/// <summary> /// Draws marker visualizations in the editor viewport for any selected OptitrackRigidBody component. /// </summary> void OnSceneGUI() { OptitrackRigidBody rb = target as OptitrackRigidBody; if (!rb || rb.StreamingClient == null) { return; } rb.StreamingClient._EnterFrameDataUpdateLock(); try { OptitrackRigidBodyDefinition rbDef = rb.StreamingClient.GetRigidBodyDefinitionById(rb.RigidBodyId); OptitrackRigidBodyState rbState = rb.StreamingClient.GetLatestRigidBodyState(rb.RigidBodyId); if (rbDef != null && rbState != null) { for (int iMarker = 0; iMarker < rbDef.Markers.Count; ++iMarker) { OptitrackRigidBodyDefinition.MarkerDefinition marker = rbDef.Markers[iMarker]; // Effectively treat the RB GameObject transform as a rigid transform by negating its local scale. Vector3 markerPos = marker.Position; markerPos.Scale(new Vector3(1.0f / rb.transform.localScale.x, 1.0f / rb.transform.localScale.y, 1.0f / rb.transform.localScale.z)); markerPos = rb.transform.TransformPoint(markerPos); float kMarkerSize = 0.02f; Matrix4x4 markerTransform = Matrix4x4.TRS(markerPos, Quaternion.identity, new Vector3(kMarkerSize, kMarkerSize, kMarkerSize)); for (int iPass = 0; iPass < m_markerMaterial.passCount; ++iPass) { if (m_markerMaterial.SetPass(iPass)) { Graphics.DrawMeshNow(m_markerMesh, markerTransform); } } } } } finally { rb.StreamingClient._ExitFrameDataUpdateLock(); } }
/// <summary>Request data descriptions from the host, then update our definitions.</summary> /// <exception cref="NatNetException"> /// Thrown by <see cref="NatNetClient.GetDataDescriptions"/> if the request to the server fails. /// </exception> public void UpdateDefinitions() { // This may throw an exception if the server request times out or otherwise fails. m_dataDescs = m_client.GetDataDescriptions(); m_rigidBodyDefinitions.Clear(); m_skeletonDefinitions.Clear(); // Translate rigid body definitions. for (int nativeRbDescIdx = 0; nativeRbDescIdx < m_dataDescs.RigidBodyDescriptions.Count; ++nativeRbDescIdx) { sRigidBodyDescription nativeRb = m_dataDescs.RigidBodyDescriptions[nativeRbDescIdx]; OptitrackRigidBodyDefinition rbDef = new OptitrackRigidBodyDefinition { Id = nativeRb.Id, Name = nativeRb.Name, Markers = new List <OptitrackRigidBodyDefinition.MarkerDefinition>(nativeRb.MarkerCount), }; // Populate nested marker definitions. for (int nativeMarkerIdx = 0; nativeMarkerIdx < nativeRb.MarkerCount; ++nativeMarkerIdx) { int positionOffset = nativeMarkerIdx * Marshal.SizeOf(typeof(MarkerDataVector)); IntPtr positionPtr = new IntPtr(nativeRb.MarkerPositions.ToInt64() + positionOffset); int labelOffset = nativeMarkerIdx * Marshal.SizeOf(typeof(Int32)); IntPtr labelPtr = new IntPtr(nativeRb.MarkerRequiredLabels.ToInt64() + labelOffset); MarkerDataVector nativePos = (MarkerDataVector)Marshal.PtrToStructure(positionPtr, typeof(MarkerDataVector)); Int32 nativeLabel = Marshal.ReadInt32(labelPtr); OptitrackRigidBodyDefinition.MarkerDefinition markerDef = new OptitrackRigidBodyDefinition.MarkerDefinition { Position = new Vector3(nativePos.Values[0], nativePos.Values[1], nativePos.Values[2]), RequiredLabel = nativeLabel, }; rbDef.Markers.Add(markerDef); } m_rigidBodyDefinitions.Add(rbDef); } // Translate skeleton definitions. for (int nativeSkelDescIdx = 0; nativeSkelDescIdx < m_dataDescs.SkeletonDescriptions.Count; ++nativeSkelDescIdx) { sSkeletonDescription nativeSkel = m_dataDescs.SkeletonDescriptions[nativeSkelDescIdx]; OptitrackSkeletonDefinition skelDef = new OptitrackSkeletonDefinition { Id = nativeSkel.Id, Name = nativeSkel.Name, Bones = new List <OptitrackSkeletonDefinition.BoneDefinition>(nativeSkel.RigidBodyCount), }; // Populate nested bone definitions. for (int nativeBoneIdx = 0; nativeBoneIdx < nativeSkel.RigidBodyCount; ++nativeBoneIdx) { sRigidBodyDescription nativeBone = nativeSkel.RigidBodies[nativeBoneIdx]; OptitrackSkeletonDefinition.BoneDefinition boneDef = new OptitrackSkeletonDefinition.BoneDefinition { Id = nativeBone.Id, ParentId = nativeBone.ParentId, Name = nativeBone.Name, Offset = new Vector3(-nativeBone.OffsetX, nativeBone.OffsetY, nativeBone.OffsetZ), }; skelDef.Bones.Add(boneDef); } m_skeletonDefinitions.Add(skelDef); } }