public static Quaternion vrpnTrackerQuat(string address, int channel)
{
Quaternion quaternion = VRPN.vrpnTrackerQuat(address, channel);
Vector3 euler = quaternion.eulerAngles;
return(Quaternion.Euler(euler.x, -euler.y, -euler.z));
}
private IEnumerator Rotation()
{
while (true)
{
Quaternion rotation = VRPN.vrpnTrackerQuat(trackerAddress, channel);
if (convertToLeft)
{
rotation.x = Interlocked.Exchange(ref rotation.z, rotation.x);
rotation.y *= -1;
transform.localRotation = rotation * Quaternion.Euler(trackerRotationOffset);
}
else
{
Vector3 fixedRotation = new Vector3();
fixedRotation.x = trackerRotationOffset.z;
fixedRotation.y = trackerRotationOffset.y;
fixedRotation.z = trackerRotationOffset.x;
transform.localRotation = rotation * Quaternion.Euler(fixedRotation);
}
yield return(null);
}
}
public static Quaternion vrpnTrackerQuat(string address, int channel)
{
var quaternion = VRPN.vrpnTrackerQuat(address, channel);
return(new Quaternion(-quaternion.x, -quaternion.z, -quaternion.y, quaternion.w));
//Quaternion quaternion = VRPN.vrpnTrackerQuat(address, channel);
//if (quaternion == new Quaternion(-505, -505, -505, -505))
// return Quaternion.identity;
////Vector3 euler = quaternion.eulerAngles;
//quaternion = ConvertRightHandedToLeftHandedQuaternion(quaternion);
//Vector3 euler = quaternion2Euler(quaternion, RotSeq.zyx);
////quaternion = ConvertToRightHand(euler);
////euler = new Vector3(euler.x, euler.y, euler.z);
////quaternion = Quaternion.Euler(euler);
////quaternion = ConvertRightHandedToLeftHandedQuaternion(quaternion);
////euler = Quaternion.ToEulerAngles(quaternion)*Mathf.Rad2Deg;
////euler = new Vector3(euler.x, euler.z, euler.y);
////quaternion = Quaternion.Euler(euler);
//return Quaternion.Euler(-euler.x, -euler.y, -euler.z);
//return quaternion;
//return new Quaternion(-quaternion.x, -quaternion.z, -quaternion.y, quaternion.w);
}
private void OnAnimatorIK(int layerIndex)
{
transform.localPosition = new Vector3(controller.center.x, offset.y - 0.1f, controller.center.z);
if (animator)
{
//Head movement
animator.SetBoneLocalRotation(HumanBodyBones.Head, convertHeadRotation(headTransform.rotation));
//Spine movement
Quaternion spineRotation = VRPN.vrpnTrackerQuat("CC_FLAT_PUCK0@" + CC_CONFIG.innovatorIP, 0)
* Quaternion.AngleAxis(-90, Vector3.up) * Quaternion.AngleAxis(90, Vector3.forward);
spineRotation = Quaternion.Euler(90f + spineRotation.eulerAngles.y, spineRotation.eulerAngles.x,
90f - spineRotation.eulerAngles.z);
if (mirror)
{
spineRotation = Quaternion.Euler(spineRotation.eulerAngles.x,
-spineRotation.eulerAngles.y,
spineRotation.eulerAngles.z);
}
animator.SetBoneLocalRotation(HumanBodyBones.Spine, spineRotation);
//Hip movement
//Hand movement
if (mirror)
{
handUpdate(AvatarIKGoal.LeftHand, rightMirrorGoal.localPosition, rightMirrorGoal.localRotation);
handUpdate(AvatarIKGoal.RightHand, leftMirrorGoal.localPosition, leftMirrorGoal.localRotation);
}
else
{
//Left hand goal local tranformations
leftHandGoal.transform.localPosition = leftHandTransform.localPosition;
leftHandGoal.transform.localRotation = leftHandTransform.rotation * Quaternion.LookRotation(transform.forward);
/*
