Merge branch 'main' of https://kindnick-git.duckdns.org/kindnick/Streamingle_URP
This commit is contained in:
Yamo4490
commit
30c4d469c9
@ -38,12 +38,16 @@ namespace KindRetargeting
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[HideInInspector] public float HipsWeightOffset = 1f;
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// 로컬-월드 축 방향 정규화 계수
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private Vector3 axisNormalizer = Vector3.one;
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// 축 매핑: 월드 방향(Right/Up/Forward)을 담당하는 로컬 축을 저장
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// 예: localAxisForWorldRight = (0, 0, 1) 이면 로컬 Z축이 월드 Right 방향을 담당
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// 부호는 방향을 나타냄: (0, 0, -1)이면 로컬 -Z가 월드 Right를 담당
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private Vector3 localAxisForWorldRight = Vector3.right; // 월드 좌우(Right)를 담당하는 로컬 축
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private Vector3 localAxisForWorldUp = Vector3.up; // 월드 상하(Up)를 담당하는 로컬 축
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private Vector3 localAxisForWorldForward = Vector3.forward; // 월드 앞뒤(Forward)를 담당하는 로컬 축
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[Header("축 정규화 정보 (읽기 전용)")]
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[SerializeField, HideInInspector]
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private Vector3 debugAxisNormalizer = Vector3.one;
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[SerializeField]
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public Vector3 debugAxisNormalizer = Vector3.one;
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// HumanPoseHandler를 이용하여 원본 및 대상 아바타의 포즈를 관리
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private HumanPoseHandler sourcePoseHandler;
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@ -86,6 +90,12 @@ namespace KindRetargeting
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[SerializeField, Range(-1f, 1f)]
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private float kneeFrontBackWeight = 0.4f; // 무릎 앞/뒤 위치 조정 가중치
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[Header("발 IK 위치 조정")]
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[SerializeField, Range(-1f, 1f)]
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private float footFrontBackOffset = 0f; // 발 앞뒤 오프셋 (+: 앞, -: 뒤)
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[SerializeField, Range(-1f, 1f)]
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private float footInOutOffset = 0f; // 발 안쪽/바깥쪽 오프셋 (+: 벌리기, -: 모으기)
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[Header("바닥 높이 조정")]
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[SerializeField, Range(-1f, 1f)] public float floorHeight = 0f; // 바닥 높이 조정값
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@ -135,6 +145,8 @@ namespace KindRetargeting
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public float hipsOffsetZ;
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public float kneeInOutWeight;
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public float kneeFrontBackWeight;
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public float footFrontBackOffset; // 발 앞뒤 오프셋
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public float footInOutOffset; // 발 안쪽/바깥쪽 오프셋
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public float floorHeight;
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public EnumsList.FingerCopyMode fingerCopyMode;
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public bool useMotionFilter;
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@ -151,6 +163,40 @@ namespace KindRetargeting
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// 각 손가락 관절별로 필터 버퍼를 관리하는 Dictionary 추가
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private Dictionary<int, Queue<float>> fingerFilterBuffers = new Dictionary<int, Queue<float>>();
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// CopyFingerPoseByMuscle에서 사용할 본 Transform 저장용 (메모리 재사용)
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private Dictionary<HumanBodyBones, (Vector3 position, Quaternion rotation)> savedBoneTransforms =
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new Dictionary<HumanBodyBones, (Vector3, Quaternion)>();
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// 손가락을 제외한 모든 휴먼본 목록 (캐싱)
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private static readonly HumanBodyBones[] nonFingerBones = new HumanBodyBones[]
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{
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HumanBodyBones.Hips,
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HumanBodyBones.Spine,
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HumanBodyBones.Chest,
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HumanBodyBones.UpperChest,
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HumanBodyBones.Neck,
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HumanBodyBones.Head,
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HumanBodyBones.LeftShoulder,
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HumanBodyBones.LeftUpperArm,
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HumanBodyBones.LeftLowerArm,
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HumanBodyBones.LeftHand,
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HumanBodyBones.RightShoulder,
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HumanBodyBones.RightUpperArm,
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HumanBodyBones.RightLowerArm,
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HumanBodyBones.RightHand,
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HumanBodyBones.LeftUpperLeg,
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HumanBodyBones.LeftLowerLeg,
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HumanBodyBones.LeftFoot,
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HumanBodyBones.LeftToes,
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HumanBodyBones.RightUpperLeg,
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HumanBodyBones.RightLowerLeg,
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HumanBodyBones.RightFoot,
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HumanBodyBones.RightToes,
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HumanBodyBones.LeftEye,
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HumanBodyBones.RightEye,
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HumanBodyBones.Jaw
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};
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// IK 조인트 싱을 위한 구조체
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private struct IKJoints
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{
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@ -220,8 +266,15 @@ namespace KindRetargeting
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}
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/// <summary>
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/// 타겟 아바타의 로컬 축과 월드 축의 관계를 분석하여 정규화 계수를 계산합니다.
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/// 이를 통해 사용자는 항상 직관적인 방향(앞/뒤/위/아래)으로 제어할 수 있습니다.
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/// 타겟 아바타의 로컬 축과 월드 축의 관계를 분석하여 축 매핑을 계산합니다.
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/// T-포즈 상태에서 힙의 각 로컬 축이 월드의 어느 방향을 가리키는지 분석합니다.
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///
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/// 예시:
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/// - 아바타 A: 로컬 Y가 월드 Up을 가리킴 → localAxisForWorldUp = (0, 1, 0)
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/// - 아바타 B: 로컬 Z가 월드 Up을 가리킴 → localAxisForWorldUp = (0, 0, 1)
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/// - 아바타 C: 로컬 -Z가 월드 Up을 가리킴 → localAxisForWorldUp = (0, 0, -1)
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///
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/// 이를 통해 hipsOffsetY는 항상 "위/아래" 방향으로 작동합니다.
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/// </summary>
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private void CalculateAxisNormalizer()
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{
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@ -230,46 +283,85 @@ namespace KindRetargeting
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Transform hips = targetAnimator.GetBoneTransform(HumanBodyBones.Hips);
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if (hips == null) return;
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// 힙의 초기 로컬 축 방향을 월드 공간으로 변환
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Vector3 localRight = hips.TransformDirection(Vector3.right);
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Vector3 localUp = hips.TransformDirection(Vector3.up);
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Vector3 localForward = hips.TransformDirection(Vector3.forward);
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// 힙의 각 로컬 축을 월드 공간으로 변환
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Vector3 localXInWorld = hips.TransformDirection(Vector3.right).normalized;
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Vector3 localYInWorld = hips.TransformDirection(Vector3.up).normalized;
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Vector3 localZInWorld = hips.TransformDirection(Vector3.forward).normalized;
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// 각 로컬 축이 월드의 어느 축과 가장 가까운지 판단
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axisNormalizer = new Vector3(
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GetAxisSign(localRight, Vector3.right), // X축 정규화
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GetAxisSign(localUp, Vector3.up), // Y축 정규화
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GetAxisSign(localForward, Vector3.forward) // Z축 정규화
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// 월드 Right(X)에 가장 가까운 로컬 축 찾기
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localAxisForWorldRight = FindBestLocalAxisForWorld(localXInWorld, localYInWorld, localZInWorld, Vector3.right, out string rightAxisName);
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// 월드 Up(Y)에 가장 가까운 로컬 축 찾기
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localAxisForWorldUp = FindBestLocalAxisForWorld(localXInWorld, localYInWorld, localZInWorld, Vector3.up, out string upAxisName);
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// 월드 Forward(Z)에 가장 가까운 로컬 축 찾기
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localAxisForWorldForward = FindBestLocalAxisForWorld(localXInWorld, localYInWorld, localZInWorld, Vector3.forward, out string forwardAxisName);
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// 디버그용: 각 오프셋이 어느 로컬 축에 매핑되는지 표시
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// X: 좌우 오프셋이 사용하는 로컬 축 (1=X, 2=Y, 3=Z, 부호는 방향)
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// Y: 상하 오프셋이 사용하는 로컬 축
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// Z: 앞뒤 오프셋이 사용하는 로컬 축
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debugAxisNormalizer = new Vector3(
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GetAxisIndex(localAxisForWorldRight),
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GetAxisIndex(localAxisForWorldUp),
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GetAxisIndex(localAxisForWorldForward)
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);
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debugAxisNormalizer = axisNormalizer; // Inspector 표시용
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Debug.Log($"[{gameObject.name}] 축 정규화 계수:\n" +
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$" X(좌우): {axisNormalizer.x} (로컬 Right {(axisNormalizer.x > 0 ? "→" : "←")} 월드 Right)\n" +
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$" Y(상하): {axisNormalizer.y} (로컬 Up {(axisNormalizer.y > 0 ? "↑" : "↓")} 월드 Up)\n" +
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$" Z(앞뒤): {axisNormalizer.z} (로컬 Forward {(axisNormalizer.z > 0 ? "→" : "←")} 월드 Forward)");
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Debug.Log($"[{gameObject.name}] 축 매핑 분석 완료:\n" +
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$" 월드 Right(좌우) ← 로컬 {rightAxisName} → 매핑: {localAxisForWorldRight}\n" +
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$" 월드 Up(상하) ← 로컬 {upAxisName} → 매핑: {localAxisForWorldUp}\n" +
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$" 월드 Forward(앞뒤) ← 로컬 {forwardAxisName} → 매핑: {localAxisForWorldForward}");
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}
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/// <summary>
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/// 로컬 축이 월드 축과 같은 방향인지 반대 방향인지 판단합니다.
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/// 축 벡터를 인덱스로 변환합니다 (디버그용).
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/// X축=1, Y축=2, Z축=3, 부호는 방향을 나타냄
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/// </summary>
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/// <param name="localAxis">로컬 축 방향 (월드 공간)</param>
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/// <param name="worldAxis">비교할 월드 축</param>
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/// <returns>같은 방향이면 1, 반대면 -1</returns>
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private float GetAxisSign(Vector3 localAxis, Vector3 worldAxis)
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private float GetAxisIndex(Vector3 axisVector)
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{
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// 내적으로 방향성 판단
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float dot = Vector3.Dot(localAxis.normalized, worldAxis);
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if (Mathf.Abs(axisVector.x) > 0.5f)
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return 1f * Mathf.Sign(axisVector.x); // X축
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else if (Mathf.Abs(axisVector.y) > 0.5f)
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return 2f * Mathf.Sign(axisVector.y); // Y축
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else
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return 3f * Mathf.Sign(axisVector.z); // Z축
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}
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// 가장 지배적인 축 성분의 부호를 반환
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if (Mathf.Abs(dot) > 0.5f) // 45도 이내면 해당 축으로 간주
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/// <summary>
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/// 세 로컬 축 중에서 목표 월드 방향과 가장 일치하는 축을 찾아 로컬 축 벡터를 반환합니다.
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/// </summary>
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/// <param name="localXInWorld">로컬 X축의 월드 방향</param>
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/// <param name="localYInWorld">로컬 Y축의 월드 방향</param>
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/// <param name="localZInWorld">로컬 Z축의 월드 방향</param>
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/// <param name="worldDirection">비교할 월드 방향</param>
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/// <param name="matchedAxisName">매칭된 축 이름 (출력용)</param>
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/// <returns>해당 월드 방향을 담당하는 로컬 축 벡터 (부호 포함)</returns>
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private Vector3 FindBestLocalAxisForWorld(Vector3 localXInWorld, Vector3 localYInWorld, Vector3 localZInWorld, Vector3 worldDirection, out string matchedAxisName)
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{
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float dotX = Vector3.Dot(localXInWorld, worldDirection);
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float dotY = Vector3.Dot(localYInWorld, worldDirection);
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float dotZ = Vector3.Dot(localZInWorld, worldDirection);
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float absDotX = Mathf.Abs(dotX);
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float absDotY = Mathf.Abs(dotY);
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float absDotZ = Mathf.Abs(dotZ);
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// 가장 큰 내적값을 가진 축이 해당 월드 방향과 가장 일치하는 축
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if (absDotX >= absDotY && absDotX >= absDotZ)
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{
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return Mathf.Sign(dot);
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matchedAxisName = dotX > 0 ? "+X (Right)" : "-X (Left)";
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return Vector3.right * Mathf.Sign(dotX); // 로컬 X축 (부호 포함)
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}
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else if (absDotY >= absDotX && absDotY >= absDotZ)
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{
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matchedAxisName = dotY > 0 ? "+Y (Up)" : "-Y (Down)";
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return Vector3.up * Mathf.Sign(dotY); // 로컬 Y축 (부호 포함)
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}
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else
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{
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matchedAxisName = dotZ > 0 ? "+Z (Forward)" : "-Z (Back)";
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return Vector3.forward * Mathf.Sign(dotZ); // 로컬 Z축 (부호 포함)
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}
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// 축이 너무 비스듬하면 경고 (정상적인 휴머노이드 리그라면 발생 안함)
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Debug.LogWarning($"[AxisNormalizer] 축이 비정상적으로 기울어져 있습니다: {localAxis} vs {worldAxis}");
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return 1f;
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}
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/// <summary>
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@ -415,6 +507,8 @@ namespace KindRetargeting
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hipsOffsetZ = hipsOffsetZ,
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kneeInOutWeight = kneeInOutWeight,
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kneeFrontBackWeight = kneeFrontBackWeight,
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footFrontBackOffset = footFrontBackOffset,
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footInOutOffset = footInOutOffset,
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floorHeight = floorHeight,
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fingerCopyMode = fingerCopyMode,
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useMotionFilter = useMotionFilter,
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@ -473,6 +567,8 @@ namespace KindRetargeting
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hipsOffsetZ = settings.hipsOffsetZ;
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kneeInOutWeight = settings.kneeInOutWeight;
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kneeFrontBackWeight = settings.kneeFrontBackWeight;
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footFrontBackOffset = settings.footFrontBackOffset;
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footInOutOffset = settings.footInOutOffset;
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floorHeight = settings.floorHeight;
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fingerCopyMode = settings.fingerCopyMode;
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useMotionFilter = settings.useMotionFilter;
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@ -572,10 +668,41 @@ namespace KindRetargeting
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try
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{
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// 손가락 본들의 현재 로컬 회전을 저장 (I-포즈 적용 전)
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// 손가락은 24~54번 본 (LeftThumbProximal ~ RightLittleDistal)
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var savedFingerRotations = new Dictionary<HumanBodyBones, Quaternion>();
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for (int i = 24; i <= 54; i++)
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{
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HumanBodyBones bone = (HumanBodyBones)i;
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Transform fingerBone = targetAnimator.GetBoneTransform(bone);
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if (fingerBone != null)
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{
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savedFingerRotations[bone] = fingerBone.localRotation;
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}
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}
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// 타겟 아바타를 I-포즈로 설정 (몸체만 필요하지만 전체가 변경됨)
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SetIPose(targetAnimator);
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// 손가락 본들의 로컬 회전을 복원 (I-포즈 적용 후)
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foreach (var kvp in savedFingerRotations)
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{
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Transform fingerBone = targetAnimator.GetBoneTransform(kvp.Key);
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if (fingerBone != null)
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{
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fingerBone.localRotation = kvp.Value;
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}
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}
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// 몸체 본들의 오프셋만 계산 (0~23번)
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CalculateRotationOffsets(true);
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// 손가락 본들의 오프셋 별도 계산 (24~54번)
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// 손가락은 복원된 상태에서 오프셋 계산 (Rotation 모드용)
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CalculateFingerRotationOffsets();
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SaveSettings(); // 캘리브레이션 후 설정 저장
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Debug.Log("I-포즈 캘리브레이션이 완료되었습니다.");
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Debug.Log("I-포즈 캘리브레이션이 완료되었습니다. (손가락 포즈 유지)");
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}
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catch (System.Exception e)
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{
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@ -583,6 +710,38 @@ namespace KindRetargeting
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}
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}
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/// <summary>
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/// 손가락 본들의 회전 오프셋을 계산합니다.
