = server;
tr.sensor = i;
if (i == (int)Neuron.NeuronBones.RightUpLeg || i == (int)Neuron.NeuronBones.LeftUpLeg || i == (int)Neuron.NeuronBones.Spine)
{
prev = objs[(int)Neuron.NeuronBones.Hips];
}
else if (i == (int)Neuron.NeuronBones.RightShoulder || i == (int)Neuron.NeuronBones.LeftShoulder)
{
prev = objs[(int)Neuron.NeuronBones.Spine3];
}
else if (i == (int)Neuron.NeuronBones.RightHandThumb1 || i == (int)Neuron.NeuronBones.RightInHandIndex ||
i == (int)Neuron.NeuronBones.RightInHandMiddle || i == (int)Neuron.NeuronBones.RightInHandRing || i == (int)Neuron.NeuronBones.RightInHandPinky)
{
prev = objs[(int)Neuron.NeuronBones.RightHand];
}
else if (i == (int)Neuron.NeuronBones.LeftHandThumb1 || i == (int)Neuron.NeuronBones.LeftInHandIndex ||
i == (int)Neuron.NeuronBones.LeftInHandMiddle || i == (int)Neuron.NeuronBones.LeftInHandRing || i == (int)Neuron.NeuronBones.LeftInHandPinky)
{
prev = objs[(int)Neuron.NeuronBones.LeftHand];
}
else
{
if (i != 0)
{
prev = objs[i - 1];
}
else
{
prev = refCube;
}
}
// if( !(i>= (int)Neuron.NeuronBones.Head && i<= (int)Neuron.NeuronBones.Spine3) )
// {
objs[i].transform.parent = prev.transform;
// }
}
objs[(int)Neuron.NeuronBones.Hips].transform.parent = objs[0].transform;
// objs[(int)Neuron.NeuronBones.Spine].transform.parent = objs[(int)Neuron.NeuronBones.Hips].transform;
}
// Adds Trackers and TransfromDisplays to new GameObjects
private void SetUpDisplayTrackers()
{
foreach (var displayTracker in displayTrackerConfigs)
{
GameObject gameObject = new GameObject(displayTracker.tracker.id + ", " + displayTracker.display.id);
VRPNTracker tracker = gameObject.AddComponent <VRPNTracker>();
tracker.trackerID = displayTracker.tracker.id;
TransformDisplay display = gameObject.AddComponent <TransformDisplay>();
display.displayIDs = new List <string>(1)
{
displayTracker.display.id
};
}
}
protected override void Awake()
{
if (_ConnectionType == ConnectionTypes.DirectConnection)
{
_tracker = gameObject.AddComponent <VRPNTracker>();
_tracker.TrackerName = _VRPNSettings.ServerName;
_tracker.TrackerType = VRPNManager.Tracker_Types.vrpn_Tracker_Liberty;
_tracker.SensorNumber = _VRPNSettings.Sensor;
}
if (_manager == null)
{
_manager = gameObject.AddComponent <VRPNManager>();
_manager.ServerAddress = _VRPNSettings.ServerIPAdress;
}
_managerIndex++;
base.Awake();
}
/// <summary>
/// Creates Trackers and Transform displays automatically.
