// Update is called once per frame
void Update()
{
//get 2d head orientation
rotation = headSet.centerEyeAnchor.rotation;
//get euler angles from quaternion
Vector3 eulerRotation = rotation.eulerAngles;
if (eulerRotation.y < 270.0f && eulerRotation.y > 180.0f)
{
eulerRotation.y = 271.0f;
}
if (eulerRotation.y < 180.0f && eulerRotation.y > 90.0f)
{
eulerRotation.y = 89.0f;
}
if (eulerRotation.x < 270.0f && eulerRotation.x > 180.0f)
{
eulerRotation.x = 271.0f;
}
if (eulerRotation.x < 180.0f && eulerRotation.x > 900.0f)
{
eulerRotation.x = 89.0f;
}
if (OVRInput.Get(OVRInput.RawButton.B))
{
if (eulerRotation.y <= 90.0f && eulerRotation.x <= 90.0f)
{
XAngle = eulerRotation.x * Mathf.Deg2Rad;
YAngle = -eulerRotation.y * Mathf.Deg2Rad;
float[] new_joint_angles = { YAngle, XAngle };
ExecuteAngle(joint_names, new_joint_angles);
}
if (eulerRotation.y >= 270.0f && eulerRotation.x >= 270.0f)
{
XAngle = -(360.0f - eulerRotation.x) * Mathf.Deg2Rad;
YAngle = (360.0f - eulerRotation.y) * Mathf.Deg2Rad;
float[] new_joint_angles = { YAngle, XAngle };
ExecuteAngle(joint_names, new_joint_angles);
}
if (eulerRotation.y <= 90.0f && eulerRotation.x >= 270.0f)
{
XAngle = -(360.0f - eulerRotation.x) * Mathf.Deg2Rad;
YAngle = -eulerRotation.y * Mathf.Deg2Rad;
float[] new_joint_angles = { YAngle, XAngle };
ExecuteAngle(joint_names, new_joint_angles);
}
if (eulerRotation.y >= 270.0f && eulerRotation.x <= 90.0f)
{
XAngle = eulerRotation.x * Mathf.Deg2Rad;
YAngle = (360.0f - eulerRotation.y) * Mathf.Deg2Rad;
float[] new_joint_angles = { YAngle, XAngle };
ExecuteAngle(joint_names, new_joint_angles);
}
else
{
print("ENTERED IN ELSE, THE ANGLES ARE X: " + XAngle + " EULER X: " + eulerRotation.x + " Y: " + YAngle + " EULER Y: " + eulerRotation.y + "\n");
}
}
status = jointAnglesWithSpeedActionClient.GetStatusString();
feedback = jointAnglesWithSpeedActionClient.GetFeedbackString();
result = jointAnglesWithSpeedActionClient.GetResultString();
}
// Update is called once per frame
void Update()
{
status = jointAnglesWithSpeedActionClient.GetStatusString();
feedback = jointAnglesWithSpeedActionClient.GetFeedbackString();
result = jointAnglesWithSpeedActionClient.GetResultString();
}