/*
* Desc: Used by the MoveServer to parse 'b' packets to the controller.
* msg format: b msgNo controller tx ty tz ux uy trackingMove
*/
public Boolean updatePositionData(String[] positionData)
{
int c = int.Parse(positionData[2]);
if (c == controllerNumber)
{
if (!active)
{
active = true;
}
// Used to set the controllers properties
// Set our new values from the packet.
Vector3 prevPosRaw = positionRaw;
positionRaw.Set(float.Parse(positionData[3]) / 100f, float.Parse(positionData[4]) / 100f, float.Parse(positionData[5]) / 100f);
//Debug.Log(positionRaw.ToString());
positionNorm.Set(float.Parse(positionData[6]), float.Parse(positionData[7]), 0);
currentlyTracked = positionData[8] == "0" ? false : true;
// Process the new values.
double newTime = System.DateTime.Now.Ticks * .0000001;
if (currTime_b != -1)
{
delta_t_b = newTime - currTime_b;
}
currTime_b = newTime;
// Store the last smoothed position for velocity calc.
Vector3 prevPosSmooth = positionSmoothed.getSmoothedVector();
positionSmoothed.updateRaw(positionRaw);
positionNormSmooothed.updateRaw(positionNorm);
// Calculate velocity.
velocityRaw.Set((float)((positionRaw.x - prevPosRaw.x) / delta_t_b), (float)((positionRaw.x - prevPosRaw.x) / delta_t_b), (float)((positionRaw.x - prevPosRaw.x) / delta_t_b));
if (prevPosSmooth != null)
{
Vector3 posSmooth = positionSmoothed.getSmoothedVector();
velocitySmoothed.Set((float)((posSmooth.x - prevPosSmooth.x) / delta_t_b), (float)((posSmooth.x - prevPosSmooth.x) / delta_t_b), (float)((posSmooth.x - prevPosSmooth.x) / delta_t_b));
}
return(true);
}
return(false);
}
public Vector3 getPositionNormSmooth()
{
return(positionNormSmooothed.getSmoothedVector());
}
public Vector3 getMagnetometerSmooth()
{
return(magnetometerSmoothed.getSmoothedVector());;
}
public Vector3 getAccelerometerSmooth()
{
return(accelerometerSmoothed.getSmoothedVector());
}
public Vector3 getGyroscopeSmooth()
{
return(gyroscopeSmoothed.getSmoothedVector());
}
