private MixedRealityPose GetPoseData(ref MlHandTracking.MLKeyPointState keyPoint, ref MlSnapshot.MLSnapshot snapshot)
{
var pose = poseIdentity;
if (keyPoint.is_valid)
{
if (MlSnapshot.MLSnapshotGetTransform(snapshot, keyPoint.frame_id, ref tempTransform).IsOk)
{
pose.Position = tempTransform.position;
}
else
{
pose = poseIdentity;
Debug.LogError($"{nameof(MlSnapshot.MLSnapshotGetTransform)} Failed!");
}
}
else
{
pose = poseIdentity;
}
return(pose);
}
private void UpdateControllerData(MlInput.MLInputControllerState inputState, MlController.MLControllerState controllerState)
{
var lastState = TrackingState;
lastControllerPose = currentControllerPose;
var bestStream = controllerState.stream[0];
for (int i = 0; i < controllerState.stream.Length; i++)
{
if (!controllerState.stream[i].is_active)
{
continue;
}
if (bestStream.mode <= controllerState.stream[i].mode)
{
bestStream = controllerState.stream[i];
}
}
if (!MlPerception.MLPerceptionGetSnapshot(out var snapshot).IsOk)
{
Debug.LogError("Failed to get perception snapshot!");
}
if (bestStream.is_active)
{
if (!MlSnapshot.MLSnapshotGetTransform(snapshot, bestStream.coord_frame_controller, ref controllerTransform).IsOk)
{
Debug.LogError($"Failed to get snapshot transform for controller {controllerState.controller_id}:{bestStream}");
}
}
if (!MlPerception.MLPerceptionReleaseSnapshot(snapshot).IsOk)
{
Debug.LogError("Failed to release perception snapshot!");
}
if (inputState.type == MlInput.MLInputControllerType.Device)
{
// The source is either a hand or a controller that supports pointing.
// We can now check for position and rotation.
IsPositionAvailable = bestStream.mode > MlController.MLControllerMode.Imu3Dof;
if (IsPositionAvailable)
{
IsPositionApproximate = controllerState.accuracy <= MlController.MLControllerCalibAccuracy.Medium;
}
else
{
IsPositionApproximate = false;
}
IsRotationAvailable = bestStream.is_active;
// Devices are considered tracked if we receive position OR rotation data from the sensors.
TrackingState = (IsPositionAvailable || IsRotationAvailable) ? TrackingState.Tracked : TrackingState.NotTracked;
}
else
{
// The input source does not support tracking.
TrackingState = TrackingState.NotApplicable;
}
currentControllerPose.Position = controllerTransform.position;
currentControllerPose.Rotation = controllerTransform.rotation;
// Raise input system events if it is enabled.
if (lastState != TrackingState)
{
InputSystem?.RaiseSourceTrackingStateChanged(InputSource, this, TrackingState);
}
if (TrackingState == TrackingState.Tracked && lastControllerPose != currentControllerPose)
{
if (IsPositionAvailable && IsRotationAvailable)
{
InputSystem?.RaiseSourcePoseChanged(InputSource, this, currentControllerPose);
}
else if (IsPositionAvailable && !IsRotationAvailable)
{
InputSystem?.RaiseSourcePositionChanged(InputSource, this, currentControllerPose.Position);
}
else if (!IsPositionAvailable && IsRotationAvailable)
{
InputSystem?.RaiseSourceRotationChanged(InputSource, this, currentControllerPose.Rotation);
}
}
}
