/// <summary>
/// Checks the Tracker-Status and Updates the Position, Rotation and Velocity.
/// </summary>
protected override void UpdateTracker()
{
// Setting 'trackingOK' to false (In case we have an Error and return before the end of the method).
trackingOK = false;
// Check if OpenVR-System is found correctly.
if (OpenVR.System == null)
{
Debug.LogError("<b>DHUI</b> | DroneTracking_Vive | OpenVR-System was not found.");
return;
}
// If we didn't set the Action Pose.
if (_VRTrackerActionPose == null)
{
// Check if there is an Active Action called "VRTracker".
SteamVR_Action_Pose ap = SteamVR_Input.GetAction <SteamVR_Action_Pose>("VRTracker");
if (ap.GetActive(SteamVR_Input_Sources.Any))
{
_VRTrackerActionPose = ap;
droneTrackerIndex = _VRTrackerActionPose.GetDeviceIndex(SteamVR_Input_Sources.Any);
}
else
{
Debug.LogError("<b>DHUI</b> | DroneTracking_Vive | No Active VR-Tracker was found.");
return;
}
}
// Copy Position and Rotation to the 'trackedTransform' and save the Velocity.
// If 'trackTransformAsLocal' is true: Copy the real tracked pose to 'trackedTransform' as localPosition & localRotation
if (trackTransformAsLocal)
{
trackedTransform.localPosition = _VRTrackerActionPose.GetLocalPosition(SteamVR_Input_Sources.Any) - trackerToDroneOffset_Position;
trackedTransform.localRotation = _VRTrackerActionPose.GetLocalRotation(SteamVR_Input_Sources.Any) * Quaternion.Euler(trackerToDroneOffset_Rotation);
}
// If 'trackTransformAsLocal' is false (= default): Copy the real tracked pose to 'trackedTransform' as (global) position & rotation
else
{
trackedTransform.position = _VRTrackerActionPose.GetLocalPosition(SteamVR_Input_Sources.Any) - trackerToDroneOffset_Position;
trackedTransform.rotation = _VRTrackerActionPose.GetLocalRotation(SteamVR_Input_Sources.Any) * Quaternion.Euler(trackerToDroneOffset_Rotation);
}
velocity = _VRTrackerActionPose.GetVelocity(SteamVR_Input_Sources.Any);
// Calculate the current pose for our device. [See https://github.com/ValveSoftware/openvr/wiki/IVRSystem::GetDeviceToAbsoluteTrackingPose]
TrackedDevicePose_t[] trackedDevicePoses = new TrackedDevicePose_t[OpenVR.k_unMaxTrackedDeviceCount];
OpenVR.System.GetDeviceToAbsoluteTrackingPose(ETrackingUniverseOrigin.TrackingUniverseStanding, 0.0f, trackedDevicePoses);
TrackedDevicePose_t droneTrackedDevicePose = trackedDevicePoses[droneTrackerIndex];
// If the 'TrackedDevicePose' of the drone is valid, connected and running ok, we can set the 'trackingOK' to true.
if (droneTrackedDevicePose.bPoseIsValid && droneTrackedDevicePose.bDeviceIsConnected && droneTrackedDevicePose.eTrackingResult == ETrackingResult.Running_OK)
{
trackingOK = true;
}
}
private void handlePose()
{
if (debugPoseMarkerStart != null && poseAction.GetActive(_controller))
{
Vector3 posePos = poseAction.GetLocalPosition(_controller);
debugPoseMarkerStart.transform.localPosition = posePos;
LineRenderer line = debugPoseMarkerStart.GetComponent <LineRenderer>();
line.transform.position = debugPoseMarkerStart.transform.position;
if (line != null)
{
line.SetPosition(0, debugPoseMarkerStart.transform.position);
line.transform.localRotation = poseAction.GetLocalRotation(_controller);
RaycastHit hit;
// Shorten the default magnitude of the beam by 0.3
Vector3 direction = poseAction.GetLocalRotation(_controller) * vectorFoward * 0.3f;
Vector3 endPoint = line.transform.position + direction * 10000;
line.SetPosition(1, endPoint);
debugPoseMarkerEnd.transform.position = endPoint;
Ray ray = new Ray(line.transform.position, direction);
if (Physics.Raycast(ray, out hit))
{
//Debug.Log("Hit!");
debugPoseMarkerEnd.transform.position = hit.point;
line.SetPosition(1, hit.point);
handleHit(hit);
}
else
{
//Debug.Log("Missed!");
//line.SetPosition(1, line.transform.position + direction * 10000);
//debugPoseMarkerEnd.transform.position = line.transform.position + direction * 10000;
handleMiss();
}
}
}
}