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/// I-포즈 캘리브레이션 시 손가락 포즈가 복원된 상태에서 호출되어야 합니다.
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/// </summary>
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private void CalculateFingerRotationOffsets()
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{
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if (sourceAnimator == null || targetAnimator == null)
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return;
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// 손가락 본들 (24~54)의 오프셋 계산
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for (int i = 24; i <= 54; i++)
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{
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HumanBodyBones bone = (HumanBodyBones)i;
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Transform sourceBone = sourceAnimator.GetBoneTransform(bone);
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Transform targetBone = targetAnimator.GetBoneTransform(bone);
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if (sourceBone != null && targetBone != null)
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{
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Quaternion offset = Quaternion.Inverse(sourceBone.rotation) * targetBone.rotation;
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||||
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||||
if (rotationOffsets.ContainsKey(bone))
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{
|
||||
rotationOffsets[bone] = offset;
|
||||
}
|
||||
else
|
||||
{
|
||||
rotationOffsets.Add(bone, offset);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
private void InitializeIKJoints()
|
||||
{
|
||||
// IK 루트 찾기
|
||||
@ -639,15 +798,25 @@ namespace KindRetargeting
|
||||
}
|
||||
/// <summary>
|
||||
/// 머슬 데이터를 사용하여 손가락 포즈를 복제합니다.
|
||||
/// SetHumanPose가 모든 본에 영향을 미치므로, 손가락을 제외한 모든 본의 Transform을 저장하고 복원합니다.
|
||||
/// </summary>
|
||||
private void CopyFingerPoseByMuscle()
|
||||
{
|
||||
Vector3 originalPosition = targetAnimator.GetBoneTransform(HumanBodyBones.Hips).position;
|
||||
Quaternion originalRotation = targetAnimator.GetBoneTransform(HumanBodyBones.Hips).rotation;
|
||||
|
||||
if (sourcePoseHandler == null || targetPoseHandler == null)
|
||||
return;
|
||||
|
||||
// 1. 손가락을 제외한 모든 본의 위치/회전 저장
|
||||
savedBoneTransforms.Clear();
|
||||
for (int i = 0; i < nonFingerBones.Length; i++)
|
||||
{
|
||||
Transform bone = targetAnimator.GetBoneTransform(nonFingerBones[i]);
|
||||
if (bone != null)
|
||||
{
|
||||
savedBoneTransforms[nonFingerBones[i]] = (bone.position, bone.rotation);
|
||||
}
|
||||
}
|
||||
|
||||
// 2. 머슬 데이터 업데이트
|
||||
sourcePoseHandler.GetHumanPose(ref sourcePose);
|
||||
targetPoseHandler.GetHumanPose(ref targetPose);
|
||||
|
||||
@ -677,10 +846,18 @@ namespace KindRetargeting
|
||||
targetPose.muscles[muscleIndex] = targetValue;
|
||||
}
|
||||
|
||||
// 3. 머슬 포즈 적용 (손가락 포함 전체 본에 영향)
|
||||
targetPoseHandler.SetHumanPose(ref targetPose);
|
||||
|
||||
targetAnimator.GetBoneTransform(HumanBodyBones.Hips).position = originalPosition;
|
||||
targetAnimator.GetBoneTransform(HumanBodyBones.Hips).rotation = originalRotation;
|
||||
// 4. 손가락을 제외한 모든 본의 위치/회전 복원
|
||||
foreach (var kvp in savedBoneTransforms)
|
||||
{
|
||||
Transform bone = targetAnimator.GetBoneTransform(kvp.Key);
|
||||
if (bone != null)
|
||||
{
|
||||
bone.SetPositionAndRotation(kvp.Value.position, kvp.Value.rotation);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
private float ApplyFilter(float value, int fingerIndex)
|
||||
@ -788,20 +965,33 @@ namespace KindRetargeting
|
||||
targetHips.rotation = finalHipsRotation;
|
||||
}
|
||||
|
||||
// 2. 로컬 오프셋 벡터 생성 (정규화 계수 적용)
|
||||
Vector3 normalizedOffset = new Vector3(
|
||||
hipsOffsetX * axisNormalizer.x * HipsWeightOffset, // 좌우
|
||||
hipsOffsetY * axisNormalizer.y * HipsWeightOffset, // 상하
|
||||
hipsOffsetZ * axisNormalizer.z * HipsWeightOffset // 앞뒤
|
||||
);
|
||||
// 2. 캐릭터 기준 로컬 오프셋 계산 (축 정규화 적용)
|
||||
//
|
||||
// 문제: 아바타마다 힙의 로컬 축 방향이 다름
|
||||
// - 아바타 A: 로컬 Y가 "위", 로컬 Z가 "앞"
|
||||
// - 아바타 B: 로컬 Z가 "위", 로컬 X가 "앞"
|
||||
//
|
||||
// 해결: T-포즈에서 계산한 축 매핑을 사용
|
||||
// - localAxisForWorldRight: 실제로 "오른쪽"을 가리키는 로컬 축
|
||||
// - localAxisForWorldUp: 실제로 "위"를 가리키는 로컬 축
|
||||
// - localAxisForWorldForward: 실제로 "앞"을 가리키는 로컬 축
|
||||
//
|
||||
// 이렇게 하면 모든 아바타에서 동일하게 작동합니다.
|
||||
|
||||
// 3. 로컬 좌표계를 월드 좌표계로 변환
|
||||
Vector3 worldOffset = targetHips.rotation * normalizedOffset;
|
||||
// 힙의 현재 회전을 기준으로, 정규화된 방향 벡터 계산
|
||||
Vector3 characterRight = finalHipsRotation * localAxisForWorldRight;
|
||||
Vector3 characterUp = finalHipsRotation * localAxisForWorldUp;
|
||||
Vector3 characterForward = finalHipsRotation * localAxisForWorldForward;
|
||||
|
||||
// 4. 힙 위치 동기화 + 로컬 오프셋 적용
|
||||
Vector3 adjustedPosition = sourceHips.position + worldOffset;
|
||||
Vector3 characterOffset =
|
||||
characterRight * (hipsOffsetX * HipsWeightOffset) + // 캐릭터 기준 좌우
|
||||
characterUp * (hipsOffsetY * HipsWeightOffset) + // 캐릭터 기준 상하
|
||||
characterForward * (hipsOffsetZ * HipsWeightOffset); // 캐릭터 기준 앞뒤
|
||||
|
||||
// 5. 바닥 높이는 월드 Y축에 직접 적용 (중력 방향이므로 월드 기준)
|
||||
// 3. 힙 위치 동기화 + 캐릭터 기준 오프셋 적용
|
||||
Vector3 adjustedPosition = sourceHips.position + characterOffset;
|
||||
|
||||
// 4. 바닥 높이 추가 (월드 Y축 - 바닥은 항상 월드 기준)
|
||||
adjustedPosition.y += floorHeight;
|
||||
|
||||
targetHips.position = adjustedPosition;
|
||||
@ -951,7 +1141,7 @@ namespace KindRetargeting
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 손과 발끝 타겟의 위치와 회전을 업업데이트합니다.
|
||||
/// 손과 발끝 타겟의 위치와 회전을 업데이트합니다.
|
||||
/// </summary>
|
||||
/// <param name="endTarget">업데이트할 끝 타겟의 Transform</param>
|
||||
/// <param name="endBone">대상 본</param>
|
||||
@ -968,10 +1158,35 @@ namespace KindRetargeting
|
||||
Vector3 targetPosition = sourceBone.position;
|
||||
Quaternion targetRotation = targetBone.rotation;
|
||||
|
||||
// 발/발가락 본인 경우에만 바닥 높이 적용
|
||||
// 발/발가락 본인 경우 오프셋 적용
|
||||
if (endBone == HumanBodyBones.LeftToes || endBone == HumanBodyBones.RightToes)
|
||||
{
|
||||
// 바닥 높이 적용
|
||||
targetPosition.y += floorHeight;
|
||||
|
||||
// 소스 아바타의 로컬 축 기준으로 발 오프셋 적용
|
||||
// +Z: 앞으로, -Z: 뒤로
|
||||
// 왼발: +X로 벌리기, -X로 모으기
|
||||
// 오른발: -X로 벌리기, +X로 모으기 (반대)
|
||||
Vector3 footOffset = Vector3.zero;
|
||||
|
||||
// 앞뒤 오프셋 (소스 아바타 기준 Z축)
|
||||
footOffset += sourceAnimator.transform.forward * footFrontBackOffset;
|
||||
|
||||
// 안쪽/바깥쪽 오프셋 (소스 아바타 기준 X축)
|
||||
// footInOutOffset > 0: 벌리기, < 0: 모으기
|
||||
if (endBone == HumanBodyBones.LeftToes)
|
||||
{
|
||||
// 왼발: +일 때 왼쪽(+X)으로 벌림, -일 때 오른쪽(-X)으로 모음
|
||||
footOffset += sourceAnimator.transform.right * footInOutOffset;
|
||||
}
|
||||
else // RightToes
|
||||
{
|
||||
// 오른발: +일 때 오른쪽(-X)으로 벌림, -일 때 왼쪽(+X)으로 모음
|
||||
footOffset -= sourceAnimator.transform.right * footInOutOffset;
|
||||
}
|
||||
|
||||
targetPosition += footOffset;
|
||||
}
|
||||
|
||||
// 최종 위치와 회전 적용
|
||||
|
||||
@ -15,6 +15,7 @@ namespace KindRetargeting
|
||||
private bool showMotionFilterSettings = false;
|
||||
private bool showRoughMotionSettings = false;
|
||||
private bool showKneeSettings = true;
|
||||
private bool showFootSettings = true;
|
||||
private bool hasCachedData = false;
|
||||
private bool showFloorSettings = false;
|
||||
private bool showScaleSettings = true;
|
||||
@ -35,6 +36,8 @@ namespace KindRetargeting
|
||||
private SerializedProperty fingerRoughnessProp;
|
||||
private SerializedProperty kneeInOutWeightProp;
|
||||
private SerializedProperty kneeFrontBackWeightProp;
|
||||
private SerializedProperty footFrontBackOffsetProp;
|
||||
private SerializedProperty footInOutOffsetProp;
|
||||
private SerializedProperty floorHeightProp;
|
||||
private SerializedProperty avatarScaleProp;
|
||||
|
||||
@ -57,6 +60,8 @@ namespace KindRetargeting
|
||||
fingerRoughnessProp = serializedObject.FindProperty("fingerRoughness");
|
||||
kneeInOutWeightProp = serializedObject.FindProperty("kneeInOutWeight");
|
||||
kneeFrontBackWeightProp = serializedObject.FindProperty("kneeFrontBackWeight");
|
||||
footFrontBackOffsetProp = serializedObject.FindProperty("footFrontBackOffset");
|
||||
footInOutOffsetProp = serializedObject.FindProperty("footInOutOffset");
|
||||
floorHeightProp = serializedObject.FindProperty("floorHeight");
|
||||
avatarScaleProp = serializedObject.FindProperty("avatarScale");
|
||||
}
|
||||
@ -97,24 +102,46 @@ namespace KindRetargeting
|
||||
{
|
||||
EditorGUI.indentLevel++;
|
||||
|
||||
// 축 정규화 정보 표시
|
||||
// 축 매핑 정보 표시
|
||||
if (debugAxisNormalizerProp != null)
|
||||
{
|
||||
Vector3 normalizer = debugAxisNormalizerProp.vector3Value;
|
||||
Vector3 axisMapping = debugAxisNormalizerProp.vector3Value;
|
||||
|
||||
EditorGUILayout.BeginVertical(EditorStyles.helpBox);
|
||||
EditorGUILayout.LabelField("축 정규화 정보", EditorStyles.boldLabel);
|
||||
EditorGUILayout.LabelField("축 매핑 정보 (T-포즈 기준)", EditorStyles.boldLabel);
|
||||
|
||||
EditorGUI.BeginDisabledGroup(true);
|
||||
EditorGUILayout.Vector3Field("정규화 계수", normalizer);
|
||||
EditorGUI.EndDisabledGroup();
|
||||
// 플레이 모드에서만 정확한 정보 표시
|
||||
if (Application.isPlaying && axisMapping != Vector3.one)
|
||||
{
|
||||
// axisMapping: 1=X, 2=Y, 3=Z, 부호는 방향
|
||||
string GetAxisName(float value)
|
||||
{
|
||||
int axis = Mathf.RoundToInt(Mathf.Abs(value));
|
||||
string sign = value > 0 ? "+" : "-";
|
||||
return axis switch
|
||||
{
|
||||
1 => $"{sign}X",
|
||||
2 => $"{sign}Y",
|
||||
3 => $"{sign}Z",
|
||||
_ => "?"