/// </summary>
private void CreateTrackerToDisplays()
{
// For creating the trackers
var trackerToDisplays = new Dictionary <string, TransformOffAxis>();
// Check every display for a tracker
foreach (JSONNode displayJSON in platformJSON["displays"].AsArray)
{
JSONNode trackerJSON = displayJSON["tracker"];
if (trackerJSON != null)
{
// Get the ids
string trackerID = trackerJSON.Value;
string displayID = displayJSON["id"];
// If the tracker already exists
if (trackerToDisplays.ContainsKey(trackerID))
{
trackerToDisplays[trackerID].displayIDs.Add(displayID);
}
else
{
// Create the tracking object
GameObject trackedObject = new GameObject(displayID + "-TransformDisplay");
// Set up the tracker
VRPNTracker tracker = trackedObject.AddComponent <VRPNTracker>();
tracker.trackerID = trackerID;
// Set up the display
var transformDisplay = trackedObject.AddComponent <TransformOffAxis>();
transformDisplay.displayIDs = new List <string>()
{
displayID
};
// Add it to the dictionary
trackerToDisplays.Add(trackerID, transformDisplay);
}
}
}
}
//VRPNTrackerRecording Constructor
public VRPNTrackerRecording(string nName, float nTime, VRPNTracker.TrackerReports nData)
{
name = nName;
reportTime = nTime;
data = nData;
e = data.list.GetEnumerator();
while (e.MoveNext())
{
VRPNTracker.TrackerReportNew report = e.Current;
int test;
if (!sensors.TryGetValue(report.sensor, out test))
{
sensors.Add(report.sensor, report.sensor);
}
lastTime = report.msg_time.tv_sec + (report.msg_time.tv_usec / 1000000f);
}
e = data.list.GetEnumerator();
}
void Start()
{
index = global_count;
global_count++;
global_index = global_count;
state_string = new string[4];
state_string[0] = "fov";
state_string[1] = "rotate";
state_string[2] = "xy";
state_string[3] = "xz";
tracker = (VRPNTracker)GetComponent(typeof(VRPNTracker));
sensorPosition = tracker.SensorOffset.localPosition;
sensorRotation = tracker.SensorOffset.localRotation;
if (Camera.main == null)
{
Debug.Log("No camera found");
}
else
{
fieldOfView = Camera.main.fieldOfView;
Component planeRender = GetComponentInChildren(typeof(Renderer));
if (planeRender != null)
{
plane = planeRender.gameObject.transform;
}
}
if (tracker == null)
{
Debug.Log("No tracker found");
}
else
{
savedApply = tracker.ApplyTracking;
savedDebug = tracker.ShowDebug;
}
}
//Método que se encarga de estar pendiente de los mensajes (posición y orientación) que se envían desde el tracker del dispositivo
void CambioEnUnTracker(string name, VRPNTracker.TrackerReport report)
{
//Info para el Log
if (estaMostrandoInfoTracker)
{
string text;
text = "Name: " + name + " Sensor: " + report.sensor;
for (int i = 0; i < report.pos.Length; i++)
{
text = text + " Pos " + i + ": " + report.pos[i];
}
for (int i = 0; i < report.quat.Length; i++)
{
text = text + " Quat " + i + ": " + report.quat[i];
}
Debug.Log(text);
}
//Si el control que se está revisando es el izquierdo
if (sensor == 0 && report.sensor == 0)
{
//Posición: Notar que 'y' y 'z' se encuentran intercambiados
this.transform.position = new Vector3((float)report.pos[0] * 10, (float)report.pos[2] * 10, (float)report.pos[1] * 10);
//Rotación: Notar que es un cuaternión y no ángulos de euler, y que nuevamente 'y' y 'z' se encuentran intercambiados, además que 'x', 'y', y 'z' se encuentran invertidos
this.transform.localRotation = new Quaternion(-1 * (float)report.quat[0], -1 * (float)report.quat[2], -1 * (float)report.quat[1], (float)report.quat[3]);
}
//Si el control que se está revisando es el derecho
else if (sensor == 1 && report.sensor == 1)
{
//Posición: Notar que 'y' y 'z' se encuentran intercambiados
this.transform.position = new Vector3((float)report.pos[0] * 10, (float)report.pos[2] * 10, (float)report.pos[1] * 10);
//Rotación: Notar que es un cuaternión y no ángulos de euler, y que nuevamente 'y' y 'z' se encuentran intercambiados, además que 'x', 'y', y 'z' se encuentran invertidos
