private Pose GetPoseInput(ulong action, XRNodeState node)
{
InputPoseActionData_t data = new InputPoseActionData_t();
var res = OpenVR.Input.GetPoseActionData(
action,
XRDevice.GetTrackingSpaceType() == TrackingSpaceType.RoomScale ? ETrackingUniverseOrigin.TrackingUniverseStanding : ETrackingUniverseOrigin.TrackingUniverseSeated,
0,
ref data,
(uint)System.Runtime.InteropServices.Marshal.SizeOf(typeof(InputPoseActionData_t)),
node.nodeType == XRNode.LeftHand ? leftHand : rightHand
);
if (res != EVRInputError.None)
{
throw new ApplicationException("Failed to get pose input data " + node.nodeType + ": " + res);
}
var matRaw = data.pose.mDeviceToAbsoluteTracking;
var mat = new Matrix4x4(
new Vector4(matRaw.m0, matRaw.m1, matRaw.m2, 0),
new Vector4(matRaw.m4, matRaw.m5, matRaw.m6, 0),
new Vector4(matRaw.m8, matRaw.m9, matRaw.m10, 0),
new Vector4(0, 0, 0, 1)
);
var rot = mat.rotation;
// rot.x *= -1;
rot.z *= -1;
return(new Pose {
pos = new Vector3(matRaw.m3, matRaw.m7, -matRaw.m11),
rot = rot
});
}
/// <summary><strong>[Should not be called by user code]</strong>
/// Updates the data for this action and this input source. Sends related events.
/// </summary>
public virtual void UpdateValue(bool skipStateAndEventUpdates)
{
lastChanged = changed;
lastPoseActionData = poseActionData;
lastLocalPosition = localPosition;
lastLocalRotation = localRotation;
lastVelocity = velocity;
lastAngularVelocity = angularVelocity;
EVRInputError err = OpenVR.Input.GetPoseActionData(handle, universeOrigin, predictedSecondsFromNow,
ref poseActionData, poseActionData_size, inputSourceHandle);
if (err != EVRInputError.None)
{
Debug.LogError("<b>[SteamVR]</b> GetPoseActionData error (" + fullPath + "): " + err.ToString() +
" Handle: " + handle.ToString() + ". Input source: " + inputSource.ToString());
}
SetCacheVariables();
changed = GetChanged();
if (changed)
{
changedTime = updateTime + predictedSecondsFromNow;
}
if (skipStateAndEventUpdates == false)
{
CheckAndSendEvents();
}
}
internal override void UpdateData()
{
_actionData = OpenVRFacade.GetPoseActionData(handle);
HmdMatrix34_t rawMatrix = _actionData.pose.mDeviceToAbsoluteTracking;
_pose = new Pose(rawMatrix.GetPosition(), rawMatrix.GetRotation());
}
public ActionTransform transform = null; //姿勢
public PoseAction(InputPoseActionData_t Data, OriginSource OriginInfo)
{
Available = Data.bActive;
Origin = OriginInfo;
TrackedDevicePose_t Pose = Data.pose;
SteamVR_Utils.RigidTransform trans = new SteamVR_Utils.RigidTransform(Pose.mDeviceToAbsoluteTracking);
transform = new ActionTransform();
if (OriginInfo != null)
{
transform.deviceid = OriginInfo.DeviceIndex;
}
else
{
transform.deviceid = InvalidDeviceIndex;
}
//右手系・左手系の変換をした
transform.velocity[0] = Pose.vVelocity.v0;
transform.velocity[1] = Pose.vVelocity.v1;
transform.velocity[2] = -Pose.vVelocity.v2;
transform.angularVelocity[0] = -Pose.vAngularVelocity.v0;
transform.angularVelocity[1] = -Pose.vAngularVelocity.v1;
transform.angularVelocity[2] = Pose.vAngularVelocity.v2;
transform.position = trans.pos;
transform.rotation = trans.rot;
}
//姿勢を取得する(生データ)
private void GetPoseActionDataRaw(string ActionPath, out InputPoseActionData_t data, ETrackingUniverseOrigin UniverseOrigin = ETrackingUniverseOrigin.TrackingUniverseStanding, string RestrictToDevicePath = "")
{
ReadyCheck(); //実行可能な状態かチェック
EVRInputError inputError = EVRInputError.None;
data = new InputPoseActionData_t();