|
||||
};
|
||||
}
|
||||
|
||||
EditorGUILayout.HelpBox(
|
||||
$"X축: {(normalizer.x > 0 ? "정방향 ↔" : "역방향 ↔")}\n" +
|
||||
$"Y축: {(normalizer.y > 0 ? "정방향 ↕" : "역방향 ↕")}\n" +
|
||||
$"Z축: {(normalizer.z > 0 ? "정방향 ⇄" : "역방향 ⇄")}\n\n" +
|
||||
"이 계수는 Start()에서 자동 계산되며, 항상 직관적인 방향으로 제어할 수 있게 합니다.",
|
||||
MessageType.Info);
|
||||
EditorGUILayout.HelpBox(
|
||||
"T-포즈에서 분석된 축 매핑:\n" +
|
||||
$" 좌우 오프셋 → 로컬 {GetAxisName(axisMapping.x)} 축\n" +
|
||||
$" 상하 오프셋 → 로컬 {GetAxisName(axisMapping.y)} 축\n" +
|
||||
$" 앞뒤 오프셋 → 로컬 {GetAxisName(axisMapping.z)} 축\n\n" +
|
||||
"이 매핑 덕분에 모든 아바타에서 동일하게 작동합니다.",
|
||||
MessageType.Info);
|
||||
}
|
||||
else
|
||||
{
|
||||
EditorGUILayout.HelpBox(
|
||||
"플레이 모드에서 T-포즈 분석 후 축 매핑 정보가 표시됩니다.\n" +
|
||||
"이 매핑은 각 아바타의 힙 로컬 축 방향에 맞춰 자동 계산됩니다.",
|
||||
MessageType.Info);
|
||||
}
|
||||
EditorGUILayout.EndVertical();
|
||||
|
||||
GUILayout.Space(5);
|
||||
@ -142,7 +169,7 @@ namespace KindRetargeting
|
||||
{
|
||||
EditorGUI.indentLevel++;
|
||||
|
||||
// 몸릎 안/밖 정만 표시
|
||||
// 무릎 안/밖 조정
|
||||
EditorGUILayout.Slider(kneeFrontBackWeightProp, -1f, 1f,
|
||||
new GUIContent("무릎 앞/뒤 가중치", "음수: 뒤로, 양수: 앞으로"));
|
||||
EditorGUILayout.Slider(kneeInOutWeightProp, -1f, 1f,
|
||||
@ -153,6 +180,22 @@ namespace KindRetargeting
|
||||
|
||||
GUILayout.Space(5);
|
||||
|
||||
// 발 IK 위치 조정 Foldout
|
||||
showFootSettings = EditorGUILayout.Foldout(showFootSettings, "발 IK 위치 조정", true);
|
||||
if (showFootSettings)
|
||||
{
|
||||
EditorGUI.indentLevel++;
|
||||
|
||||
EditorGUILayout.Slider(footFrontBackOffsetProp, -1f, 1f,
|
||||
new GUIContent("발 앞/뒤 오프셋", "+: 앞으로, -: 뒤로"));
|
||||
EditorGUILayout.Slider(footInOutOffsetProp, -1f, 1f,
|
||||
new GUIContent("발 벌리기/모으기", "+: 벌리기, -: 모으기"));
|
||||
|
||||
EditorGUI.indentLevel--;
|
||||
}
|
||||
|
||||
GUILayout.Space(5);
|
||||
|
||||
// 손가락 복제 설정 Foldout
|
||||
showFingerCopySettings = EditorGUILayout.Foldout(showFingerCopySettings, "손가락 복제 설정");
|
||||
if (showFingerCopySettings)
|
||||
|
||||
@ -21,6 +21,7 @@ public class RetargetingControlWindow : EditorWindow
|
||||
private Dictionary<int, bool> motionSettingsFoldouts = new Dictionary<int, bool>();
|
||||
private Dictionary<int, bool> floorSettingsFoldouts = new Dictionary<int, bool>();
|
||||
private Dictionary<int, bool> scaleSettingsFoldouts = new Dictionary<int, bool>();
|
||||
private Dictionary<int, bool> footSettingsFoldouts = new Dictionary<int, bool>();
|
||||
private Dictionary<int, bool> leftHandFoldouts = new Dictionary<int, bool>();
|
||||
private Dictionary<int, bool> rightHandFoldouts = new Dictionary<int, bool>();
|
||||
private Dictionary<int, bool> headFoldouts = new Dictionary<int, bool>();
|
||||
@ -226,6 +227,7 @@ public class RetargetingControlWindow : EditorWindow
|
||||
if (!motionSettingsFoldouts.ContainsKey(instanceID)) motionSettingsFoldouts[instanceID] = false;
|
||||
if (!floorSettingsFoldouts.ContainsKey(instanceID)) floorSettingsFoldouts[instanceID] = false;
|
||||
if (!scaleSettingsFoldouts.ContainsKey(instanceID)) scaleSettingsFoldouts[instanceID] = false;
|
||||
if (!footSettingsFoldouts.ContainsKey(instanceID)) footSettingsFoldouts[instanceID] = true;
|
||||
if (!leftHandFoldouts.ContainsKey(instanceID)) leftHandFoldouts[instanceID] = false;
|
||||
if (!rightHandFoldouts.ContainsKey(instanceID)) rightHandFoldouts[instanceID] = false;
|
||||
if (!headFoldouts.ContainsKey(instanceID)) headFoldouts[instanceID] = false;
|
||||
@ -264,18 +266,23 @@ public class RetargetingControlWindow : EditorWindow
|
||||
var hipsOffsetYProp = serializedObject.FindProperty("hipsOffsetY");
|
||||
var hipsOffsetZProp = serializedObject.FindProperty("hipsOffsetZ");
|
||||
|
||||
// 정규화 계수 표시
|
||||
// 축 매핑 정보 표시
|
||||
var normalizerProp = serializedObject.FindProperty("debugAxisNormalizer");
|
||||
if (normalizerProp != null)
|
||||
if (normalizerProp != null && Application.isPlaying)
|
||||
{
|
||||
Vector3 norm = normalizerProp.vector3Value;
|
||||
if (norm != Vector3.zero) // 초기화되었을 때만 표시
|
||||
Vector3 mapping = normalizerProp.vector3Value;
|
||||
if (mapping != Vector3.one) // 초기화되었을 때만 표시
|
||||
{
|
||||
string xIcon = norm.x > 0 ? "↔" : "↔(반전)";
|
||||
string yIcon = norm.y > 0 ? "↕" : "↕(반전)";
|
||||
string zIcon = norm.z > 0 ? "⇄" : "⇄(반전)";
|
||||
// mapping: 1=X, 2=Y, 3=Z, 부호는 방향
|
||||
string GetAxis(float v) => Mathf.RoundToInt(Mathf.Abs(v)) switch
|
||||
{
|
||||
1 => v > 0 ? "+X" : "-X",
|
||||
2 => v > 0 ? "+Y" : "-Y",
|
||||
3 => v > 0 ? "+Z" : "-Z",
|
||||
_ => "?"
|
||||
};
|
||||
|
||||
EditorGUILayout.LabelField($"축 상태: X{xIcon} Y{yIcon} Z{zIcon}",
|
||||
EditorGUILayout.LabelField($"축 매핑: 좌우→{GetAxis(mapping.x)} 상하→{GetAxis(mapping.y)} 앞뒤→{GetAxis(mapping.z)}",
|
||||
EditorStyles.miniLabel);
|
||||
}
|
||||
}
|
||||
@ -303,6 +310,19 @@ public class RetargetingControlWindow : EditorWindow
|
||||
EditorGUI.indentLevel--;
|
||||
}
|
||||
|
||||
// 발 IK 위치 조정
|
||||
footSettingsFoldouts[instanceID] = EditorGUILayout.Foldout(footSettingsFoldouts[instanceID], "발 IK 위치 조정", true);
|
||||
if (footSettingsFoldouts[instanceID])
|
||||
{
|
||||
EditorGUI.indentLevel++;
|
||||
var footFrontBackProp = serializedObject.FindProperty("footFrontBackOffset");
|
||||
var footInOutProp = serializedObject.FindProperty("footInOutOffset");
|
||||
|
||||
EditorGUILayout.Slider(footFrontBackProp, -1f, 1f, new GUIContent("발 앞/뒤 오프셋", "+: 앞으로, -: 뒤로"));
|
||||
EditorGUILayout.Slider(footInOutProp, -1f, 1f, new GUIContent("발 벌리기/모으기", "+: 벌리기, -: 모으기"));
|
||||
EditorGUI.indentLevel--;
|
||||
}
|
||||
|
||||
// 손가락 제어 설정
|
||||
fingerControlFoldouts[instanceID] = EditorGUILayout.Foldout(fingerControlFoldouts[instanceID], "손가락 제어 설정", true);
|
||||
if (fingerControlFoldouts[instanceID])
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@ -1,348 +0,0 @@
|
||||
////======================================================================================================
|
||||
//// Copyright 2023, NaturalPoint Inc.
|
||||
////======================================================================================================
|
||||
/**
|
||||
* ExampleGloveAdapterSingleton class is an adapter class provided to demonstrate how communication between plugin device and
|
||||
* the glove SDK can be managed. A singleton instance of this class manages interaction between plugin device and the glove
|
||||
* device SDK. The adapter instance also stores a keeps the latest data and device info map that stores the currently detected device serials
|
||||
* and the latest frame data so that corresponding glove device can poll from it. Please note that this is provided only as an example, and
|
||||
* there could be other ways to set this up.
|
||||
*/
|
||||
|
||||
|
||||
#pragma once
|
||||
#include <list>
|
||||
#include <mutex>
|
||||
#include <unordered_set>
|
||||
#include <unordered_map>
|
||||
#include <vector>
|
||||
#include <functional>
|
||||
|
||||
// OptiTrack Peripheral Device API
|
||||
#include "AnalogChannelDescriptor.h"
|
||||
#include "GloveDataFormat.h"
|
||||
#include "HardwareSimulator.h"
|
||||
|
||||
// Rokoko Integration
|
||||
#include "RokokoData.h"
|
||||
#include "RokokoUDPReceiver.h"
|
||||
#include "RokokoDataParser.h"
|
||||
#include "RokokoDataConverter.h"
|
||||
|
||||
namespace OptiTrackPluginDevices
|
||||
{
|
||||
namespace ExampleDevice
|
||||
{
|
||||
class ExampleGloveAdapterSingleton;
|
||||
|
||||
static ExampleGloveAdapterSingleton* s_Instance = nullptr;
|
||||
static std::unique_ptr<ExampleGloveAdapterSingleton> gGloveAdapter;
|
||||
|
||||
|
||||
/**
|
||||
* This is an example glove adapter (singleton) class provided to demonstrate how glove data can be populated.
|
||||
* This adapter class is reponsible for all interaction with the device SDK, and populating the glove data.
|
||||
* Glove data for multiple glove devices should get aggregated in here.
|
||||
*/
|
||||
class ExampleGloveAdapterSingleton
|
||||
{
|
||||
friend class ExampleGloveDevice;
|
||||
|
||||
public:
|
||||
ExampleGloveAdapterSingleton(AnalogSystem::IDeviceManager* pDeviceManager);
|
||||
~ExampleGloveAdapterSingleton();
|
||||
|
||||
// Singleton design pattern
|
||||
ExampleGloveAdapterSingleton(const ExampleGloveAdapterSingleton&) = delete; // Should not be cloneable
|
||||
ExampleGloveAdapterSingleton& operator=(const ExampleGloveAdapterSingleton& other) = delete; // Shounot be assignable
|
||||
|
||||
|
||||
/**
|
||||
* Should call the shutdown from the plugin SDK. In this case, shutsdown the simulator
|
||||
*/
|
||||
bool ClientShutdown();
|
||||
|
||||
/**
|
||||
* Detection thread for connecting to the glove server.
|
||||
*/
|
||||
void DoDetectionThread();
|
||||
std::thread mDetectionThread;
|
||||
unsigned int mConnectionAttemptCount = 0;
|
||||
const unsigned int kMaxConnectionAttempt = 10;
|
||||
|
||||
|
||||
/**
|
||||
* Connect to the glove host.
|
||||
*/
|
||||
bool ConnectToHost();
|
||||
|
||||
/**
|
||||
* Connect to Rokoko Studio via UDP.
|
||||
*/
|
||||
bool ConnectToRokoko();
|
||||
|
||||
/**
|
||||
* Disconnect from Rokoko Studio.
|
||||
*/
|
||||
void DisconnectFromRokoko();
|
||||
|
||||
private:
|
||||
/**
|
||||
* Returns whether detector is connected to Glove Host.
|
||||
*/
|
||||
bool IsConnected();
|
||||
|
||||
/**
|
||||
* Saves the latest data to the map
|
||||
*/
|
||||
void SetLatestData(const sGloveDeviceData& gloveFingerData);
|
||||
|
||||
/**
|
||||
* Pointer to device manager for additional operations
|
||||
*/
|
||||
void SetDeviceManager(AnalogSystem::IDeviceManager* pDeviceManager);
|
||||
|
||||
/**
|
||||
* Saves the latest glove data to the map
|
||||
*/
|
||||
void SetLatestDeviceInfo(const sGloveDeviceBaseInfo& deviceInfo);
|
||||
|
||||
|
||||
/**
|
||||
* Gets the latest data for device with given unique serial
|
||||
*/
|
||||
bool GetLatestData(const std::uint64_t mDeviceSerial, sGloveDeviceData& gloveFingerData);
|
||||
|
||||
/**
|
||||
* Creates new device by instantiating the factory and transferring it to Motive
|
||||
*/
|
||||
void CreateNewGloveDevice(sGloveDeviceBaseInfo& deviceInfo);
|
||||
|
||||
/**
|
||||
* Prints error into Motive.
|
||||
*/
|
||||
void NotifyConnectionFail();
|
||||
|
||||
bool bIsConnected = false;
|
||||
bool bIsDetecting = true;
|
||||
int mCurrentDeviceIndex = 0;
|
||||
std::string mServerAddress = "";
|
||||
|
||||
|
||||
/**
|
||||
* [Glove SDK Placeholder]
|
||||
* Example data map for storing aggregated device data.
|
||||
*/
|
||||
uint16_t mDeviceCount = 0;
|
||||
std::vector<uint64_t> mDetectedDevices;
|
||||
std::unordered_map<uint64_t, sGloveDeviceData> mLatestGloveData;
|
||||
std::unordered_map<uint64_t, sGloveDeviceBaseInfo> mLatestDeviceInfo;
|
||||
|
||||
// T-포즈 캘리브레이션 데이터 (로컬 로테이션 계산을 위해 필요)
|
||||
std::unordered_map<uint64_t, std::vector<sFingerNode>> mTPoseReferences; // 장치별 T-포즈 기준값
|
||||
std::unordered_map<uint64_t, bool> mTPoseCalibrated; // 장치별 캘리브레이션 상태
|
||||
|
||||
/**
|
||||
* Rokoko integration members
|
||||
*/
|
||||
std::unique_ptr<RokokoIntegration::RokokoUDPReceiver> mRokokoReceiver;
|
||||
bool bIsRokokoConnected = false;
|
||||
RokokoData::LiveFrame_v4 mLastRokokoFrame;
|
||||
|
||||
/**
|
||||
* [Legacy Glove SDK Placeholder - Commented Out]
|
||||
* The following methods were sample callback functions for simulated hardware.
|
||||
* Now replaced by Rokoko UDP communication.
|
||||
*/
|
||||
// bool bIsSimulating;
|
||||
void StartSimulatedHardware(int deviceCount); // Legacy support
|
||||
static void RegisterSDKCallbacks(); // Legacy support
|
||||
static void OnDataCallback(std::vector<SimulatedPluginDevices::SimulatedGloveFrameData>& gloveFingerData); // Legacy support
|
||||
static void OnDeviceInfoCallback(std::vector<SimulatedPluginDevices::SimulatedDeviceInfo>& newGloveInfo); // Legacy support
|
||||
static sGloveDeviceBaseInfo ConvertDeviceInfoFormat(SimulatedPluginDevices::SimulatedDeviceInfo& glove); // Legacy support
|
||||
static sGloveDeviceData ConvertDataFormat(const SimulatedPluginDevices::SimulatedGloveFrameData& glove); // Legacy support
|
||||
|
||||
/**
|
||||
* Rokoko UDP data callback function.
|
||||
*/
|
||||
void OnRokokoDataReceived(const std::vector<uint8_t>& data, const std::string& senderIP);
|
||||
|
||||
/**
|
||||
* Process received Rokoko data and convert to OptiTrack format.
|
||||
*/
|
||||
void ProcessRokokoData(const std::vector<uint8_t>& data);
|
||||
|
||||
/**
|
||||
* Update device information (battery, signal strength, etc.)
