private void listen()
{
while (connected)
{
try
{
if (oscDataType == OscDataType.OscMessage)
{
OscMessage packet = receiver.Receive();
if (packet != null)
{
lock (processQueue)
{
//Debug.Log( "adding packets " + processQueue.Count );
processQueue.Add((OscElement)packet);
}
}
else
{
Console.WriteLine("null packet");
}
}
else
{
OscBundle packet = receiver.ReceiveBundle();
if (packet != null)
{
lock (processQueue)
{
foreach (OscElement element in packet.Elements)
{
//Debug.Log( "adding packets " + processQueue.Count );
processQueue.Add(element);
}
}
}
else
{
Console.WriteLine("null packet");
}
}
}
catch (Exception e)
{
Debug.Log(e.Message);
Console.WriteLine(e.Message);
}
}
if (receiver != null)
{
receiver.Dispose();
receiver = null;
}
}
static void Main(string[] args)
{
// 1. Instantiate BT connection to NXT
// You can peek in the class file for more documentation
NXTBluetooth bt = new NXTBluetooth(@"Tox NXT");
// 2. Instantiate the OSC receiver
NetReader stream = new UdpReader(8000);
// this is the main handler when an OSC message is recieved, per 100ms to not clog the BT
Timer events = new Timer(new TimerCallback(
delegate(object state) {
object o;
o = stream.Receive(); // 3. receive the info
if (o != null) {
// 4. convert the information
OscElement element = (OscElement)o;
//Console.WriteLine(string.Format("Message Received [{0}]: {1}",
// element.Address,
// element.Args[0]));
object arg;
// get the value passed
if (element.Args != null &&
element.Args.Length > 0 &&
(arg = element.Args[0]) != null) {
// 5. check on which value it is then send the message to BT
int value = 0;
switch (element.Address) {
case "/1/leftTrack":
value = 10000 + (int)((float)element.Args[0] * 100);
bt.SendString(value.ToString());
break;
case "/1/rightTrack":
value = 20000 + (int)((float)element.Args[0] * 100);
bt.SendString(value.ToString());
break;
case "/1/turret":
value = 30000 + (int)((float)element.Args[0] * 100);
bt.SendString(value.ToString());
break;
case "/1/stop":
value = 40000;
bt.SendString(value.ToString());
break;
default:
// ignore
break;
}
Console.WriteLine(value.ToString());
}
}
}), null, 0, 1);
// timer starts immediately, ticks every 1ms
Console.ReadKey(); // press any key to quit
}
static void Main(string[] args)
{
// 1. Instantiate BT connection to NXT
// You can peek in the class file for more documentation
NXTBluetooth bt = new NXTBluetooth(@"Tox NXT");
// 2. Instantiate the OSC receiver
NetReader stream = new UdpReader(8000);
// this is the main handler when an OSC message is recieved, per 100ms to not clog the BT
Timer events = new Timer(new TimerCallback(
delegate(object state) {
object o;
o = stream.Receive(); // 3. receive the info
if (o != null)
{
// 4. convert the information
OscElement element = (OscElement)o;
//Console.WriteLine(string.Format("Message Received [{0}]: {1}",
// element.Address,
// element.Args[0]));
object arg;
// get the value passed
if (element.Args != null &&
element.Args.Length > 0 &&
(arg = element.Args[0]) != null)
{
// 5. check on which value it is then send the message to BT
int value = 0;
switch (element.Address)
{
case "/1/leftTrack":
value = 10000 + (int)((float)element.Args[0] * 100);
bt.SendString(value.ToString());
break;
case "/1/rightTrack":
value = 20000 + (int)((float)element.Args[0] * 100);
bt.SendString(value.ToString());
break;
case "/1/turret":
value = 30000 + (int)((float)element.Args[0] * 100);
bt.SendString(value.ToString());
break;
case "/1/stop":
value = 40000;
bt.SendString(value.ToString());
break;
default:
// ignore
break;
}
Console.WriteLine(value.ToString());
}
}
}), null, 0, 1);
// timer starts immediately, ticks every 1ms