var size = (uint)System.Runtime.InteropServices.Marshal.SizeOf(typeof(InputPoseActionData_t));
ulong handle = GetActionHandle(ActionPath); //無効なハンドルならthrowされる
//制約デバイス指定されていれば適用
ulong DeviceHandle = OpenVR.k_ulInvalidInputValueHandle;
if (RestrictToDevicePath != "")
{
DeviceHandle = GetInputSourceHandle(RestrictToDevicePath); //無効なハンドルならthrowされる
}
//取得処理
inputError = vrinput.GetPoseActionData(handle, UniverseOrigin, PredictedTime, ref data, size, DeviceHandle);
if (inputError == EVRInputError.WrongType)
{
//姿勢ではない
throw new ArgumentException(inputError.ToString());
}
if (inputError != EVRInputError.None)
{
//致命的エラー
throw new IOException(inputError.ToString());
}
return;
}
public static void UpdateOrAddPoseInputActionData(InputPoseActionData_t data, InputActionInfo info)
{
var source = handleToSource[info.sourceHandle];
if (!poseInputActionData.ContainsKey(source))
{
poseInputActionData[source] = new ConcurrentDictionary <string, Pose>();
}
poseInputActionData[source][info.pathEnd] = new Pose(data.pose);
}
private void GetActionData()
{
if (_lastFrame != Time.frameCount)
{
_actionData = OpenVRWrapper.GetPoseActionDataForNextFrame(handle);
HmdMatrix34_t rawMatrix = _actionData.pose.mDeviceToAbsoluteTracking;
_pose = new Pose(GetPosition(rawMatrix), GetRotation(rawMatrix));
}
_lastFrame = Time.frameCount;
}
internal static InputPoseActionData_t GetPoseActionData(ulong actionHandle, ETrackingUniverseOrigin origin = ETrackingUniverseOrigin.TrackingUniverseStanding)
{
InputPoseActionData_t actionData = default;
EVRInputError error = OpenVR.Input.GetPoseActionData(actionHandle, origin, 0, ref actionData, (uint)Marshal.SizeOf(typeof(InputPoseActionData_t)), OpenVR.k_ulInvalidInputValueHandle);
if (error != EVRInputError.None && error != EVRInputError.NoData)
{
throw new OpenVRInputException($"Could not get pose data for action with handle {actionHandle}: {error}", error);
}
return(actionData);
}
public ControllerEvent()
{
switch (EventType())
{
case EventTypeEmun.Digital:
Digital = new InputDigitalActionData_t();
break;
case EventTypeEmun.Analog:
Analog = new InputAnalogActionData_t();
break;
case EventTypeEmun.Pose:
Pose = new InputPoseActionData_t();
Position = new HmdVector3_t();
break;
}
}
/// <summary><strong>[Should not be called by user code]</strong>
/// Updates the data for this action and this input source. Sends related events.
/// </summary>
public virtual void UpdateValue(bool skipStateAndEventUpdates)
{
lastChanged = changed;
lastPoseActionData = poseActionData;
lastLocalPosition = localPosition;
lastLocalRotation = localRotation;
lastVelocity = velocity;
lastAngularVelocity = angularVelocity;
EVRInputError err;
if (framesAhead == 0)
{
err = OpenVR.Input.GetPoseActionDataForNextFrame(handle, universeOrigin, ref poseActionData, poseActionData_size, inputSourceHandle);
}
else
{
err = OpenVR.Input.GetPoseActionDataRelativeToNow(handle, universeOrigin, framesAhead * (Time.timeScale / SteamVR.instance.hmd_DisplayFrequency), ref poseActionData, poseActionData_size, inputSourceHandle);
}
if (err != EVRInputError.None)
{
Debug.LogError("<b>[SteamVR]</b> GetPoseActionData error (" + fullPath + "): " + err.ToString() + " Handle: " + handle.ToString() + ". Input source: " + inputSource.ToString());
}
if (active)
{
SetCacheVariables();
changed = GetChanged();
}
if (changed)
{
changedTime = updateTime;
}
if (skipStateAndEventUpdates == false)
{
CheckAndSendEvents();
}
}