|
||||
*/
|
||||
void UpdateDeviceInfo(uint64_t deviceId);
|
||||
|
||||
// Dynamic Device Detection and Management
|
||||
void DetectAndCreateRokokoDevices();
|
||||
void DetectActorsFromRokokoData(const RokokoData::LiveFrame_v4& rokokoFrame);
|
||||
void ProcessMultipleDeviceData(const RokokoData::LiveFrame_v4& rokokoFrame);
|
||||
|
||||
/**
|
||||
* Process hand data for a specific device
|
||||
*/
|
||||
bool ProcessHandData(const RokokoData::Body& body, uint64_t deviceId, eGloveHandSide handSide);
|
||||
|
||||
/**
|
||||
* Map left hand joints from Rokoko data
|
||||
*/
|
||||
void MapLeftHandJoints(const RokokoData::Body& body, std::vector<sFingerNode>& nodes);
|
||||
|
||||
/**
|
||||
* Map right hand joints from Rokoko data
|
||||
*/
|
||||
void MapRightHandJoints(const RokokoData::Body& body, std::vector<sFingerNode>& nodes);
|
||||
|
||||
/**
|
||||
* Map individual joint data
|
||||
*/
|
||||
void MapJoint(const RokokoData::ActorJointFrame& rokokoJoint, sFingerNode& optiTrackNode);
|
||||
|
||||
// 로컬 로테이션 변환 함수들
|
||||
void ConvertToLocalRotations(std::vector<sFingerNode>& nodes, eGloveHandSide handSide);
|
||||
void ApplyLocalRotation(sFingerNode& childNode, const sFingerNode& parentNode);
|
||||
|
||||
// 쿼터니언 연산 헬퍼 함수들
|
||||
void MultiplyQuaternions(const sFingerNode& q1, const sFingerNode& q2, sFingerNode& result);
|
||||
void InverseQuaternion(const sFingerNode& q, sFingerNode& result);
|
||||
void NormalizeQuaternion(sFingerNode& q);
|
||||
|
||||
// T-포즈 캘리브레이션 시스템
|
||||
void CalibrateTPose(uint64_t deviceId, const std::vector<sFingerNode>& tPoseData);
|
||||
void ApplyTPoseOffset(std::vector<sFingerNode>& nodes, uint64_t deviceId);
|
||||
bool IsTPoseCalibrated(uint64_t deviceId) const;
|
||||
void ResetTPoseCalibration(uint64_t deviceId);
|
||||
|
||||
// 손목 기준 로컬 변환 시스템 (기존)
|
||||
void ConvertToWristLocalRotations(std::vector<sFingerNode>& nodes, const RokokoData::Body& body, eGloveHandSide handSide);
|
||||
bool GetWristRotation(const RokokoData::Body& body, eGloveHandSide handSide, sFingerNode& wristRotation);
|
||||
|
||||
// 진짜 로컬 로테이션 변환 시스템 (계층적)
|
||||
void ConvertToTrueLocalRotations(std::vector<sFingerNode>& nodes, const RokokoData::Body& body, eGloveHandSide handSide);
|
||||
void CalculateFingerLocalRotations(const std::vector<RokokoData::ActorJointFrame*>& fingerJoints, std::vector<sFingerNode>& outputNodes, int startIndex, const RokokoData::Body& body, eGloveHandSide handSide);
|
||||
bool GetFingerJointRotations(const RokokoData::Body& body, eGloveHandSide handSide, std::vector<std::vector<RokokoData::ActorJointFrame*>>& allFingers);
|
||||
|
||||
// 좌표계 변환 및 디버깅
|
||||
void ConvertRokokoToOptiTrackCoordinates(sFingerNode& node, eGloveHandSide handSide);
|
||||
void LogRotationData(const std::string& label, const sFingerNode& rotation);
|
||||
void DebugCoordinateSystem(const RokokoData::Body& body, eGloveHandSide handSide);
|
||||
|
||||
// 절대 로컬 로테이션 시스템 (손목에 완전히 독립적)
|
||||
void ConvertToAbsoluteLocalRotations(std::vector<sFingerNode>& nodes, const RokokoData::Body& body, eGloveHandSide handSide);
|
||||
void CalculateAbsoluteLocalForFinger(const std::vector<RokokoData::ActorJointFrame*>& fingerJoints, std::vector<sFingerNode>& outputNodes, int startIndex, eGloveHandSide handSide);
|
||||
sFingerNode CalculateRelativeRotation(const sFingerNode& parent, const sFingerNode& child);
|
||||
|
||||
// Unity 방식 Rokoko 데이터 처리 (원시 데이터 + T-포즈 오프셋)
|
||||
void ConvertToUnityRokokoMethod(std::vector<sFingerNode>& nodes, const RokokoData::Body& body, eGloveHandSide handSide);
|
||||
sFingerNode GetUnityTPoseOffset(int fingerIndex, int jointIndex, eGloveHandSide handSide);
|
||||
void ApplyUnityRokokoRotation(sFingerNode& node, const RokokoData::ActorJointFrame* jointFrame, int fingerIndex, int jointIndex, eGloveHandSide handSide);
|
||||
|
||||
// 가상 Unity 아바타 시뮬레이션 시스템
|
||||
void ConvertToVirtualUnityAvatar(std::vector<sFingerNode>& nodes, const RokokoData::Body& body, eGloveHandSide handSide);
|
||||
|
||||
// Unity Transform 시뮬레이션 구조
|
||||
struct VirtualTransform {
|
||||
sFingerNode localRotation; // Unity localRotation
|
||||
sFingerNode worldRotation; // Unity rotation (world)
|
||||
VirtualTransform* parent; // Unity parent transform
|
||||
std::vector<VirtualTransform*> children; // Unity children
|
||||
std::string name; // 디버깅용
|
||||
};
|
||||
|
||||
struct VirtualUnityAvatar {
|
||||
// 전체 스켈레톤 구조 (Unity Humanoid와 동일한 계층)
|
||||
VirtualTransform root;
|
||||
|
||||
// 몸통 구조
|
||||
VirtualTransform* hips; // 허리 (Root)
|
||||
VirtualTransform* spine; // 스파인
|
||||
VirtualTransform* chest; // 가슴
|
||||
|
||||
// 어깨 구조
|
||||
VirtualTransform* leftShoulder; // 왼쪽 어깨
|
||||
VirtualTransform* rightShoulder; // 오른쪽 어깨
|
||||
|
||||
// 팔 구조
|
||||
VirtualTransform* leftUpperArm; // 왼쪽 상완
|
||||
VirtualTransform* leftLowerArm; // 왼쪽 하완
|
||||
VirtualTransform* leftHand; // 왼쪽 손
|
||||
|
||||
VirtualTransform* rightUpperArm; // 오른쪽 상완
|
||||
VirtualTransform* rightLowerArm; // 오른쪽 하완
|
||||
VirtualTransform* rightHand; // 오른쪽 손
|
||||
|
||||
// 손가락 구조 (Unity 계층과 동일)
|
||||
VirtualTransform* leftThumb[3]; // Proximal, Intermediate, Distal
|
||||
VirtualTransform* leftIndex[3];
|
||||
VirtualTransform* leftMiddle[3];
|
||||
VirtualTransform* leftRing[3];
|
||||
VirtualTransform* leftLittle[3];
|
||||
|
||||
VirtualTransform* rightThumb[3];
|
||||
VirtualTransform* rightIndex[3];
|
||||
VirtualTransform* rightMiddle[3];
|
||||
VirtualTransform* rightRing[3];
|
||||
VirtualTransform* rightLittle[3];
|
||||
};
|
||||
|
||||
// 가상 Unity 아바타 헬퍼 함수들
|
||||
void InitializeVirtualUnityAvatar(VirtualUnityAvatar& avatar);
|
||||
void ApplyRokokoDataToVirtualAvatar(VirtualUnityAvatar& avatar, const RokokoData::Body& body);
|
||||
void CalculateLocalRotationsFromWorldRotations(VirtualUnityAvatar& avatar);
|
||||
void ExtractLocalRotationsFromVirtualAvatar(const VirtualUnityAvatar& avatar, std::vector<sFingerNode>& nodes, eGloveHandSide handSide);
|
||||
void UpdateWorldRotationFromParent(VirtualTransform* transform);
|
||||
|
||||
// 가상 손 노드 구조
|
||||
struct VirtualJoint {
|
||||
sFingerNode worldRotation;
|
||||
sFingerNode localRotation;
|
||||
VirtualJoint* parent;
|
||||
};
|
||||
|
||||
struct VirtualFinger {
|
||||
VirtualJoint mp; // Metacarpophalangeal
|
||||
VirtualJoint pip; // Proximal Interphalangeal
|
||||
VirtualJoint dip; // Distal Interphalangeal
|
||||
};
|
||||
|
||||
struct VirtualHand {
|
||||
sFingerNode wristRotation;
|
||||
VirtualFinger thumb;
|
||||
VirtualFinger index;
|
||||
VirtualFinger middle;
|
||||
VirtualFinger ring;
|
||||
VirtualFinger little;
|
||||
};
|
||||
|
||||
// 가상 손 구조 헬퍼 함수들
|
||||
void BuildVirtualHandFromRokoko(VirtualHand& virtualHand, const RokokoData::Body& body, eGloveHandSide handSide);
|
||||
void CalculateHierarchicalLocalRotations(VirtualHand& virtualHand);
|
||||
void ExtractLocalRotationsToNodes(const VirtualHand& virtualHand, std::vector<sFingerNode>& nodes);
|
||||
sFingerNode CalculateLocalRotationFromParent(const VirtualJoint& parent, const VirtualJoint& child);
|
||||
|
||||
protected:
|
||||
|
||||
/**
|
||||
* [Legacy Glove SDK Simulator - Commented Out]
|
||||
* Instance of simulator (now replaced by Rokoko integration)
|
||||
*/
|
||||
// SimulatedPluginDevices::HardwareSimulator* mGloveSimulator;
|
||||
|
||||
/**
|
||||
* [Glove SDK Placeholder]
|
||||
* Example glove data mutex
|
||||
*/
|
||||
std::recursive_mutex* mGloveDataMutex;
|
||||
|
||||
/**
|
||||
* Pointer to device manager in Motive for reporting error messages.
|
||||
*/
|
||||
AnalogSystem::IDeviceManager* mDeviceManager;
|
||||
};
|
||||
}
|
||||
|
||||
}
|
||||
BIN
Optitrack Rokoko Glove/RokokoGloveDevice_Fixed/ExampleGloveData.csv
(Stored with Git LFS)
BIN
Optitrack Rokoko Glove/RokokoGloveDevice_Fixed/ExampleGloveData.csv
(Stored with Git LFS)
Binary file not shown.
|
@ -1,311 +0,0 @@
|
||||
//======================================================================================================
|
||||
// Copyright 2022, NaturalPoint Inc.
|
||||
//======================================================================================================
|
||||
|
||||
#pragma once
|
||||
#include "ExampleGloveDevice.h"
|
||||
#include "ExampleGloveAdapterSingleton.h"
|
||||
|
||||
// OptiTrack Peripheral Device API
|
||||
#include "AnalogChannelDescriptor.h"
|
||||
#include "IDeviceManager.h"
|
||||
using namespace AnalogSystem;
|
||||
using namespace OptiTrackPluginDevices;
|
||||
using namespace GloveDeviceProperties;
|
||||
using namespace ExampleDevice;
|
||||
|
||||
|
||||
///////////////////////////////////////////////////////////////////////////////
|
||||
//
|
||||
// Device Helper: Initialization and Shutdown
|
||||
//
|
||||
void OptiTrackPluginDevices::ExampleDevice::ExampleGlove_EnumerateDeviceFactories(IDeviceManager* pDeviceManager, std::list<std::unique_ptr<IDeviceFactory>>& dfs)
|
||||
{
|
||||
// Start server detection
|
||||
if (gGloveAdapter == nullptr) {
|
||||
gGloveAdapter = std::make_unique<ExampleGloveAdapterSingleton>(pDeviceManager);
|
||||
}
|
||||
}
|
||||
|
||||
void OptiTrackPluginDevices::ExampleDevice::ExampleGlove_Shutdown()
|
||||
{
|
||||
if (gGloveAdapter != nullptr)
|
||||
{
|
||||
gGloveAdapter->ClientShutdown();
|
||||
gGloveAdapter.reset();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
///////////////////////////////////////////////////////////////////////////////
|
||||
//
|
||||
// Example Glove Device Factory
|
||||
//
|
||||
const char* OptiTrackPluginDevices::ExampleDevice::ExampleGloveDeviceFactory::Name() const
|
||||
{
|
||||
return "ExampleGloveDevice";
|
||||
}
|
||||
|
||||
std::unique_ptr<AnalogSystem::IDevice> OptiTrackPluginDevices::ExampleDevice::ExampleGloveDeviceFactory::Create() const
|
||||
{
|
||||
ExampleGloveDevice* pDevice = new ExampleGloveDevice(mDeviceSerial, mDeviceInfo);
|
||||
SetCommonGloveDeviceProperties(pDevice);
|
||||
SetQuaternionDataChannels(pDevice);
|
||||
|
||||
// Transfer ownership to host
|
||||
std::unique_ptr<AnalogSystem::IDevice> ptrDevice(pDevice);
|
||||
return ptrDevice;
|
||||
}
|
||||
|
||||
|
||||
///////////////////////////////////////////////////////////////////////////////
|
||||
//
|
||||
// Example Glove Device
|
||||
//
|
||||
OptiTrackPluginDevices::ExampleDevice::ExampleGloveDevice::ExampleGloveDevice(uint32_t serial, sGloveDeviceBaseInfo deviceInfo)
|
||||
{
|
||||
mDeviceInfo = deviceInfo;
|
||||
mDeviceSerial = deviceInfo.gloveId;
|
||||
bIsEnabled = true;
|
||||
}
|
||||
|
||||
|
||||
bool OptiTrackPluginDevices::ExampleDevice::ExampleGloveDevice::Configure()
|
||||
{
|
||||
bool success = Deconfigure();
|
||||
if (!success)
|
||||
return false;
|
||||
|
||||
// update device's buffer allocation based on current channel and data type configuration
|
||||
success = cPluginDevice::Configure();
|
||||
if (!success)
|
||||
return false;
|
||||
|
||||
bIsConfigured = success;
|
||||
DeviceManager()->MessageToHost(this, "", MessageType_RequestRestart);
|
||||
return success;
|
||||
}
|
||||
|
||||
bool OptiTrackPluginDevices::ExampleDevice::ExampleGloveDevice::Deconfigure()
|
||||
{
|
||||
bool success = cPluginDevice::Deconfigure();
|
||||
|
||||
return success;
|
||||
}
|
||||
|
||||
bool OptiTrackPluginDevices::ExampleDevice::ExampleGloveDevice::StartCapture()
|
||||
{
|
||||
bool success = cPluginDevice::StartCapture();
|
||||
|
||||
bIsCollecting = true;
|
||||
mCollectionThread = CreateThread(nullptr, 0, CollectionThread, this, 0, nullptr);
|
||||
if (mCollectionThread == nullptr)
|
||||
{
|
||||
return false;
|
||||
bIsCollecting = false;
|
||||
}
|
||||
|
||||
return success;
|
||||
}
|
||||
|
||||
bool OptiTrackPluginDevices::ExampleDevice::ExampleGloveDevice::StopCapture()
|
||||
{
|
||||
bool success = cPluginDevice::StopCapture();
|
||||
|
||||
// REQUIRED: Stop collecting data. Terminate hardware device polling thread
|
||||
bIsCollecting = false;
|
||||
DWORD waitResult = WaitForSingleObject(mCollectionThread, 1000);
|
||||
if (waitResult == WAIT_OBJECT_0)
|
||||
{
|
||||
CloseHandle(mCollectionThread);
|
||||
mCollectionThread = NULL;
|
||||
success = true;
|
||||
}
|
||||
else if (waitResult == WAIT_TIMEOUT)
|
||||
{
|
||||
BOOL result = TerminateThread(mCollectionThread, 0);
|
||||
success = (result == TRUE);
|
||||
}
|
||||
else
|
||||
{
|
||||
success = false;
|
||||
}
|
||||
return success;
|
||||
}
|
||||
|
||||
void OptiTrackPluginDevices::ExampleDevice::ExampleGloveDevice::OnPropertyChanged(const char* propertyName)
|
||||
{
|
||||
cPluginDevice::OnPropertyChanged(propertyName);
|
||||
|
||||
if (strcmp(propertyName, kEnabledPropName) == 0)
|
||||
{
|
||||
// Update device enabled state
|
||||
GetProperty(kEnabledPropName, bIsEnabled);
|
||||
}
|
||||
else if (strcmp(propertyName, kRatePropName) == 0)
|
||||
{
|
||||
// Update device capture rate
|
||||
GetProperty(kRatePropName, mDeviceRateFPS);
|
||||
mRequestedRateMS = (1.0f / mDeviceRateFPS) * 1000.0f;
|
||||
}
|
||||
else if (strcmp(propertyName, kDataStatePropName) == 0)
|
||||
{
|
||||
int deviceState = 0;
|
||||
GetProperty(kDataStatePropName, deviceState);
|
||||
if (deviceState != DeviceDataState::DeviceState_ReceivingData)
|
||||
{
|
||||
// if not receiving data, disable battery state and signal strength
|
||||
mBatteryLevel = GloveDeviceProp_BatteryUninitialized;
|
||||
SetProperty(GloveDeviceProp_Battery, mBatteryLevel);
|
||||
mSignalStrength = GloveDeviceProp_SignalStrengthUnitialized;
|
||||
SetProperty(GloveDeviceProp_SignalStrength, mSignalStrength);
|
||||
}
|
||||
}
|
||||
else if (strcmp(propertyName, GloveDeviceProp_Solver) == 0)
|
||||
{
|
||||
// Route solver type to device user data for interpreting in pipeline
|
||||
int solver = 0;
|
||||
GetProperty(GloveDeviceProp_Solver, solver);
|
||||
SetProperty(cPluginDeviceBase::kUserDataPropName, solver);
|
||||
}
|
||||
}
|
||||
|
||||
unsigned long __stdcall OptiTrackPluginDevices::ExampleDevice::ExampleGloveDevice::CollectionThread(LPVOID Context)
|
||||
{
|
||||
ExampleGloveDevice* pThis = static_cast<ExampleGloveDevice*>(Context);
|
||||
return pThis->DoCollectionThread();
|
||||
}
|
||||
|
||||
unsigned long OptiTrackPluginDevices::ExampleDevice::ExampleGloveDevice::DoCollectionThread()
|
||||
{
|
||||
/* Collection Thread -
|
||||
Motive's 15 channel glove data channel format for finger node rotations:
|
||||
1 = Thumb MP 1 (w,x,y,z)
|
||||
2 = Thumb PIP 2
|
||||
3 = Thumb DIP 3
|
||||
4 = Index MP 1
|
||||
5 = Index PIP 2
|
||||
6 = Index DIP 3
|
||||
7 = Middle MP 1
|
||||
8 = Middle PIP 2
|
||||
9 = Middle DIP 3
|
||||
10 = Ring MP 1
|
||||
11 = Ring PIP 2
|
||||
12 = Ring DIP 3
|
||||
13 = Pinky MP 1
|
||||
14 = Pinky PIP 2
|
||||
15 = Pinky DIP 3
|
||||
|
||||
Hand joint orientation respects right-handed coordinate system.