this.transform.localRotation = new Quaternion(-1 * (float)report.quat[0], -1 * (float)report.quat[2], -1 * (float)report.quat[1], (float)report.quat[3]);
}
}
//Método que se encarga de estar pendiente de los mensajes (posición y orientación) que se envían desde el tracker del dispositivo
void trackerUpdate(string name, VRPNTracker.TrackerReport report)
{
//if (sensor == 0 && report.sensor == 0 || sensor == 1 && report.sensor == 1)
if (sensor == 0 && report.sensor == 0 || sensor == 1 && report.sensor == 1)
{
//Posición: Notar que 'y' y 'z' se encuentran intercambiados
//this.transform.position = new Vector3((float)report.pos[0] * 10, (float)report.pos[2] * 10, (float)report.pos[1] * 10);
//Rotación: Notar que es un cuaternión y no ángulos de euler, y que nuevamente 'y' y 'z' se encuentran intercambiados, además que 'x', 'y', y 'z' se encuentran invertidos
this.transform.localRotation = new Quaternion(-1 * (float)report.quat[0], -1 * (float)report.quat[2], -1 * (float)report.quat[1], (float)report.quat[3]);
currentRotation = new Quaternion(-1 * (float)report.quat[0], -1 * (float)report.quat[2], -1 * (float)report.quat[1], (float)report.quat[3]);
}
}
void Start () {
index = global_count;
global_count++;
global_index = global_count;
state_string = new string[4];
state_string[0] = "fov";
state_string[1] = "rotate";
state_string[2] = "xy";
state_string[3] = "xz";
tracker = (VRPNTracker)GetComponent(typeof(VRPNTracker));
sensorPosition = tracker.SensorOffset.localPosition;
sensorRotation = tracker.SensorOffset.localRotation;
if (Camera.main == null)
Debug.Log("No camera found");
else
{
fieldOfView = Camera.main.fieldOfView;
Component planeRender = GetComponentInChildren(typeof(Renderer));
if (planeRender != null)
plane = planeRender.gameObject.transform;
}
if (tracker == null)
Debug.Log("No tracker found");
else
{
savedApply = tracker.ApplyTracking;
savedDebug = tracker.ShowDebug;
}
}
void CreateTrackers()
{
// Assuming sensors for a body, not including a reference
if (takeHipsDisplacement)
{
objs = new GameObject[(int)NeuronBones.NumOfBones + 1];
}
else
{
objs = new GameObject[(int)NeuronBones.NumOfBones];
}
GameObject prev;
for (int i = 0; i < (int)NeuronBones.NumOfBones; i++)
{
objs[i] = new GameObject();
objs[i].name = ((NeuronBones)i).ToString();
VRPNTracker tr = objs[i].AddComponent <VRPNTracker>();
tr.tracker = tracker;
tr.server = server;
if (secondSuit)
{
tr.sensor = i + 60;
}
else
{
tr.sensor = i;
}
// Me parece que no es necesario, porque el esqueleto debe tener la jerarquia...
/*
* if (i == (int)BoneNames.RightUpLeg || i == (int)BoneNames.LeftUpLeg || i == (int)BoneNames.Spine)
* {
* prev = objs[(int)BoneNames.Hips];
* }
* else if (i == (int)BoneNames.RightShoulder || i == (int)BoneNames.LeftShoulder)
* {
* prev = objs[(int)BoneNames.Spine3];
* }
* else if (i == (int)BoneNames.RightHandThumb1 || i == (int)BoneNames.RightInHandIndex ||
* i == (int)BoneNames.RightInHandMiddle || i == (int)BoneNames.RightInHandRing || i == (int)BoneNames.RightInHandPinky)
* {
* prev = objs[(int)BoneNames.RightHand];
* }
* else if (i == (int)BoneNames.LeftHandThumb1 || i == (int)BoneNames.LeftInHandIndex ||
* i == (int)BoneNames.LeftInHandMiddle || i == (int)BoneNames.LeftInHandRing || i == (int)BoneNames.LeftInHandPinky)
* {
* prev = objs[(int)BoneNames.LeftHand];
* }
* else
* {
* if (i != 0)
* prev = objs[i - 1];
* else
* prev = gameObject;
* }
*
* objs[i].transform.parent = prev.transform;
*/
}
if (takeHipsDisplacement)
{
objs[(int)NeuronBones.NumOfBones] = new GameObject();
objs[(int)NeuronBones.NumOfBones].name = "HipsDisplacement";
VRPNTracker tr = objs[(int)NeuronBones.NumOfBones].AddComponent <VRPNTracker>();
tr.tracker = tracker;
tr.server = server;
tr.sensor = (int)NeuronBones.NumOfBones; // Assuming 59
}
}
