private void RigidBodyDataToState(sRigidBodyData rbData, OptitrackHiResTimer.Timestamp timestamp, OptitrackRigidBodyState rbState)
{
rbState.DeliveryTimestamp = timestamp;
rbState.Pose = new OptitrackPose
{
Position = new Vector3(-rbData.X, rbData.Y, rbData.Z),
Orientation = new Quaternion(-rbData.QX, rbData.QY, rbData.QZ, -rbData.QW),
};
}
/// <summary>
/// Event handler for NatNet frame delivery. Updates our simplified state representations.
/// NOTE: This executes in the context of the NatNetLib network service thread!
/// </summary>
/// <remarks>
/// Because the <see cref="sFrameOfMocapData"/> type is expensive to marshal, we instead utilize the
/// <see cref="NatNetClient.NativeFrameReceivedEventArgs.NativeFramePointer"/>, treating it as as opaque, and
/// passing it to some helper "accessor" functions to retrieve the subset of data we care about, using only
/// blittable types which do not cause any garbage to be allocated.
/// </remarks>
/// <param name="sender"></param>
/// <param name="eventArgs"></param>
private void OnNatNetFrameReceived(object sender, NatNetClient.NativeFrameReceivedEventArgs eventArgs)
{
// In the event of contention, drop the frame being delivered and return immediately.
// We don't want to stall NatNetLib's internal network service thread.
if (!Monitor.TryEnter(m_frameDataUpdateLock))
{
return;
}
try
{
// Update health markers.
m_receivedFrameSinceConnect = true;
Interlocked.Exchange(ref m_lastFrameDeliveryTimestamp.m_ticks, OptitrackHiResTimer.Now().m_ticks);
// Process received frame.
IntPtr pFrame = eventArgs.NativeFramePointer;
NatNetError result = NatNetError.NatNetError_OK;
// Update rigid bodies.
Int32 frameRbCount;
result = NaturalPoint.NatNetLib.NativeMethods.NatNet_Frame_GetRigidBodyCount(pFrame, out frameRbCount);
NatNetException.ThrowIfNotOK(result, "NatNet_Frame_GetRigidBodyCount failed.");
for (int rbIdx = 0; rbIdx < frameRbCount; ++rbIdx)
{
sRigidBodyData rbData = new sRigidBodyData();
result = NaturalPoint.NatNetLib.NativeMethods.NatNet_Frame_GetRigidBody(pFrame, rbIdx, out rbData);
NatNetException.ThrowIfNotOK(result, "NatNet_Frame_GetRigidBody failed.");
bool bTrackedThisFrame = (rbData.Params & 0x01) != 0;
if (bTrackedThisFrame == false)
{
continue;
}
// Ensure we have a state corresponding to this rigid body ID.
OptitrackRigidBodyState rbState = GetOrCreateRigidBodyState(rbData.Id);
rbState.DeliveryTimestamp = OptitrackHiResTimer.Now();
// Flip coordinate handedness from right to left by inverting X and W.
rbState.Pose.Position = new Vector3(-rbData.X, rbData.Y, rbData.Z);
rbState.Pose.Orientation = new Quaternion(-rbData.QX, rbData.QY, rbData.QZ, -rbData.QW);
}
// Update skeletons.
Int32 frameSkeletonCount;
result = NaturalPoint.NatNetLib.NativeMethods.NatNet_Frame_GetSkeletonCount(pFrame, out frameSkeletonCount);
NatNetException.ThrowIfNotOK(result, "NatNet_Frame_GetSkeletonCount failed.");
for (int skelIdx = 0; skelIdx < frameSkeletonCount; ++skelIdx)
{
Int32 skeletonId;
result = NaturalPoint.NatNetLib.NativeMethods.NatNet_Frame_Skeleton_GetId(pFrame, skelIdx, out skeletonId);
NatNetException.ThrowIfNotOK(result, "NatNet_Frame_Skeleton_GetId failed.");
// Ensure we have a state corresponding to this skeleton ID.
OptitrackSkeletonState skelState = GetOrCreateSkeletonState(skeletonId);
// Enumerate this skeleton's bone rigid bodies.
Int32 skelRbCount;
result = NaturalPoint.NatNetLib.NativeMethods.NatNet_Frame_Skeleton_GetRigidBodyCount(pFrame, skelIdx, out skelRbCount);
NatNetException.ThrowIfNotOK(result, "NatNet_Frame_Skeleton_GetRigidBodyCount failed.");
for (int boneIdx = 0; boneIdx < skelRbCount; ++boneIdx)
{
sRigidBodyData boneData = new sRigidBodyData();
result = NaturalPoint.NatNetLib.NativeMethods.NatNet_Frame_Skeleton_GetRigidBody(pFrame, skelIdx, boneIdx, out boneData);
NatNetException.ThrowIfNotOK(result, "NatNet_Frame_Skeleton_GetRigidBody failed.");
// In the context of frame data (unlike in the definition data), this ID value is a
// packed composite of both the asset/entity (skeleton) ID and member (bone) ID.
Int32 boneSkelId, boneId;
NaturalPoint.NatNetLib.NativeMethods.NatNet_DecodeID(boneData.Id, out boneSkelId, out boneId);
// TODO: Could pre-populate this map when the definitions are retrieved.
// Should never allocate after the first frame, at least.
if (skelState.BonePoses.ContainsKey(boneId) == false)
{
skelState.BonePoses[boneId] = new OptitrackPose();
}
// Flip coordinate handedness from right to left by inverting X and W.
skelState.BonePoses[boneId].Position = new Vector3(-boneData.X, boneData.Y, boneData.Z);
skelState.BonePoses[boneId].Orientation = new Quaternion(-boneData.QX, boneData.QY, boneData.QZ, -boneData.QW);
}
}
// Update markers
Int32 MarkerCount;
result = NaturalPoint.NatNetLib.NativeMethods.NatNet_Frame_GetLabeledMarkerCount(pFrame, out MarkerCount);
NatNetException.ThrowIfNotOK(result, "NatNet_Frame_GetSkeletonCount failed.");
m_latestMarkerStates.Clear();
for (int markerIdx = 0; markerIdx < MarkerCount; ++markerIdx)
{
sMarker marker = new sMarker();
result = NaturalPoint.NatNetLib.NativeMethods.NatNet_Frame_GetLabeledMarker(pFrame, markerIdx, out marker);
NatNetException.ThrowIfNotOK(result, "NatNet_Frame_GetLabeledMarker failed.");
// Flip coordinate handedness
Vector3 markerPos = new Vector3(-marker.X, marker.Y, marker.Z);
OptitrackMarkerState markerState = GetOrCreateMarkerState(marker.Id);
markerState.Position = markerPos;
markerState.Size = marker.Size;
markerState.Labeled = (marker.Params & 0x10) == 0;
markerState.Id = marker.Id;
}
}
catch (Exception ex)
{
Debug.LogError(GetType().FullName + ": OnNatNetFrameReceived encountered an exception.", this);
Debug.LogException(ex, this);
}
finally
{
Monitor.Exit(m_frameDataUpdateLock);
}
}