|
||||
For left hand, +X is pointed towards the finger tip.
|
||||
For right hand, +X is pointer towards the wrist or the body.
|
||||
*/
|
||||
|
||||
// timers used for frame and ui updates
|
||||
std::chrono::high_resolution_clock::time_point frameTimerStart, frameTimerEnd;
|
||||
std::chrono::high_resolution_clock::time_point uiTimerStart, uiTimerEnd;
|
||||
std::chrono::milliseconds actualFrameDurationMS;
|
||||
double adjustment = 0.0;
|
||||
double durationDeltaMS = 0.0;
|
||||
|
||||
|
||||
// Glove device parameters (rate / battery / signal)
|
||||
GetProperty(kEnabledPropName, bIsEnabled);
|
||||
GetProperty(GloveDeviceProp_Battery, mBatteryLevel);
|
||||
GetProperty(GloveDeviceProp_SignalStrength, mSignalStrength);
|
||||
GetProperty(kRatePropName, mDeviceRateFPS);
|
||||
mRequestedRateMS = (1.0f / mDeviceRateFPS) * 1000.0f;
|
||||
|
||||
// Initialize glove handedness
|
||||
InitializeGloveProperty();
|
||||
|
||||
//glove channel data arrray to be copied
|
||||
float gloveChannelData[kGloveAnalogChannelCount];
|
||||
|
||||
// Collection thread
|
||||
uiTimerStart = std::chrono::high_resolution_clock::now();
|
||||
while (bIsCollecting)
|
||||
{
|
||||
frameTimerStart = std::chrono::high_resolution_clock::now();
|
||||
int deviceFrameID = this->FrameCounter();
|
||||
|
||||
// Skip disabled devices
|
||||
bool isDeviceEnabled = false;
|
||||
GetProperty(kEnabledPropName, isDeviceEnabled);
|
||||
if (!isDeviceEnabled) continue;
|
||||
|
||||
// Poll latest glove data from the adapter
|
||||
sGloveDeviceData t_data;
|
||||
bool isGloveDataAvailable = gGloveAdapter->GetLatestData(mDeviceInfo.gloveId, t_data);
|
||||
|
||||
if (isGloveDataAvailable)
|
||||
{
|
||||
if (!bIsInitialized) {
|
||||
InitializeGloveProperty();
|
||||
}
|
||||
|
||||
// Update ui every 5 secs (too frequent can cause unnecessary slowdowns)
|
||||
uiTimerEnd = std::chrono::high_resolution_clock::now();
|
||||
auto elapsedTime = std::chrono::duration_cast<std::chrono::seconds>(uiTimerEnd - uiTimerStart);
|
||||
if (elapsedTime.count() > 5)
|
||||
{
|
||||
UpdateGloveProperty(mDeviceInfo);
|
||||
uiTimerStart = std::chrono::high_resolution_clock::now();
|
||||
}
|
||||
|
||||
// Frame Begin: get frame from device buffer
|
||||
AnalogFrame<float>* pFrame = this->BeginFrameUpdate(deviceFrameID);
|
||||
if (pFrame)
|
||||
{
|
||||
// fill in frame header
|
||||
int flags = 0;
|
||||
|
||||
// Iterate through each bone and populate channel data.
|
||||
// Skip the first bone, hand base, as it's driven from rigid body transform instead.
|
||||
for (int i = 0; i < 15; i++)
|
||||
{
|
||||
int nodeChannelIndex = i * 4;
|
||||
gloveChannelData[nodeChannelIndex] = t_data.nodes.at(i).quat_w; //w
|
||||
gloveChannelData[nodeChannelIndex + 1] = t_data.nodes.at(i).quat_x; //x
|
||||
gloveChannelData[nodeChannelIndex + 2] = t_data.nodes.at(i).quat_y; //y
|
||||
gloveChannelData[nodeChannelIndex + 3] = t_data.nodes.at(i).quat_z; //z
|
||||
}
|
||||
|
||||
pFrame->SetID(deviceFrameID);
|
||||
pFrame->SetFlag(flags);
|
||||
//pFrame->SetTimestamp((double)mLastGloveDataTimebstamp.time);
|
||||
::memcpy(pFrame->ChannelData(), &gloveChannelData[0], kGloveAnalogChannelCount * sizeof(float));
|
||||
EndFrameUpdate();
|
||||
this->SetFrameCounter(deviceFrameID + 1);
|
||||
}
|
||||
|
||||
|
||||
// End frame update. Sleep the thread for the remaining frame period.
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds((int)(mRequestedRateMS - adjustment)));
|
||||
frameTimerEnd = std::chrono::high_resolution_clock::now();
|
||||
actualFrameDurationMS = std::chrono::duration_cast<std::chrono::milliseconds>(frameTimerEnd - frameTimerStart);
|
||||
durationDeltaMS = actualFrameDurationMS.count() - mRequestedRateMS;
|
||||
|
||||
// estimating adjustment to prevent oscillation on sleep duration.
|
||||
if (durationDeltaMS > 1.0)
|
||||
adjustment = -1.0;
|
||||
else if (durationDeltaMS > 2.0)
|
||||
adjustment = -2.0;
|
||||
else if (durationDeltaMS > 3.0)
|
||||
adjustment = -3.0;
|
||||
else if (durationDeltaMS < -3.0)
|
||||
adjustment = -3.0;
|
||||
else if (durationDeltaMS < -2.0)
|
||||
adjustment = 2.0;
|
||||
else if (durationDeltaMS < -1.0)
|
||||
adjustment = 1.0;
|
||||
else
|
||||
adjustment = 0.0;
|
||||
if (fabs(adjustment) > 1.0)
|
||||
{
|
||||
this->LogError(MessageType_StatusInfo, "[Example Device] Device timing resolution off by %3.1f ms (requested:%3.1f, actual:%3.1f)", durationDeltaMS, mRequestedRateMS, (double) actualFrameDurationMS.count());
|
||||
}
|
||||
}
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
@ -1,86 +0,0 @@
|
||||
//======================================================================================================
|
||||
// Copyright 2023, NaturalPoint Inc.
|
||||
//======================================================================================================
|
||||
/**
|
||||
* This is an example glove device provided to demonstrate how a plugin device can be set up as a glove device
|
||||
* in Motive. This class derives from GloveDeviceBase class which contains basic setups required by gloves.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
#include <memory>
|
||||
#include <list>
|
||||
|
||||
// OptiTrack Peripheral Device API
|
||||
#include "dllcommon.h"
|
||||
#include "GloveDeviceBase.h"
|
||||
#include "GloveDataFormat.h"
|
||||
#include "ExampleGloveAdapterSingleton.h"
|
||||
|
||||
namespace OptiTrackPluginDevices
|
||||
{
|
||||
namespace ExampleDevice{
|
||||
|
||||
class ExampleGloveDevice;
|
||||
class ExampleGloveDeviceFactory;
|
||||
|
||||
void ExampleGlove_EnumerateDeviceFactories(AnalogSystem::IDeviceManager* pDeviceManager, std::list<std::unique_ptr<AnalogSystem::IDeviceFactory>>& dfs);
|
||||
void ExampleGlove_Shutdown();
|
||||
|
||||
|
||||
/**
|
||||
* For creating a device in Motive, a factory class must be created first. This example class inherits from the
|
||||
* parent glove device factory where common glove functionalities and configurations are set.
|
||||
*/
|
||||
class ExampleGloveDeviceFactory : public OptiTrackPluginDevices::GloveDeviceFactoryBase
|
||||
{
|
||||
public:
|
||||
ExampleGloveDeviceFactory(std::string deviceName, sGloveDeviceBaseInfo deviceInfo) :
|
||||
GloveDeviceFactoryBase(deviceName.c_str(), deviceInfo.gloveId), mDeviceInfo(deviceInfo)
|
||||
{
|
||||
}
|
||||
|
||||
/**
|
||||
* Return device factory name
|
||||
*/
|
||||
virtual const char* Name() const override;
|
||||
|
||||
/**
|
||||
* The following method gets called by Motive. It creates and returns a new instance of device and transfers ownership to Motive.
|
||||
*/
|
||||
std::unique_ptr<AnalogSystem::IDevice> Create() const override;
|
||||
|
||||
private:
|
||||
sGloveDeviceBaseInfo mDeviceInfo;
|
||||
};
|
||||
|
||||
|
||||
/**
|
||||
* ExampleGloveDevice inherits from GloveDeviceBase and demonstrates how a glove plugin device can be created.
|
||||
* Each device gets their own collection thread where they populate the channel data. This class is inherited from the parent
|
||||
* GloveDeviceBase class where the basic glove setup is shown.
|
||||
*/
|
||||
class ExampleGloveDevice : public OptiTrackPluginDevices::GloveDeviceBase
|
||||
{
|
||||
public:
|
||||
ExampleGloveDevice(uint32_t serial, sGloveDeviceBaseInfo deviceInfo);
|
||||
virtual ~ExampleGloveDevice() = default;
|
||||
|
||||
// IDevice implementation
|
||||
virtual bool Configure();
|
||||
virtual bool Deconfigure();
|
||||
virtual bool StartCapture();
|
||||
virtual bool StopCapture();
|
||||
virtual void OnPropertyChanged(const char* propertyName);
|
||||
|
||||
private:
|
||||
|
||||
|
||||
/**
|
||||
* Collection thread for populating glove analog data channels
|
||||
*/
|
||||
static unsigned long __stdcall CollectionThread(LPVOID Context);
|
||||
unsigned long DoCollectionThread() override;
|
||||
void* mCollectionThread = nullptr;
|
||||
};
|
||||
}
|
||||
}
|
||||
BIN
Optitrack Rokoko Glove/RokokoGloveDevice_Fixed/FIXES_APPLIED.md
(Stored with Git LFS)
BIN
Optitrack Rokoko Glove/RokokoGloveDevice_Fixed/FIXES_APPLIED.md
(Stored with Git LFS)
Binary file not shown.