Console.ReadKey(); // press any key to quit
}
// Update is called once per frame
void Update()
{
/* BoneInfos
* Index Bone Name Position in Hierarchy
* 0 Upper Chest Root
* 1 Mid Torso Child of Upper Chest
* 2 Lower Torso Child of Mid Torso
* 3 Left Upper Leg Child of Lower Torso
* 4 Left Lower Leg Child of Left Upper Leg
* 5 Left Foot Child of Left Lower Leg
* 6 Right Upper Leg Child of Lower Torso
* 7 Right Lower Leg Child of Right Upper Leg
* 8 Right Foot Child of Right Lower Leg
* 9 Neck Child of Upper Chest
* 10 Head Child of Neck
* 11 Right Clavicle Child of Upper Chest
* 12 Right Shoulder Child of Clavicle
* 13 Right Upper Arm Child of Shoulder
* 14 Right Lower Arm Child of Upper Arm
* 15 Right Hand Child of Lower Arm
* 16 Left Clavicle Child of Upper Chest
* 17 Left Shoulder Child of Left Clavicle
* 18 Left Upper Arm Child of Left Shoulder
* 19 Left Lower Arm Child of Left Upper Arm
* 20 Left Hand Child of Left Lower Arm
*/
#region MoCap Ansteuerung
if (reader != null)
{
bundle = (OscBundle)reader.Receive(); //Aktuelle MoCap Position empfangen
}
bundle = null; //for testing not connected environment
if (bundle != null)
{
int i = 0;
foreach (OscElement m in bundle.Elements)
{
skeleton[i] = (float)m.Args[0];
i++;
}
//print("Recieved Bundle");
//Save for once on pressed button
if (Input.GetKeyDown(KeyCode.F1))
{
print("Saving F1");
saveSkeleton("pose1");
}
#region Saving Multiple Positions
if (Input.GetKeyDown(KeyCode.F2))
{
saveSkeleton("pose2");
}
if (Input.GetKeyDown(KeyCode.F3))
{
saveSkeleton("pose3");
}
if (Input.GetKeyDown(KeyCode.F4))
{
saveSkeleton("pose4");
}
if (Input.GetKeyDown(KeyCode.F5))
{
saveSkeleton("pose5");
}
if (Input.GetKeyDown(KeyCode.F6))
{
saveSkeleton("pose6");
}
if (Input.GetKeyDown(KeyCode.F7))
{
saveSkeleton("pose7");
}
if (Input.GetKeyDown(KeyCode.F8))
{
saveSkeleton("pose8");
}
if (Input.GetKeyDown(KeyCode.F9))
{
saveSkeleton("pose9");
}
if (Input.GetKeyDown(KeyCode.F10))
{
saveSkeleton("pose10");
}
#endregion
mocap = true;
mocapcontrolling = false;
}
else
{
//Load for once if no bundle found
//if successfull, set mocap true, else quit
if (posenumber == 0) //no pose has been set yet
{
mocap = loadSkeleton(skeleton, "pose6");
posenumber = 6;
}
#region LoadPoses
if (Input.GetKeyDown(KeyCode.Alpha1) && posenumber != 1)
{
mocap = loadSkeleton(skeleton, "pose1");
posenumber = 1;
}
if (Input.GetKeyDown(KeyCode.Alpha2) && posenumber != 2)
{
mocap = loadSkeleton(skeleton, "pose2");
posenumber = 2;
}
if (Input.GetKeyDown(KeyCode.Alpha3) && posenumber != 3)
{
mocap = loadSkeleton(skeleton, "pose3");
posenumber = 3;
}
if (Input.GetKeyDown(KeyCode.Alpha4) && posenumber != 4)
{
mocap = loadSkeleton(skeleton, "pose4");
posenumber = 4;
}
if (Input.GetKeyDown(KeyCode.Alpha5) && posenumber != 5)
{
mocap = loadSkeleton(skeleton, "pose5");
posenumber = 5;
}
if (Input.GetKeyDown(KeyCode.Alpha6) && posenumber != 6)
{
mocap = loadSkeleton(skeleton, "pose6");
posenumber = 6;
}
if (Input.GetKeyDown(KeyCode.Alpha7) && posenumber != 7)
{
mocap = loadSkeleton(skeleton, "pose7");
posenumber = 7;
}
if (Input.GetKeyDown(KeyCode.Alpha8) && posenumber != 8)
{
mocap = loadSkeleton(skeleton, "pose8");
posenumber = 8;
}
if (Input.GetKeyDown(KeyCode.Alpha9) && posenumber != 9)
{
mocap = loadSkeleton(skeleton, "pose9");
posenumber = 9;
}
if (Input.GetKeyDown(KeyCode.Alpha0) && posenumber != 10)
{
mocap = loadSkeleton(skeleton, "pose10");
posenumber = 10;
}
#endregion
mocapcontrolling = true;
if (Input.GetKeyDown(KeyCode.C))
{
if (posenumber != 7)
{
previouspose = posenumber;
loadSkeleton(skeleton, "pose7");
posenumber = 7;
}
}
if (Input.GetKeyUp(KeyCode.C))
{
mocap = loadSkeleton(skeleton, "pose" + previouspose);
