/// <summary>
/// Obtain smoothed position (x, y, z) and orientation (x, y, z, w) data
/// </summary>
private void ExtractData()
{
// Get next OSC Packet
_OSCReader.GetOSCPacket();
// Position Data
_XCoord = _AVG_X.SmoothPositionData(_OSCReader.Position(Values.X));
// z and y axis reversed for unity reference frame
_YCoord = _AVG_Y.SmoothPositionData(_OSCReader.Position(Values.Z));
_ZCoord = _AVG_Z.SmoothPositionData(_OSCReader.Position(Values.Y));
// Rotation Data
_QuartX = _AVG_QtX.SmoothOrientationData(_OSCReader.Orientation(Values.Qt_X));
_QuartY = _AVG_QtY.SmoothOrientationData(_OSCReader.Orientation(Values.Qt_Y));
_QuartZ = _AVG_QtZ.SmoothOrientationData(_OSCReader.Orientation(Values.Qt_Z));
_QuartW = _AVG_QtW.SmoothOrientationData(_OSCReader.Orientation(Values.Qt_W));
Debug.Log(string.Format("Position: [x:{0} y:{1} z:{2}], Rotation: [x:{3:f2} y:{4:f2} z:{5:f2} w:{6:f2}]", _XCoord, _YCoord, _ZCoord, _QuartX, _QuartY, _QuartZ, _QuartW));
}
/// <summary>
/// Obtain smoothed position (x, y, z) and orientation (p, r, y) data
/// </summary>
private void ExtractData()
{
// Get next OSC Packet
_OSCReader.GetOSCPacket();
// Position Data
_XCoord = _AVG_X.SmoothPositionData(_OSCReader.Position(Values.X));
// z and y axis reversed for unity reference frame
_YCoord = _AVG_Y.SmoothPositionData(_OSCReader.Position(Values.Z));
_ZCoord = _AVG_Z.SmoothPositionData(_OSCReader.Position(Values.Y));
// Rotation Data
_Pitch = _AVG_Pitch.SmoothOrientationData(_OSCReader.Orientation(Values.P));
_Roll = _AVG_Roll.SmoothOrientationData(_OSCReader.Orientation(Values.R));
_Yaw = _AVG_Yaw.SmoothOrientationData(_OSCReader.Orientation(Values.Yaw)) - 90; // Rotate 90 deg to compensate for Unity Reference Frame / Pozyx difference
Debug.Log(string.Format("Position: [x:{0} y:{1} z:{2}], Rotation: [p:{3:f2} r:{4:f2} y:{5:f2}]", _XCoord, _YCoord, _ZCoord, _Pitch, _Roll, _Yaw));
// Convert Euler (Rotation) Angles to Quaternions
_QT = Quaternion.Euler(_Roll, _Yaw, -_Pitch);
}