@ -1,84 +0,0 @@
|
||||
//======================================================================================================
|
||||
// Copyright 2023, NaturalPoint Inc.
|
||||
//======================================================================================================
|
||||
/**
|
||||
* This includes common glove data formats referenced in Motive.
|
||||
*/
|
||||
|
||||
|
||||
#pragma once
|
||||
#include <list>
|
||||
#include <mutex>
|
||||
#include <vector>
|
||||
#include <set>
|
||||
|
||||
enum class eGloveHandSide : int
|
||||
{
|
||||
Unknown = 0,
|
||||
Left = 1,
|
||||
Right = 2
|
||||
};
|
||||
|
||||
|
||||
struct sGloveDataTimestamp
|
||||
{
|
||||
uint8_t hour = 0;
|
||||
uint8_t minute = 0;
|
||||
uint32_t seconds = 0;
|
||||
uint32_t nanoseconds = 0;
|
||||
double t = 0;
|
||||
sGloveDataTimestamp(uint32_t s, uint32_t n) : seconds(s), nanoseconds(n) { t = double(seconds) + double(nanoseconds) * 0.000000001; }
|
||||
sGloveDataTimestamp(double time) { t = time; }
|
||||
sGloveDataTimestamp() : t(0.0) {}
|
||||
|
||||
bool operator >(const sGloveDataTimestamp& x)
|
||||
{
|
||||
return this->t > x.t;
|
||||
}
|
||||
bool operator <(const sGloveDataTimestamp& x)
|
||||
{
|
||||
return this->t < x.t;
|
||||
}
|
||||
bool operator ==(const sGloveDataTimestamp& x)
|
||||
{
|
||||
return this->t == x.t;
|
||||
}
|
||||
|
||||
sGloveDataTimestamp operator -(const sGloveDataTimestamp& x)
|
||||
{
|
||||
return sGloveDataTimestamp(this->t - x.t);
|
||||
}
|
||||
|
||||
operator const double() {
|
||||
return t;
|
||||
}
|
||||
};
|
||||
|
||||
struct sFingerNode {
|
||||
int node_id;
|
||||
float quat_x;
|
||||
float quat_y;
|
||||
float quat_z;
|
||||
float quat_w;
|
||||
};
|
||||
|
||||
struct sGloveDeviceData {
|
||||
uint64_t gloveId = 0;
|
||||
std::vector<sFingerNode> nodes;
|
||||
sGloveDataTimestamp timestamp;
|
||||
};
|
||||
|
||||
struct sGloveDeviceBaseInfo
|
||||
{
|
||||
uint32_t gloveId = 0; // device serial id
|
||||
int battery = 0 ;
|
||||
int signalStrength= 0;
|
||||
eGloveHandSide handSide = eGloveHandSide::Unknown;
|
||||
std::string actorName = ""; // Actor 이름 (다중 장비 구분용)
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@ -1,258 +0,0 @@
|
||||
//======================================================================================================
|
||||
// Copyright 2022, NaturalPoint Inc.
|
||||
//======================================================================================================
|
||||
#include "dllcommon.h"
|
||||
#include "GloveDeviceBase.h"
|
||||
|
||||
// Optitrack Peripheral Device API
|
||||
#include "AnalogChannelDescriptor.h"
|
||||
#include "IDeviceManager.h"
|
||||
#include "GloveDataFormat.h"
|
||||
using namespace AnalogSystem;
|
||||
using namespace OptiTrackPluginDevices;
|
||||
using namespace GloveDeviceProperties;
|
||||
|
||||
OptiTrackPluginDevices::GloveDeviceBase::GloveDeviceBase()
|
||||
{
|
||||
this->SetCommonDeviceProperties();
|
||||
this->SetCommonGloveDeviceProperties();
|
||||
}
|
||||
|
||||
void OptiTrackPluginDevices::GloveDeviceBase::SetCommonDeviceProperties()
|
||||
{
|
||||
// Set appropriate default property values (and set advanced state)
|
||||
ModifyProperty(cPluginDeviceBase::kModelPropName, true, true, false);
|
||||
ModifyProperty(cPluginDeviceBase::kOrderPropName, true, false, true);
|
||||
ModifyProperty(cPluginDeviceBase::kDisplayNamePropName, false, false, false);
|
||||
|
||||
// Reveal glove related prop name
|
||||
ModifyProperty(cPluginDeviceBase::kAssetPropName, false, false, false); // name of the paired skeleton asset
|
||||
|
||||
// hide default properties that aren't relevant to glove device
|
||||
ModifyProperty(cPluginDeviceBase::kSyncModePropName, true, true, true);
|
||||
ModifyProperty(cPluginDeviceBase::kSyncStatusPropName, true, true, true);
|
||||
ModifyProperty(cPluginDeviceBase::kUseExternalClockPropName, true, true, true);
|
||||
ModifyProperty(cPluginDeviceBase::kMocapRateMultiplePropName, true, true, true);
|
||||
ModifyProperty(cPluginDeviceBase::kScalePropName, true, true, true);
|
||||
ModifyProperty(cPluginDeviceBase::kCalOffsetPropName, true, true, true);
|
||||
ModifyProperty(cPluginDeviceBase::kCalSquareRotationPropName, true, true, true);
|
||||
ModifyProperty(cPluginDeviceBase::kUserDataPropName, true, true, true);
|
||||
ModifyProperty(cPluginDeviceBase::kZeroPropName, true, true, true);
|
||||
ModifyProperty(cPluginDeviceBase::kGroupNamePropName, true, true, true);
|
||||
|
||||
// hide advanced properties
|
||||
ModifyProperty(cPluginDeviceBase::kConnectedPropName, true, false, true);
|
||||
ModifyProperty(cPluginDeviceBase::kNamePropName, true, false, true);
|
||||
ModifyProperty(cPluginDeviceBase::kChannelCountPropName, true, false, true);
|
||||
ModifyProperty(cPluginDeviceBase::kAppRunModePropName, true, false, true);
|
||||
ModifyProperty(cPluginDeviceBase::kMocapSyncFramePropName, true, false, true);
|
||||
ModifyProperty(cPluginDeviceBase::kSyncFramePropName, true, false, true);
|
||||
ModifyProperty(cPluginDeviceBase::kNeedDeviceSyncFramePropName, false, false, true);
|
||||
ModifyProperty(cPluginDeviceBase::kNeedMocapSyncFramePropName, false, false, true);
|
||||
ModifyProperty(cPluginDeviceBase::kUseDriftCorrectionPropName, false, false, true);
|
||||
ModifyProperty(cPluginDeviceBase::kMasterSerialPropName, true, false, true);
|
||||
ModifyProperty(cPluginDeviceBase::kDriftCorrectionPropName, true, false , true);
|
||||
SetProperty(cPluginDeviceBase::kEnabledPropName, true);
|
||||
SetProperty(cPluginDeviceBase::kConnectedPropName, true);
|
||||
SetProperty(cPluginDeviceBase::kMocapRateMultiplePropName, 1);
|
||||
}
|
||||
|
||||
void OptiTrackPluginDevices::GloveDeviceBase::SetCommonGloveDeviceProperties()
|
||||
{
|
||||
// Add glove related properties
|
||||
AddProperty(GloveDeviceProperties::GloveDeviceProp_HandSide, GloveHandSide, kHandSideCount, 0, "Settings", false);
|
||||
AddProperty(GloveDeviceProperties::GloveDeviceProp_Battery, GloveDeviceProp_BatteryUninitialized, "Settings", false);
|
||||
AddProperty(GloveDeviceProperties::GloveDeviceProp_SignalStrength, GloveDeviceProp_SignalStrengthUnitialized, "Settings", false);
|
||||
//AddProperty(GloveDeviceProperties::GloveDeviceProp_Reconnect, false, "Settings", false);
|
||||
|
||||
// Modify property visibility
|
||||
ModifyProperty(GloveDeviceProperties::GloveDeviceProp_SignalStrength, true, false, false, false);
|
||||
ModifyProperty(GloveDeviceProperties::GloveDeviceProp_HandSide, true, false, false);
|
||||
ModifyProperty(GloveDeviceProperties::GloveDeviceProp_Battery, true, false, false, false);
|
||||
}
|
||||
|
||||
///////////////////////////////////////////////////////////////////////////////
|
||||
//
|
||||
// Setter: Glove Device
|
||||
//
|
||||
void OptiTrackPluginDevices::GloveDeviceBase::SetDeviceRate(int rate)
|
||||
{
|
||||
mDeviceRateFPS = rate;
|
||||
mRequestedRateMS = (1.0f / mDeviceRateFPS) * 1000.0f;
|
||||
return;
|
||||
}
|
||||
|
||||
void OptiTrackPluginDevices::GloveDeviceBase::SetHandSide(eGloveHandSide side)
|
||||
{
|
||||
mHandSide = side;
|
||||
return;
|
||||
}
|
||||
|
||||
void OptiTrackPluginDevices::GloveDeviceBase::SetEnabled(bool enabled)
|
||||
{
|
||||
bIsEnabled = enabled;
|
||||
}
|
||||
|
||||
void OptiTrackPluginDevices::GloveDeviceBase::SetCollecting(bool collecting)
|
||||
{
|
||||
bIsCollecting = collecting;
|
||||
}
|
||||
|
||||
bool OptiTrackPluginDevices::GloveDeviceBase::SetDeviceSerial(std::string serial)
|
||||
{
|
||||
mDeviceSerial = serial;
|
||||
// Set device serial property
|
||||
return false;
|
||||
}
|
||||
|
||||
bool OptiTrackPluginDevices::GloveDeviceBase::SetDeviceData(sGloveDeviceData data)
|
||||
{
|
||||
mLastGloveData = data;
|
||||
return true;
|
||||
}
|
||||
|
||||
bool OptiTrackPluginDevices::GloveDeviceBase::SetBatteryLevel(int level)
|
||||
{
|
||||
if (SetProperty(GloveDeviceProperties::GloveDeviceProp_Battery, (int)level))
|
||||
{
|
||||
mBatteryLevel = level;
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
bool OptiTrackPluginDevices::GloveDeviceBase::SetSignalStrength(int signal)
|
||||
{
|
||||
if (SetProperty(GloveDeviceProperties::GloveDeviceProp_SignalStrength, (int)signal))
|
||||
{
|
||||
mSignalStrength = signal;
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
void OptiTrackPluginDevices::GloveDeviceBase::InitializeGloveProperty()
|
||||
{
|
||||
if (mDeviceInfo.handSide == eGloveHandSide::Left)
|
||||
{
|
||||
SetProperty(GloveDeviceProperties::GloveDeviceProp_HandSide, 1);
|
||||
SetProperty(cPluginDeviceBase::kOrderPropName, 1);
|
||||
bIsInitialized = true;
|
||||
}
|
||||
else if (mDeviceInfo.handSide == eGloveHandSide::Right)
|
||||
{
|
||||
SetProperty(GloveDeviceProperties::GloveDeviceProp_HandSide, 2);
|
||||
SetProperty(cPluginDeviceBase::kOrderPropName, 2);
|
||||
bIsInitialized = true;
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
|
||||
void OptiTrackPluginDevices::GloveDeviceBase::UpdateGloveProperty(const sGloveDeviceBaseInfo& deviceInfo)
|
||||
{
|
||||
// update glove property when the device is receiving data.
|
||||
int deviceState = 0;
|
||||
GetProperty(kDataStatePropName, deviceState);
|
||||
if (deviceState == DeviceDataState::DeviceState_ReceivingData)
|
||||
{
|
||||
if (mSignalStrength != 1)
|
||||
{
|
||||
mSignalStrength = deviceInfo.signalStrength;
|
||||
double signal = fabs(mSignalStrength);
|
||||
SetProperty(GloveDeviceProp_SignalStrength, (int)signal);
|
||||
}
|
||||
SetProperty(GloveDeviceProp_SignalStrength, -100);
|
||||
|
||||
if (mBatteryLevel != deviceInfo.battery)
|
||||
{
|
||||
mBatteryLevel = (int)(deviceInfo.battery); //Battery level percentage.
|
||||
SetProperty(GloveDeviceProp_Battery, (int)mBatteryLevel);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
///////////////////////////////////////////////////////////////////////////////
|
||||
//
|
||||
// Glove Device Factory
|
||||
//
|
||||
void OptiTrackPluginDevices::GloveDeviceFactoryBase::SetCommonGloveDeviceProperties(GloveDeviceBase* pDevice) const
|
||||
{
|
||||
// REQUIRED: Set device name/model/serial
|
||||
pDevice->SetProperty(cPluginDeviceBase::kNamePropName, (char*)DeviceName());
|
||||
pDevice->SetProperty(cPluginDeviceBase::kDisplayNamePropName, (char*)DeviceName());
|
||||
pDevice->SetProperty(cPluginDeviceBase::kModelPropName, "Glove Model"); // model
|
||||
char mDeviceSerial[MAX_PATH];
|
||||
sprintf_s(mDeviceSerial, "%s-serial", DeviceName());
|
||||
pDevice->SetProperty(cPluginDeviceBase::kSerialPropName, mDeviceSerial); // device serial (must be unique!)
|
||||
pDevice->SetProperty(cPluginDeviceBase::kDeviceTypePropName, (long)DeviceType_Glove); // set device type as glove
|
||||
pDevice->SetProperty(cPluginDeviceBase::kRatePropName, 120.0); // glove sampling rate
|
||||
pDevice->SetProperty(cPluginDeviceBase::kUseDriftCorrectionPropName, true); // drift correction to fetch most recent data.
|
||||
pDevice->SetProperty(cPluginDeviceBase::kOrderPropName, (int) eGloveHandSide::Unknown); // device order: (0 = uninitialized, 1=left, 2=right)
|
||||
}
|
||||
|
||||
|
||||
void OptiTrackPluginDevices::GloveDeviceFactoryBase::SetDeviceIndex(int t_index)
|
||||
{
|
||||
mDeviceIndex = t_index;
|
||||
return;
|
||||
}
|
||||
|
||||
void OptiTrackPluginDevices::GloveDeviceFactoryBase::SetQuaternionDataChannels(GloveDeviceBase* pDevice) const
|
||||
{
|
||||
// Set glove data channels:
|
||||
// 5 fingers * 3 joints per finger * 4 floats per quat (x/y/z/w) = 60 channels
|
||||
int channelIndex;
|
||||
int gloveAnalogChannelCount = 60;
|
||||
char szChannelNames[MAX_PATH];
|
||||
|
||||
// add channels
|
||||
for (int i = 0; i < gloveAnalogChannelCount; i++)
|
||||
{
|
||||
int finger = i / 12; // 12 channels per finger
|
||||
switch (finger)
|
||||
{
|
||||
case 0: sprintf_s(szChannelNames, "T"); break;
|
||||
case 1: sprintf_s(szChannelNames, "I"); break;
|
||||
case 2: sprintf_s(szChannelNames, "M"); break;
|
||||
case 3: sprintf_s(szChannelNames, "R"); break;
|
||||
case 4: sprintf_s(szChannelNames, "P"); break;
|
||||
}
|
||||
|
||||
int joint = (i / 4) % 3; // 3 joints per finger
|
||||
switch (joint)
|
||||
{
|
||||
case 0: sprintf_s(szChannelNames, "%s-MCP", szChannelNames); break;
|
||||
case 1: sprintf_s(szChannelNames, "%s-PIP", szChannelNames); break;
|
||||
case 2: sprintf_s(szChannelNames, "%s-DIP", szChannelNames); break;
|
||||
}
|
||||
|
||||
int axis = i % 4; // 4 floats per joint
|
||||
switch (axis)
|
||||
{
|
||||
case 0: sprintf_s(szChannelNames, "%s W", szChannelNames); break;
|
||||
case 1: sprintf_s(szChannelNames, "%s X", szChannelNames); break;
|
||||
case 2: sprintf_s(szChannelNames, "%s Y", szChannelNames); break;
|
||||
case 3: sprintf_s(szChannelNames, "%s Z", szChannelNames); break;
|
||||
}
|
||||
channelIndex = pDevice->AddChannelDescriptor(szChannelNames, ChannelType_Float);
|
||||
|
||||
}
|
||||
|
||||
// enable all channels by default
|
||||
for (int i = 0; i <= channelIndex; i++)
|
||||
{
|
||||
// data channel enabled by default
|
||||
pDevice->ChannelDescriptor(i)->SetProperty(ChannelProp_Enabled, true);
|
||||
|
||||
// hide unused channel properties
|
||||
pDevice->ChannelDescriptor(i)->ModifyProperty(ChannelProp_Units, true, true);
|
||||
pDevice->ChannelDescriptor(i)->ModifyProperty(ChannelProp_Name, true, true);
|
||||
pDevice->ChannelDescriptor(i)->ModifyProperty(ChannelProp_MinVoltage, true, true);
|
||||
pDevice->ChannelDescriptor(i)->ModifyProperty(ChannelProp_MaxVoltage, true, true);
|
||||
pDevice->ChannelDescriptor(i)->ModifyProperty(ChannelProp_TerminalName, true, true);
|
||||
pDevice->ChannelDescriptor(i)->ModifyProperty(ChannelProp_TerminalType, true, true);
|
||||
pDevice->ChannelDescriptor(i)->ModifyProperty(ChannelProp_MaxVoltage, true, true);
|
||||
}
|
||||
}
|
||||
@ -1,180 +0,0 @@
|
||||
//======================================================================================================
|
||||
// Copyright 2023, NaturalPoint Inc.