posenumber = previouspose;
}
}
if (mocap)
{
//Speichern in Matrizen zur Weiterverarbeitung
int x = 0;
for (int anz = 0; anz < 21; anz++)
{
matrix [anz].m00 = skeleton [x++];
matrix [anz].m01 = skeleton [x++];
matrix [anz].m02 = skeleton [x++];
matrix [anz].m03 = skeleton [x++];
matrix [anz].m10 = skeleton [x++];
matrix [anz].m11 = skeleton [x++];
matrix [anz].m12 = skeleton [x++];
matrix [anz].m13 = skeleton [x++];
matrix [anz].m20 = skeleton [x++];
matrix [anz].m21 = skeleton [x++];
matrix [anz].m22 = skeleton [x++];
matrix [anz].m23 = skeleton [x++];
matrix [anz].m30 = skeleton [x++];
matrix [anz].m31 = skeleton [x++];
matrix [anz].m32 = skeleton [x++];
matrix [anz].m33 = skeleton [x++];
}
for (int anz = 0; anz < 21; anz++)
{
//Rotation nicht für den Kopf
if (anz != 10)
{
bones [anz].transform.localRotation = MoCapUtils.GetRotation(matrix [anz]);
}
sphere[anz].transform.localPosition = MoCapUtils.GetPosition(matrix [anz]);
}
//Manual Controlling
if (mocapcontrolling)
{
if (Input.GetKey(KeyCode.C))
{
AvatarRoot.transform.Translate(new Vector3(Input.GetAxis("Vertical") * -0.03f, 0, Input.GetAxis("Horizontal") * 0.03f));
}
else
{
AvatarRoot.transform.Translate(new Vector3(Input.GetAxis("Vertical") * -0.06f, 0, Input.GetAxis("Horizontal") * 0.06f));
}
if (Input.GetKey(KeyCode.Q))
{
AvatarRoot.Rotate(new Vector3(0, 1, 0), -5f);
}
if (Input.GetKey(KeyCode.E))
{
AvatarRoot.Rotate(new Vector3(0, 1, 0), 5f);
}
#region LimittoPlayarea
float avatarx, avatarz;
if (AvatarRoot.position.z > 1.7f)
{
avatarz = 1.7f;
}
else
{
if (AvatarRoot.position.z < -1.5f)
{
avatarz = -1.5f;
}
else
{
avatarz = AvatarRoot.position.z;
}
}
if (AvatarRoot.position.x > 1.3f)
{
avatarx = 1.3f;
}
else
{
if (AvatarRoot.position.x < -1.3f)
{
avatarx = -1.3f;
}
else
{
avatarx = AvatarRoot.position.x;
}
}
AvatarRoot.transform.position = new Vector3(avatarx, 0, avatarz);
#endregion
}
else //controlling via MoCap, locking manual controlling
{
AvatarRoot.transform.position = new Vector3(0, 0, 0);
if (initPosition == Vector3.zero)
{
initPosition = sphere[1].transform.localPosition;
}
//Rotation im Stillstand
if (sphere[1].transform.localPosition.x > initPosition.x - 0.01f && sphere[1].transform.localPosition.x <initPosition.x + 0.01f &&
sphere[1].transform.localPosition.y> initPosition.y - 0.01f && sphere[1].transform.localPosition.y <initPosition.y + 0.01f &&
sphere[1].transform.localPosition.z> initPosition.z - 0.01f && sphere[1].transform.localPosition.z < initPosition.z + 0.01f)
{
//AvatarRoot.rotation = Quaternion.Euler(0f,90f,0f);
//Debug.Log("Still");
}
else
{
AvatarRoot.rotation = Quaternion.Euler(0f, 0f, 0f);
//Debug.Log ("Bewegt");
}
}
/*
* //Head and Neck
* bones [9].Rotate (180, 180, 0);
* //bones[10].Rotate(180,180,0);
* //left Arm
* for (int i=16; i<=20; i++)
* bones [i].Rotate (0, 90, 90);
* //right Arm
* for (int i=11; i<=15; i++)
* bones [i].Rotate (0, -90, -90);
* //Foots
* bones [5].Rotate (90, 0, 0);
* bones [8].Rotate (90, 0, 0);
*
*
*
*
*
* //Fernglastest
* //9= Nacken 10 = Kopf 15=Handrechts 20=Handlinks
* if (Math.Abs ((MoCapUtils.GetPosition (matrix [10]) - MoCapUtils.GetPosition (matrix [15])).magnitude) < maxFernglas &&
* Math.Abs ((MoCapUtils.GetPosition (matrix [10]) - MoCapUtils.GetPosition (matrix [20])).magnitude) < maxFernglas &&
* Math.Abs ((MoCapUtils.GetPosition (matrix [15]) - MoCapUtils.GetPosition (matrix [20])).magnitude) < maxFernglas) {
* glas = true; //Fernglas Aktiv
* for (int i = 0; i < hands.Length; i++)
* hands [i].enabled = false;
* } else {
* glas = false; //Fernglas nicht aktiv
* for (int i = 0; i < hands.Length; i++)
* hands [i].enabled = true;
*
* }
*/
}
#endregion
}