* Quaternion temp = leftHandGoal.transform.rotation;
* if (reverseX) {
* leftHandGoal.transform.rotation = new Quaternion(temp.x, temp.y, temp.z, -temp.w);
* }
* if (reverseZ) {
* leftHandGoal.transform.rotation = new Quaternion(temp.x, temp.y, -temp.z, temp.w);
* }
*/
//Right hand goal local transformations
rightHandGoal.transform.localPosition = rightHandTransform.localPosition;
rightHandGoal.transform.localRotation = rightHandTransform.localRotation * Quaternion.LookRotation(transform.forward);
}
//Update hand transforms
handUpdate(AvatarIKGoal.LeftHand,
leftHandGoal.transform.position,
leftHandGoal.transform.rotation);
handUpdate(AvatarIKGoal.RightHand,
rightHandGoal.transform.position,
rightHandGoal.transform.rotation);
}
}
private IEnumerator Rotation()
{
while (true)
{
transform.localRotation = VRPN.vrpnTrackerQuat(trackerAddress, channel);
yield return(null);
}
}
// Update is called once per frame
void Update()
{
if (trackPosition)
{
transform.position = VRPN.vrpnTrackerPos(obj + "@" + host, channel);
}
if (trackRotation)
{
transform.rotation = VRPN.vrpnTrackerQuat(obj + "@" + host, channel);
}
}
// Use this for initialization
void Start()
{
//Initial calls to VRPN for puck 0, 1, 2 entries
for (int i = 0; i < 3; i++)
{
VRPN.vrpnTrackerPos("CC_FLAT_PUCK" + i + "@" + CC_CONFIG.innovatorIP, 0);
VRPN.vrpnTrackerQuat("CC_FLAT_PUCK" + i + "@" + CC_CONFIG.innovatorIP, 0);
}
headReference = transform.GetChild(0).gameObject.transform;
leftWandReference = transform.GetChild(1).gameObject.transform;
rightWandReference = transform.GetChild(2).gameObject.transform;
waistReference = transform.GetChild(3).gameObject.transform;
leftFootReference = transform.GetChild(4).gameObject.transform;
rightFootReference = transform.GetChild(5).gameObject.transform;
}
void Update()
{
foreach (VRPNConnection vrpnC in _connectionList.Values)
{
if (vrpnC._VRPNObject != null)
{
Vector3 tmpPos = VRPN.vrpnTrackerPos(vrpnC._VRPNObject, 0);
Quaternion tmpQuat = VRPN.vrpnTrackerQuat(vrpnC._VRPNObject, 0);
Vector3 pos = new Vector3(-tmpPos.x, tmpPos.z, -tmpPos.y);
Quaternion quat = new Quaternion(tmpQuat.x, -tmpQuat.z, tmpQuat.y, tmpQuat.w);
vrpnC._pos = pos;
vrpnC._quat = quat;
//NetworkServer.SendToAll (MESSAGE_DATA, new VRPNMessage (pos, quat));
NetworkServer.SendToClient(vrpnC._connectionID, MESSAGE_DATA, new VRPNMessage(pos, quat));
}
}
}
// Use this for initialization
void Start()
{
animator = GetComponent <Animator>();
controller = CC_CANOE.CanoeCharacterController();
parentTransform = transform.GetComponentInParent <Transform>();
headTransform = CC_CANOE.HeadGameObject().gameObject.transform;
leftHandTransform = CC_CANOE.WandGameObject(Wand.Left).gameObject.transform;
rightHandTransform = CC_CANOE.WandGameObject(Wand.Right).gameObject.transform;
//Initial call to chest puck
VRPN.vrpnTrackerQuat("CC_FLAT_PUCK0@" + CC_CONFIG.innovatorIP, 0);
//Brings model out of ground
offset = new Vector3(0, 2f * transform.GetChild(0).GetComponent <SkinnedMeshRenderer>().bounds.extents.x, 0);
transform.localPosition = offset;
leftMirrorGoal = transform.parent.GetChild(1).transform;
rightMirrorGoal = transform.parent.GetChild(2).transform;
}
/// <summary>
/// Obtain tracker information.