|
||||
//======================================================================================================
|
||||
/**
|
||||
* GloveDeviceBase/GloveDeviceFactory class extends the cPluginDeviceBase and configures data channels and device properties required
|
||||
* by a glove device in Motive. The purpose of this class is to abstract out setups needed for creating glove device as demonstrated
|
||||
* in the ExampleGloveDevice. When developing a glove plugin to animate fingers in Motive, the following class can be inherited if needed.
|
||||
*/
|
||||
|
||||
#include <memory>
|
||||
#include <list>
|
||||
#include <mutex>
|
||||
#include <thread>
|
||||
|
||||
// OptiTrack Peripheral Device API
|
||||
#include "PluginDevice.h"
|
||||
#include "PluginDeviceFactory.h"
|
||||
#include "GloveDataFormat.h"
|
||||
|
||||
namespace OptiTrackPluginDevices
|
||||
{
|
||||
class GloveDeviceBase;
|
||||
class GloveDeviceFactoryBase;
|
||||
|
||||
/**
|
||||
* Common glove device properties used in Motive.
|
||||
*/
|
||||
namespace GloveDeviceProperties
|
||||
{
|
||||
static const int kHandSideCount = 3;
|
||||
static const char* GloveHandSide[kHandSideCount] =
|
||||
{
|
||||
"Uninitialized",
|
||||
"Left",
|
||||
"Right"
|
||||
};
|
||||
// Glove type needs to be set at the device level (0 = uninitialized, 1 = left, 2 = right)
|
||||
static const char* GloveDeviceProp_HandSide = "Hand Side";
|
||||
static const char* GloveDeviceProp_Battery = "Battery";
|
||||
static const char* GloveDeviceProp_SignalStrength = "Signal Strength";
|
||||
static const char* GloveDeviceProp_ServerAddress = "Server Address";
|
||||
static const char* GloveDeviceProp_Reconnect = "Reconnect";
|
||||
static const char* GloveDeviceProp_Solver = "Glove Solver";
|
||||
static const int GloveDeviceProp_BatteryUninitialized = -1;
|
||||
static const int GloveDeviceProp_SignalStrengthUnitialized = -1;
|
||||
static const int kGloveAnalogChannelCount = 60;
|
||||
}
|
||||
|
||||
/**
|
||||
* GloveDeviceFactory class demonstrates how plugin device factory can be set up for creating a glove device in Motive.
|
||||
* To create a device in Motive, an instance of PLuginDeviceFactory must be created per each device, and then, its ownership must be
|
||||
* transferred to Motive by using Create method. The GloveDeviceFactory inherits from PLuginDeviceFactory and demonstrates common
|
||||
* glove properties and data channels can be configured; which is demonstrated in this base class.
|
||||
*/
|
||||
class GloveDeviceFactoryBase : public AnalogSystem::PluginDeviceFactory
|
||||
{
|
||||
public:
|
||||
GloveDeviceFactoryBase(std::string deviceName, uint32_t serial) :
|
||||
AnalogSystem::PluginDeviceFactory(deviceName.c_str()), mDeviceSerial(serial) {}
|
||||
|
||||
uint32_t mDeviceSerial = -1;
|
||||
int mDeviceIndex = 0;
|
||||
|
||||
protected:
|
||||
void SetDeviceIndex(int t_index);
|
||||
|
||||
/**
|
||||
* Sets up quaternion data channels for delivering local rotation of the finger nodes.
|
||||
* Motive skeleton's hand consists of total 15 finger nodes, 3 per each finger.
|
||||
* These data channels will get populated by the collection thread running on each device.
|
||||
* Quaternion values are expected, resulting in total 60 float channels (15 finger nodes * 4 quat floats / node).
|
||||
* Local rotation data is expected, and both hand data expects right-handed coordinate system with +x axis
|
||||
* pointing towards the finger tip for left hand and towards the wrist/body for right hand.
|
||||
*/
|
||||
void SetQuaternionDataChannels(GloveDeviceBase* pDevice) const;
|
||||
|
||||
/**
|
||||
* Set Common Glove device properties
|
||||
*/
|
||||
void SetCommonGloveDeviceProperties(GloveDeviceBase* pDevice) const;
|
||||
};
|
||||
|
||||
/**
|
||||
* cGloveDeviceBase class is an example class which glove devices could inherit from.
|
||||
* This class includes basic setups and configurations for glove devices in Motive.
|
||||
*/
|
||||
class GloveDeviceBase : public AnalogSystem::cPluginDevice<float>
|
||||
{
|
||||
friend class GloveDeviceFactoryBase;
|
||||
|
||||
public:
|
||||
GloveDeviceBase();
|
||||
~GloveDeviceBase() = default;
|
||||
|
||||
void SetCommonDeviceProperties();
|
||||
void SetCommonGloveDeviceProperties();
|
||||
|
||||
protected:
|
||||
// Device status
|
||||
bool bIsEnabled = false;
|
||||
bool bIsCollecting = false;
|
||||
bool bIsInitialized = false;
|
||||
bool bIsConfigured = false;
|
||||
|
||||
// Device info
|
||||
sGloveDeviceBaseInfo mGloveInfo;
|
||||
std::string mDeviceSerial = "";
|
||||
eGloveHandSide mHandSide = eGloveHandSide::Unknown;
|
||||
int mBatteryLevel = 0;
|
||||
int mSignalStrength = 0;
|
||||
double mDeviceRateFPS = 0;
|
||||
double mRequestedRateMS = 0.0;
|
||||
|
||||
// Glove data
|
||||
sGloveDeviceData mLastGloveData;
|
||||
|
||||
// Collection thread must be created on the device class. Defined in ExampleGloveDevice class.
|
||||
virtual unsigned long DoCollectionThread() = 0;
|
||||
|
||||
/**
|
||||
* Configure device rate
|
||||
*/
|
||||
void SetDeviceRate(int rate);
|
||||
|
||||
/**
|
||||
* Configure hand side
|
||||
*/
|
||||
void SetHandSide(eGloveHandSide side);
|
||||
|
||||
/**
|
||||
* Enable or disable device
|
||||
*/
|
||||
void SetEnabled(bool enabled);
|
||||
|
||||
/**
|
||||
* Set collection status
|
||||
*/
|
||||
void SetCollecting(bool collecting);
|
||||
|
||||
/**
|
||||
* Set device serial string each device must have unique serial
|
||||
*/
|
||||
bool SetDeviceSerial(std::string serial);
|
||||
|
||||
/**
|
||||
* Set device data
|
||||
*/
|
||||
bool SetDeviceData(sGloveDeviceData data);
|
||||
|
||||
/**
|
||||
* Set device battery level (1-100)
|
||||
*/
|
||||
bool SetBatteryLevel(int level);
|
||||
|
||||
/**
|
||||
* Sets the signal stregth (1-128)
|
||||
*/
|
||||
bool SetSignalStrength(int signal);
|
||||
|
||||
|
||||
bool IsEnabled() { return bIsEnabled; };
|
||||
bool IsCollecting() { return bIsCollecting; };
|
||||
int GetSignalStrength() { return mSignalStrength; }
|
||||
int GetBatteryLevel() { return mBatteryLevel; }
|
||||
double GetDeviceRate() { return mDeviceRateFPS; }
|
||||
sGloveDeviceData GetLastestData() { return mLastGloveData; };
|
||||
|
||||
/**
|
||||
* Initialize the properties for the glove device
|
||||
*/
|
||||
void InitializeGloveProperty();
|
||||
|
||||
/**
|
||||
* Updates the device properties. Gets called periodically within collection thread.
|
||||
* Mainly updates the battery level and signal strength.
|
||||
*/
|
||||
void UpdateGloveProperty(const sGloveDeviceBaseInfo& deviceInfo);
|
||||
sGloveDeviceBaseInfo mDeviceInfo;
|
||||
};
|
||||
}
|
||||
@ -1,185 +0,0 @@
|
||||
//======================================================================================================
|
||||
// Copyright 2023, NaturalPoint Inc.
|
||||
//======================================================================================================
|
||||
#include "HardwareSimulator.h"
|
||||
#include <fstream>
|
||||
#include <iostream>
|
||||
#include <sstream>
|
||||
#include <windows.h>
|
||||
|
||||
using namespace std;
|
||||
|
||||
SimulatedPluginDevices::HardwareSimulator::HardwareSimulator()
|
||||
{}
|
||||
|
||||
SimulatedPluginDevices::HardwareSimulator::~HardwareSimulator()
|
||||
{
|
||||
bIsRunning = false;
|
||||
if (mUpdateThread.joinable()) {
|
||||
mUpdateThread.join();
|
||||
}
|
||||
}
|
||||
|
||||
void SimulatedPluginDevices::HardwareSimulator::StartData()
|
||||
{
|
||||
bIsRunning = true;
|
||||
mUpdateThread = std::thread(&HardwareSimulator::ReadDataFromCSV, this);
|
||||
}
|
||||
|
||||
void SimulatedPluginDevices::HardwareSimulator::Shutdown()
|
||||
{
|
||||
bIsRunning = false;
|
||||
if (mUpdateThread.joinable())
|
||||
{
|
||||
mUpdateThread.join();
|
||||
}
|
||||
}
|
||||
|
||||
void SimulatedPluginDevices::HardwareSimulator::RegisterDeviceInfoCallback(std::function<void(std::vector<SimulatedDeviceInfo>&)> device_info_callback)
|
||||
{
|
||||
mOnDeviceInfoUpdate = device_info_callback;
|
||||
}
|
||||
|
||||
void SimulatedPluginDevices::HardwareSimulator::NotifyDataCallback()
|
||||
{
|
||||
if (mOnFrameDataUpdate)
|
||||
{
|
||||
mOnFrameDataUpdate(mSimulatedFrameDataSet);
|
||||
}
|
||||
}
|
||||
|
||||
void SimulatedPluginDevices::HardwareSimulator::NotifyInfoCallback()
|
||||
{
|
||||
if (mOnDeviceInfoUpdate)
|
||||
{
|
||||
mOnDeviceInfoUpdate(mNewDeviceInfo);
|
||||
mNewDeviceInfo.clear();
|
||||
}
|
||||
}
|
||||
|
||||
void SimulatedPluginDevices::HardwareSimulator::AddSimulatedGlove(int deviceId, int nodeCount, int handedness)
|
||||
{
|
||||
SimulatedDeviceInfo device(deviceId, nodeCount, handedness);
|
||||
mSimulatedDeviceInfoSet.push_back(device);
|
||||
mNewDeviceInfo.push_back(device);
|
||||
mSimulatedFrameDataSet.push_back(SimulatedGloveFrameData(device.mDeviceSerial, device.mNodeCount));
|
||||
NotifyInfoCallback();
|
||||
}
|
||||
|
||||
void SimulatedPluginDevices::HardwareSimulator::RegisterFrameDataCallback(std::function<void(std::vector<SimulatedGloveFrameData>&)> data_callback)
|
||||
{
|
||||
mOnFrameDataUpdate = data_callback;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* [Example] Simply read each frame data from the provided csv file and update the data callback.
|
||||
*/
|
||||
bool SimulatedPluginDevices::HardwareSimulator::ReadDataFromCSV()
|
||||
{
|
||||
double mRequestedRateMS = (1.0f / mDataSampleRate) * 1000.0f;
|
||||
std::string filename = GetExePath() + "\\devices\\ExampleGloveData.csv";
|
||||
|
||||
// Read the provided example CSV file (60 channels)
|
||||
std::ifstream fin(filename);
|
||||
if (!fin.is_open())
|
||||
{
|
||||
// Failed to open the device
|
||||
return false;
|
||||
}
|
||||
|
||||
bool isFirstLine = true;
|
||||
std::vector<string> field_names;
|
||||
|
||||
// loop through lines of data
|
||||
std::string lineRead;
|
||||
while (bIsRunning)
|
||||
{
|
||||
std::vector<SimulatedFingerData> frame_data;
|
||||
std::vector<float> jointData;
|
||||
|
||||
if (fin.eof())
|
||||
{
|
||||
//loop back to begining
|
||||
fin.clear();
|
||||
fin.seekg(0, std::ios::beg);
|
||||
isFirstLine = true;
|
||||
}
|
||||
|
||||
std::getline(fin, lineRead);
|
||||
std::stringstream lineStream(lineRead);
|
||||
|
||||
// Read comma-separated values
|
||||
std::string val;
|
||||
std::getline(lineStream, val, ','); // skip first column
|
||||
while (getline(lineStream, val, ','))
|
||||
{
|
||||
if (isFirstLine)
|
||||
{
|
||||
field_names.push_back(val);
|
||||
}
|
||||
else
|
||||
{
|
||||
try
|
||||
{
|
||||
float val_f = std::stof(val);
|
||||
jointData.push_back(val_f);
|
||||
|
||||
}
|
||||
catch (const std::exception* e)
|
||||
{
|
||||
// error converting the value. Terminate
|
||||
return false;
|
||||
}
|
||||
|
||||
if (jointData.size() == 4)
|
||||
{
|
||||
SimulatedFingerData finger;
|
||||
// next finger joint
|
||||
finger.quat_w = jointData.at(0);
|
||||
finger.quat_x = jointData.at(1);
|
||||
finger.quat_y = jointData.at(2);
|
||||
finger.quat_z = jointData.at(3);
|
||||
frame_data.push_back(finger);
|
||||
jointData.clear();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (isFirstLine)
|
||||
isFirstLine = false;
|
||||
else {
|
||||
if (frame_data.size() != 0)
|
||||
{
|
||||
UpdateAllDevicesWithData(frame_data);
|
||||
}
|
||||
}
|
||||
|
||||
// End of a line sleep
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds((int)mRequestedRateMS));
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
void SimulatedPluginDevices::HardwareSimulator::UpdateAllDevicesWithData(std::vector<SimulatedFingerData>& data)
|
||||
{
|
||||
mDataLock.lock();
|
||||
// Loop through list of data instances in the frame data vector and update all instances
|
||||
for (auto& gloveDevice : mSimulatedFrameDataSet)
|
||||
{
|
||||
// Set all finger data
|
||||
gloveDevice.gloveFingerData = data;
|
||||
}
|
||||
NotifyDataCallback();
|
||||
mDataLock.unlock();
|
||||
}
|
||||
|
||||
std::string SimulatedPluginDevices::HardwareSimulator::GetExePath()
|
||||
{
|
||||
std::string path;
|
||||
char buffer[MAX_PATH];
|
||||
GetModuleFileNameA(NULL, buffer, MAX_PATH);
|
||||
string::size_type pos = string(buffer).find_last_of("\\/");
|
||||
path = string(buffer).substr(0, pos)/*+"\\system.exe"*/;
|
||||
return path;
|
||||
}
|
||||
@ -1,111 +0,0 @@
|
||||
////======================================================================================================
|
||||
//// Copyright 2023, NaturalPoint Inc.
|
||||
////======================================================================================================
|
||||
/*
|
||||
* SimulatedHardware class is used for demonstrating third-party glove SDK DLL to simulate a third-party hardware.
|
||||
* For the purpose of the example glove device, the finger tracking data is read from the csv file.
