public override void receivePose(SimplePose newPose)
{
lock (thisLock)
{
m_pose = UbiMeasurementUtils.ubitrackToUnity(newPose);
}
}
void FixedUpdate()
{
switch (ubitrackEvent)
{
case UbitrackEventType.Pull:
{
ulong lastTimestamp = UbiMeasurementUtils.getUbitrackTimeStamp();
if (m_position3DListPull.getPositionList3D(m_simplePosition3DList, lastTimestamp))
{
m_data = UbiMeasurementUtils.ubitrackToUnity(m_simplePosition3DList);
}
break;
}
case UbitrackEventType.Push:
{
Measurement <List <Vector3> > tmp = m_listReceiver.getData();
if (tmp != null)
{
m_data = tmp;
}
break;
}
default:
break;
}
}
public override void receivePositionList3D(SimplePositionList3D position3dList)
{
lock (thisLock)
{
m_data = UbiMeasurementUtils.ubitrackToUnity(position3dList);
}
}
void Update()
{
if (sending)
{
switch (ubitrackEvent)
{
case UbitrackEventType.Push:
{
SimplePosition2D simplePos2D = new SimplePosition2D();
simplePos2D.x = sendPos2D.x;
simplePos2D.y = sendPos2D.y;
simplePos2D.timestamp = UbiMeasurementUtils.getUbitrackTimeStamp();
m_poseReciever.receivePosition2D(simplePos2D);
if (once)
{
this.enabled = false;
}
break;
}
case UbitrackEventType.Pull:
default:
break;
}
}
}
void Update()
{
if (sending)
{
switch (ubitrackEvent)
{
case UbitrackEventType.Push:
{
SimplePosition3D simplePos3D = new SimplePosition3D();
Vector3 output = Vector3.zero;
UbiMeasurementUtils.coordsysemChange(sendPos, ref output);
simplePos3D.x = output.x;
simplePos3D.y = output.y;
simplePos3D.z = output.z;
simplePos3D.timestamp = UbiMeasurementUtils.getUbitrackTimeStamp();
m_poseReciever.receivePosition3D(simplePos3D);
if (once)
{
this.enabled = false;
}
break;
}
case UbitrackEventType.Pull:
default:
break;
}
}
}
protected void processData()
{
if (m_pose != null)
{
UbiUnityUtils.setGameObjectPose(relative, gameObject, m_pose.data());
if (m_lastData != null)
{
Vector3 posDiff = m_pose.data().pos - m_lastData.data().pos;
ulong timeDiff = m_pose.time() - m_lastData.time();
float timeDiffSeconds = (float)timeDiff * 1E-9f;
m_meanPosVelocity = posDiff.magnitude / timeDiffSeconds;
}
m_lastData = m_pose;
triggerPull(m_pose.time());
}
if (m_lastData != null)
{
ulong timeDiff = UbiMeasurementUtils.getUbitrackTimeStamp() - m_lastData.time();
float timeDiffMilliSeconds = (float)timeDiff * 1E-6f;
m_timeout = timeDiffMilliSeconds > TimeoutInMilliSeconds;
}
}
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 override void receiveErrorPosition3D(SimpleErrorPosition3D position3d)
{
lock (thisLock)
{
m_data = UbiMeasurementUtils.ubitrackToUnity(position3d);
}
}
public void applyProjectionMatrix()
{
SimpleMatrix3x3 matrix = new SimpleMatrix3x3();
if (m_matrixPull.getMatrix3x3(matrix, UbiMeasurementUtils.getUbitrackTimeStamp()))
{
intrinsics = UbiMeasurementUtils.ubitrackToUnity(matrix);
projectionMatrix = CameraUtils.constructProjectionMatrix3x3(intrinsics.data(), standardWidth, standardHeight, nearClipping, farClipping);
if (Flip_X_Y)
{
Matrix4x4 rotMat = Matrix4x4.TRS(Vector3.zero, Quaternion.Euler(0, 0, -90), Vector3.one);
projectionMatrix = rotMat * projectionMatrix;
}
//Debug.Log(projectionMatrix);
if (GetComponent <Camera>() != null)
{
GetComponent <Camera>().projectionMatrix = projectionMatrix;
//Debug.Log("set projection matrix of camera");