/// </summary>
private void getTrackerInformation()
{
if (CC_CONFIG.IsDestiny())
{
Vector3 position = new Vector3(0, 0, 0);
Quaternion rotation = Quaternion.identity;
if (canoe.isVive())
{
//Update head ClusterInput entry
position = ClusterInput.GetTrackerPosition("head");
rotation = ClusterInput.GetTrackerRotation("head");
//Angle puck so flat section is bottom
//Change "Camera Forward Tilt" in editor to change tilt if hat/helmet is angled
rotation *= Quaternion.AngleAxis(90 - canoe.cameraForwardTilt, Vector3.left);
rotation *= Quaternion.AngleAxis(180, Vector3.up);
convertHeadTracking(position, rotation);
//Update left controller ClusterInput entries
position = ClusterInput.GetTrackerPosition("leftWand");
rotation = ClusterInput.GetTrackerRotation("leftWand");
convertWandTracking(Wand.Left, position, rotation);
//Update right controller ClusterInput entries
position = ClusterInput.GetTrackerPosition("rightWand");
rotation = ClusterInput.GetTrackerRotation("rightWand");
convertWandTracking(Wand.Right, position, rotation);
//Moving the Character Controller with the head movement
float same = CC_CANOE.CanoeCharacterController().center.y;
CC_CANOE.CanoeCharacterController().center = new Vector3(headPosition.x, same, headPosition.z);
}
else if (canoe.isOptiTrack())
{
//Head position and rotation
position = ClusterInput.GetTrackerPosition("head");
//position = new Vector3(position.x, position.y, -position.z);
rotation = ClusterInput.GetTrackerRotation("head");
convertHeadTracking(position, rotation);
//Left wand position and rotation
position = ClusterInput.GetTrackerPosition("leftWand");
rotation = ClusterInput.GetTrackerRotation("leftWand");
convertWandTracking(Wand.Left, position, rotation);
//Right wand position and rotation
position = ClusterInput.GetTrackerPosition("rightWand");
rotation = ClusterInput.GetTrackerRotation("rightWand");
convertWandTracking(Wand.Right, position, rotation);
//Moving the Character Controller with the head movement
float same = CC_CANOE.CanoeCharacterController().center.y;
CC_CANOE.CanoeCharacterController().center = new Vector3(headPosition.x, same, headPosition.z);
}
}
else
{
if (CC_CONFIG.IsInnovator())
{
//if (checkInnovatorTracking()) {
headPosition = convertToLeftHandPosition(VRPN.vrpnTrackerPos("CC_FLAT_HEAD@" + CC_CONFIG.innovatorIP, 0));
headRotation = convertToLeftHandRotation(VRPN.vrpnTrackerQuat("CC_FLAT_HEAD@" + CC_CONFIG.innovatorIP, 0) * Quaternion.AngleAxis(90 - canoe.cameraForwardTilt, Vector3.left) * Quaternion.AngleAxis(180, Vector3.up));
//Moving the Character Controller with the head movement
float same = CC_CANOE.CanoeCharacterController().center.y;
CC_CANOE.CanoeCharacterController().center = new Vector3(headPosition.x, same, headPosition.z);
//Wands rotation and position.
wandPosition[0] = convertToLeftHandPosition(VRPN.vrpnTrackerPos("CC_FLAT_WAND0@" + CC_CONFIG.innovatorIP, 0));
wandPosition[1] = convertToLeftHandPosition(VRPN.vrpnTrackerPos("CC_FLAT_WAND1@" + CC_CONFIG.innovatorIP, 0));
wandRotation[0] = convertToLeftHandRotation(VRPN.vrpnTrackerQuat("CC_FLAT_WAND0@" + CC_CONFIG.innovatorIP, 0));
wandRotation[1] = convertToLeftHandRotation(VRPN.vrpnTrackerQuat("CC_FLAT_WAND1@" + CC_CONFIG.innovatorIP, 0));
}
else
{
setDefaultPositions();
}
}
}
private Quaternion convertPuckRotation(int puckNum)
{
return(convertRotation(
convertToLeftHandRotation(VRPN.vrpnTrackerQuat("CC_FLAT_PUCK" + puckNum + "@" + CC_CONFIG.innovatorIP, 0) * Quaternion.AngleAxis(90, Vector3.left) * Quaternion.AngleAxis(180, Vector3.up))
));
}
public static Quaternion vrpnTrackerQuat(string address, int channel)
{
var quaternion = VRPN.vrpnTrackerQuat(address, channel);
return(new Quaternion(quaternion.x, quaternion.z, quaternion.y, -quaternion.w));
}
private void GetTrackerData(string name, int sensor)
{
QuatVRPN = VRPN.vrpnTrackerQuat(name, sensor);
}