}
}
else
{
throw new Exception("unable to get 3x3 matrix");
}
}
public void applyProjectionMatrix(ulong givenTimestamp, float screenWidth, float screenHeight)
{
Debug.Log("Trying to pull with timestamp " + givenTimestamp);
SimpleMatrix3x3 matrix = new SimpleMatrix3x3();
if (m_matrixPull.getMatrix3x3(matrix, givenTimestamp))
{
intrinsics = UbiMeasurementUtils.ubitrackToUnity(matrix);
projectionMatrix = CameraUtils.constructProjectionMatrix3x3(intrinsics.data(), screenWidth, screenHeight, nearClipping, farClipping);
if (Flip_X_Y)
{
Matrix4x4 rotMat = Matrix4x4.TRS(Vector3.zero, Quaternion.Euler(0, 0, -90), Vector3.one);
projectionMatrix = rotMat * projectionMatrix;
}
//Debug.Log(projectionMatrix);
if (GetComponent <Camera>() != null)
{
GetComponent <Camera>().projectionMatrix = projectionMatrix;
//Debug.Log("set projection matrix of camera");
}
}
else
{
throw new Exception("unable to get 3x3 matrix");
}
}
public override void receiveMatrix3x4(SimpleMatrix3x4 newMatrix)
{
lock (thisLock)
{
m_matrix = UbiMeasurementUtils.ubitrackToUnity(newMatrix);
}
}
void FixedUpdate()
{
m_pose = null;
switch (ubitrackEvent)
{
case UbitrackEventType.Pull: {
ulong lastTimestamp = UbiMeasurementUtils.getUbitrackTimeStamp();
if (m_posePull.getPose(m_simplePose, lastTimestamp))
{
m_pose = UbiMeasurementUtils.ubitrackToUnity(m_simplePose);
}
break;
}
case UbitrackEventType.Push: {
m_pose = m_poseReceiver.getData();
break;
}
default:
break;
}
if (m_pose != null)
{
UbiUnityUtils.setGameObjectPose(relative, gameObject, m_pose.data());
}
}
void FixedUpdate()
{
if (ubitrackEvent == UbitrackEventType.Pull && UseTriggerToPull)
{
return;
}
m_pose = null;
switch (ubitrackEvent)
{
case UbitrackEventType.Pull: {
ulong lastTimestamp = UbiMeasurementUtils.getUbitrackTimeStamp();
if (m_posePull.getPose(m_simplePose, lastTimestamp))
{
m_pose = UbiMeasurementUtils.ubitrackToUnity(m_simplePose);
}
break;
}
case UbitrackEventType.Push: {
m_pose = m_poseReceiver.getData();
break;
}
default:
break;
}
//Debug.Log ("m_simplePose: " + m_simplePose);
processData();
}
public override void receivePosition3D(SimplePosition3D newPosition)
{
lock (thisLock)
{
m_position = UbiMeasurementUtils.ubitrackToUnity(newPosition);
}
}
public override void pullNow(ulong lastTimestamp)
{
if (m_posePull.getPose(m_simplePose, lastTimestamp))
{
m_pose = UbiMeasurementUtils.ubitrackToUnity(m_simplePose);
}
processData();
}
public void sendButtonEvent(int eventID)
{
SimpleButton b = new SimpleButton();
b.timestamp = UbiMeasurementUtils.getUbitrackTimeStamp();
b._event = eventID;
m_button.receiveButton(b);
}
public void send(ulong timestamp)
{
SimplePosition3D simplePos3D = new SimplePosition3D();
Vector3 output = Vector3.zero;
UbiMeasurementUtils.coordsysemChange(sendPos, ref output);
simplePos3D.x = output.x;
simplePos3D.y = output.y;
simplePos3D.z = output.z;
simplePos3D.timestamp = timestamp;
m_poseReciever.receivePosition3D(simplePos3D);
if (once)
{
this.enabled = false;
}
}
private void ReceiveData()
{
client = new UdpClient(port);
while (m_keepRunning)
{
try
{
IPEndPoint anyIP = new IPEndPoint(IPAddress.Any, 0);
byte[] data = client.Receive(ref anyIP);
// Bytes mit der UTF8-Kodierung in das Textformat kodieren.
string text = Encoding.UTF8.GetString(data);
Debug.Log(text);
string[] words = text.Split(' ');
Quaternion q = new Quaternion(float.Parse(words[12]),
float.Parse(words[13]),
float.Parse(words[14]),
float.Parse(words[15]));
Vector3 t = new Vector3(float.Parse(words[18]),
float.Parse(words[19]),
float.Parse(words[20]));
m_newData = new Pose();
UbiMeasurementUtils.coordsysemChange(t, ref m_newData.pos);
UbiMeasurementUtils.coordsysemChange(q, ref m_newData.rot);
}
catch (Exception err)
{
Debug.Log(err.ToString());
}
}
client.Close();
}
public static Pose readErrorPoseAsPoseFromString(string input)
{
char[] splitter = { ' ' };
NumberFormatInfo nfi = new CultureInfo("en-US", false).NumberFormat;
nfi.NumberDecimalSeparator = ".";
string[] strList = input.Split(splitter);
Pose result = new Pose();
Vector3 pos = new Vector3(float.Parse(strList[0 + 16], nfi), float.Parse(strList[1 + 16], nfi), float.Parse(strList[2 + 16], nfi));
Quaternion rot = new Quaternion(float.Parse(strList[0 + 10], nfi), float.Parse(strList[1 + 10], nfi), float.Parse(strList[2 + 10], nfi), float.Parse(strList[3 + 10], nfi));
UbiMeasurementUtils.coordsysemChange(pos, ref result.pos);
UbiMeasurementUtils.coordsysemChange(rot, ref result.rot);
return(result);
}
void FixedUpdate()
{
m_pose = null;
switch (ubitrackEvent)
{
case UbitrackEventType.Pull:
{
ulong lastTimestamp = UbiMeasurementUtils.getUbitrackTimeStamp();
if (m_posePull.getErrorPosition3D(m_simplePose, lastTimestamp))
{
m_pose = UbiMeasurementUtils.ubitrackToUnity(m_simplePose);
}
break;
}
case UbitrackEventType.Push:
{
m_pose = m_poseReceiver.getData();
break;
}
default:
break;
}
if (m_pose != null)
{
if (relative == UbitrackRelativeToUnity.Local)
{
gameObject.transform.localPosition = m_pose.data().position;
}
else
{
gameObject.transform.position = m_pose.data().position;
}
m_lastpose = m_pose;
}
}
void FixedUpdate()
{
m_position = null;
switch (ubitrackEvent)
{
case UbitrackEventType.Pull: {
ulong lastTimestamp = UbiMeasurementUtils.getUbitrackTimeStamp();
if (m_positionPull.getPosition3D(m_simplePosition, lastTimestamp))
{
m_position = UbiMeasurementUtils.ubitrackToUnity(m_simplePosition);
}
break;
}
case UbitrackEventType.Push: {
m_position = m_positionReceiver.getData();
break;
}
default:
break;
}
if (m_position != null)
{
UbiUnityUtils.setGameObjectPosition(relative, gameObject, m_position.data());
m_lastData = m_position;
}
if (m_lastData != null)
{
ulong timeDiff = UbiMeasurementUtils.getUbitrackTimeStamp() - m_lastData.time();
float timeDiffMilliSeconds = (float)timeDiff * 1E-6f;
m_timeout = timeDiffMilliSeconds > TimeoutInMilliSeconds;
}
}