|
||||
*/
|
||||
#pragma once
|
||||
#define DATA_SAMPLERATE 120
|
||||
|
||||
#include <thread>
|
||||
#include <mutex>
|
||||
#include <vector>
|
||||
#include <functional>
|
||||
#include <cmath>
|
||||
#include <unordered_map>
|
||||
|
||||
namespace SimulatedPluginDevices {
|
||||
|
||||
class HardwareSimulator;
|
||||
|
||||
struct SimulatedFingerData
|
||||
{
|
||||
float quat_x = 0;
|
||||
float quat_y = 0;
|
||||
float quat_z = 0;
|
||||
float quat_w = 0;
|
||||
float pos_x = 0;
|
||||
float pos_y = 0;
|
||||
float pos_z = 0;
|
||||
|
||||
SimulatedFingerData() {};
|
||||
SimulatedFingerData(float x, float y, float z, float w) :
|
||||
quat_x(x), quat_y(y), quat_z(z), quat_w(w) {}
|
||||
};
|
||||
|
||||
struct SimulatedGloveFrameData {
|
||||
int mDeviceSerial = 0;
|
||||
int mChannelCount = 0;
|
||||
int kChannelPerNode = 4;
|
||||
int mNodeCount = 0;
|
||||
|
||||
std::vector<SimulatedFingerData> gloveFingerData; // for glove data
|
||||
|
||||
SimulatedGloveFrameData() {}
|
||||
SimulatedGloveFrameData(int deviceSerial, int nodeCount) :
|
||||
mDeviceSerial(deviceSerial),
|
||||
mNodeCount(nodeCount)
|
||||
{
|
||||
mChannelCount = mNodeCount * kChannelPerNode;
|
||||
gloveFingerData.resize(mNodeCount);
|
||||
}
|
||||
};
|
||||
|
||||
struct SimulatedDeviceInfo {
|
||||
int mDeviceSerial = 0; // device serial id
|
||||
int mBattery = 100;
|
||||
int mSignalStrength = 100;
|
||||
int mHandSide = 0;
|
||||
int mNodeCount = 0;
|
||||
int mChannelCount = 0;
|
||||
int kChannelPerNode = 4;
|
||||
|
||||
SimulatedDeviceInfo() {}
|
||||
SimulatedDeviceInfo(int deviceSerial, int channelCount):
|
||||
mDeviceSerial(deviceSerial), mChannelCount(channelCount)
|
||||
{}
|
||||
SimulatedDeviceInfo(int deviceSerial, int nodeCount, int handSide) :
|
||||
mDeviceSerial(deviceSerial), mHandSide(handSide), mNodeCount(nodeCount)
|
||||
{
|
||||
mChannelCount = nodeCount * kChannelPerNode;
|
||||
}
|
||||
};
|
||||
|
||||
/// <summary>
|
||||
/// Simple simulator for outputting sine wave channel data.
|
||||
/// </summary>
|
||||
class HardwareSimulator {
|
||||
public:
|
||||
HardwareSimulator();
|
||||
~HardwareSimulator();
|
||||
|
||||
void AddSimulatedGlove(int deviceId, int nodeCount, int handedness);
|
||||
void RegisterFrameDataCallback(std::function<void(std::vector<SimulatedGloveFrameData>&)> data_callback);
|
||||
void RegisterDeviceInfoCallback(std::function<void(std::vector<SimulatedDeviceInfo>&)> device_info_callback);
|
||||
void StartData();
|
||||
void Shutdown();
|
||||
|
||||
private:
|
||||
bool bIsRunning = false;
|
||||
std::thread mUpdateThread;
|
||||
|
||||
void NotifyDataCallback();
|
||||
void NotifyInfoCallback();
|
||||
bool ReadDataFromCSV();
|
||||
static std::string GetExePath();
|
||||
|
||||
void UpdateAllDevicesWithData(std::vector<SimulatedFingerData>& data);
|
||||
|
||||
std::vector<SimulatedGloveFrameData> mSimulatedFrameDataSet;
|
||||
std::vector<SimulatedDeviceInfo> mSimulatedDeviceInfoSet;
|
||||
std::vector<SimulatedDeviceInfo> mNewDeviceInfo;
|
||||
std::function<void(std::vector<SimulatedGloveFrameData>&)> mOnFrameDataUpdate;
|
||||
std::function<void(std::vector<SimulatedDeviceInfo>&)> mOnDeviceInfoUpdate;
|
||||
|
||||
const double mDataSampleRate = DATA_SAMPLERATE;
|
||||
|
||||
protected:
|
||||
std::recursive_mutex mDataLock;
|
||||
};
|
||||
}
|
||||
@ -1,161 +0,0 @@
|
||||
//======================================================================================================
|
||||
// Copyright 2025, Rokoko Glove OptiTrack Integration
|
||||
//======================================================================================================
|
||||
|
||||
#include "LZ4Wrapper.h"
|
||||
#include <cstring>
|
||||
#include <stdexcept>
|
||||
#include <windows.h>
|
||||
|
||||
// Unity LZ4 DLL 동적 로딩
|
||||
static HMODULE lz4Module = nullptr;
|
||||
static decltype(&Unity_LZ4_uncompressSize) pUnity_LZ4_uncompressSize = nullptr;
|
||||
static decltype(&Unity_LZ4_decompress) pUnity_LZ4_decompress = nullptr;
|
||||
|
||||
static bool LoadUnityLZ4()
|
||||
{
|
||||
if (lz4Module == nullptr) {
|
||||
// 다양한 경로에서 Unity LZ4 DLL 로드 시도
|
||||
const wchar_t* dllPaths[] = {
|
||||
L"lz4.dll", // 현재 디렉토리
|
||||
L".\\lz4.dll", // 명시적 현재 디렉토리
|
||||
L"x64\\Debug\\lz4.dll", // 디버그 폴더
|
||||
L"C:\\Users\\user\\Documents\\Streamingle_URP\\Assets\\External\\Rokoko\\Scripts\\Plugins\\LZ4\\x86_64\\lz4.dll" // Unity 절대 경로
|
||||
};
|
||||
|
||||
for (const auto& path : dllPaths) {
|
||||
lz4Module = LoadLibrary(path);
|
||||
if (lz4Module != nullptr) {
|
||||
// DLL 로드 성공 - 함수 포인터 획득
|
||||
pUnity_LZ4_uncompressSize = (decltype(pUnity_LZ4_uncompressSize))GetProcAddress(lz4Module, "Unity_LZ4_uncompressSize");
|
||||
pUnity_LZ4_decompress = (decltype(pUnity_LZ4_decompress))GetProcAddress(lz4Module, "Unity_LZ4_decompress");
|
||||
|
||||
if (pUnity_LZ4_uncompressSize != nullptr && pUnity_LZ4_decompress != nullptr) {
|
||||
// 성공
|
||||
break;
|
||||
} else {
|
||||
// 함수를 찾지 못함 - DLL 언로드하고 다음 시도
|
||||
FreeLibrary(lz4Module);
|
||||
lz4Module = nullptr;
|
||||
pUnity_LZ4_uncompressSize = nullptr;
|
||||
pUnity_LZ4_decompress = nullptr;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
return (lz4Module != nullptr && pUnity_LZ4_uncompressSize != nullptr && pUnity_LZ4_decompress != nullptr);
|
||||
}
|
||||
|
||||
namespace RokokoIntegration
|
||||
{
|
||||
std::vector<uint8_t> LZ4Wrapper::Decompress(const uint8_t* compressedData, int compressedSize)
|
||||
{
|
||||
try {
|
||||
// 입력 데이터 검증
|
||||
if (!compressedData || compressedSize <= 0) {
|
||||
return {};
|
||||
}
|
||||
|
||||
// Unity LZ4 DLL 로드
|
||||
if (!LoadUnityLZ4()) {
|
||||
return {};
|
||||
}
|
||||
|
||||
// Unity 방식 정확히 구현
|
||||
// 1. Unity_LZ4_uncompressSize로 압축 해제된 크기 구하기
|
||||
int uncompressedSize = pUnity_LZ4_uncompressSize(
|
||||
reinterpret_cast<const char*>(compressedData),
|
||||
compressedSize
|
||||
);
|
||||
|
||||
if (uncompressedSize <= 0) {
|
||||
return {};
|
||||
}
|
||||
|
||||
// 크기 유효성 검사
|
||||
if (uncompressedSize > MAX_DECOMPRESSED_SIZE) {
|
||||
return {};
|
||||
}
|
||||
|
||||
// 2. Unity_LZ4_decompress로 압축 해제
|
||||
std::vector<uint8_t> decompressed(uncompressedSize);
|
||||
int result = pUnity_LZ4_decompress(
|
||||
reinterpret_cast<const char*>(compressedData),
|
||||
compressedSize,
|
||||
reinterpret_cast<char*>(decompressed.data()),
|
||||
uncompressedSize
|
||||
);
|
||||
|
||||
// Unity에서는 result != 0이면 실패
|
||||
if (result != 0) {
|
||||
return {};
|
||||
}
|
||||
|
||||
return decompressed;
|
||||
|
||||
} catch (...) {
|
||||
// 모든 예외 상황에서 안전하게 빈 벡터 반환
|
||||
return {};
|
||||
}
|
||||
}
|
||||
|
||||
bool LZ4Wrapper::IsValidLZ4Data(const uint8_t* data, int size)
|
||||
{
|
||||
if (!data || size < 4) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// Rokoko Studio의 LZ4 데이터는 일반적으로 JSON이 아니므로
|
||||
// 첫 번째 바이트가 '{'가 아닌 경우 LZ4로 간주
|
||||
if (size > 0 && data[0] == '{') {
|
||||
return false; // JSON 데이터는 LZ4가 아님
|
||||
}
|
||||
|
||||
// 기본적인 LZ4 매직 넘버 확인
|
||||
// LZ4 프레임 헤더의 일부 패턴 확인
|
||||
if (size >= 4) {
|
||||
// LZ4 프레임 헤더의 매직 넘버 (0x184D2204)
|
||||
if (data[0] == 0x04 && data[1] == 0x22 && data[2] == 0x4D && data[3] == 0x18) {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
|
||||
// 매직 넘버가 없어도 압축된 데이터로 간주 (Rokoko Studio 특성상)
|
||||
return true;
|
||||
}
|
||||
|
||||
int LZ4Wrapper::GetDecompressedSize(const uint8_t* compressedData, int compressedSize)
|
||||
{
|
||||
try {
|
||||
// Unity LZ4 DLL 로드
|
||||
if (!LoadUnityLZ4()) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
// Unity 방식으로 압축 해제된 크기 구하기
|
||||
int decompressedSize = pUnity_LZ4_uncompressSize(
|
||||
reinterpret_cast<const char*>(compressedData),
|
||||
compressedSize
|
||||
);
|
||||
return decompressedSize;
|
||||
|
||||
} catch (...) {
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
|
||||
bool LZ4Wrapper::ValidateDecompressedSize(int compressedSize, int decompressedSize)
|
||||
{
|
||||
// 압축 해제된 크기가 합리적인 범위인지 확인
|
||||
if (decompressedSize <= 0 || decompressedSize > MAX_DECOMPRESSED_SIZE) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// 압축률이 합리적인지 확인 (일반적으로 1:1 ~ 1:10)
|
||||
if (decompressedSize < compressedSize || decompressedSize > compressedSize * 10) {
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
}
|
||||
@ -1,62 +0,0 @@
|
||||
//======================================================================================================
|
||||
// Copyright 2025, Rokoko Glove OptiTrack Integration
|
||||
//======================================================================================================
|
||||
/**
|
||||
* LZ4Wrapper class provides LZ4 decompression functionality for Rokoko glove data.
|
||||
* This wrapper handles safe decompression and validation of compressed data.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
#include <vector>
|
||||
#include <cstdint>
|
||||
|
||||
// Unity LZ4 함수들 선언
|
||||
extern "C" {
|
||||
int Unity_LZ4_uncompressSize(const char* srcBuffer, int srcSize);
|
||||
int Unity_LZ4_decompress(const char* src, int srcSize, char* dst, int dstCapacity);
|
||||
}
|
||||
|
||||
namespace RokokoIntegration
|
||||
{
|
||||
class LZ4Wrapper
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* Decompresses LZ4 compressed data
|
||||
* @param compressedData Pointer to compressed data
|
||||
* @param compressedSize Size of compressed data
|
||||
* @return Decompressed data as vector, empty if decompression fails
|
||||
*/
|
||||
static std::vector<uint8_t> Decompress(const uint8_t* compressedData, int compressedSize);
|
||||
|
||||
/**
|
||||
* Validates if the data appears to be valid LZ4 compressed data
|
||||
* @param data Pointer to data to validate
|
||||
* @param size Size of data
|
||||
* @return true if data appears to be valid LZ4 data
|
||||
*/
|
||||
static bool IsValidLZ4Data(const uint8_t* data, int size);
|
||||
|
||||
/**
|
||||
* Gets the decompressed size from LZ4 header
|
||||
* @param compressedData Pointer to compressed data
|
||||
* @param compressedSize Size of compressed data
|
||||
* @return Decompressed size, -1 if invalid
|
||||
*/
|
||||
static int GetDecompressedSize(const uint8_t* compressedData, int compressedSize);
|
||||
|
||||
private:
|
||||
/**
|
||||
* Validates decompressed size is reasonable
|
||||
* @param compressedSize Size of compressed data
|
||||
* @param decompressedSize Size of decompressed data
|
||||
* @return true if sizes are reasonable
|
||||
*/
|
||||
static bool ValidateDecompressedSize(int compressedSize, int decompressedSize);
|
||||
|
||||
/**
|
||||
* Maximum reasonable decompressed size (10MB)
|
||||
*/
|
||||
static const int MAX_DECOMPRESSED_SIZE = 10 * 1024 * 1024;
|
||||
};
|
||||
}
|
||||
@ -1,148 +0,0 @@
|
||||
//======================================================================================================
|
||||
// Copyright 2025, Rokoko Glove OptiTrack Integration
|
||||
//======================================================================================================
|
||||
/**
|
||||
* RokokoData.h defines the data structures for Rokoko Studio LiveFrame_v4 format.
|
||||
* These structures match the JSON format used by Rokoko Unity scripts.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
#include <vector>
|
||||
#include <memory>
|
||||
#include <optional>
|
||||
#include <string>
|
||||
|
||||
namespace RokokoData
|
||||
{
|
||||
// Vector3 structure for position data
|
||||
struct Vector3Frame
|
||||
{
|
||||
float x = 0.0f;
|
||||
float y = 0.0f;
|
||||
float z = 0.0f;
|
||||
};
|
||||
|
||||
// Vector4 structure for quaternion rotation data
|
||||
struct Vector4Frame
|
||||
{
|
||||
float x = 0.0f;
|
||||
float y = 0.0f;
|
||||
float z = 0.0f;
|
||||
float w = 1.0f;
|
||||
};
|
||||
|
||||
// Actor joint frame containing position and rotation
|
||||
struct ActorJointFrame
|
||||
{
|
||||
Vector3Frame position;
|
||||
Vector4Frame rotation;
|
||||
};
|
||||
|
||||
// Body structure containing full skeleton (Unity BodyFrame와 동일)
|
||||
// ✅ OPTIMIZATION: Using std::optional instead of shared_ptr for stack allocation (zero heap allocations)
|
||||
struct Body
|
||||
{
|
||||
// 전신 스켈레톤 데이터 (Unity BodyFrame과 동일)
|
||||
std::optional<ActorJointFrame> hip;
|
||||
std::optional<ActorJointFrame> spine;
|
||||
std::optional<ActorJointFrame> chest;
|
||||
std::optional<ActorJointFrame> neck;
|
||||
std::optional<ActorJointFrame> head;
|
||||
|
||||
std::optional<ActorJointFrame> leftShoulder;
|
||||
std::optional<ActorJointFrame> leftUpperArm;
|
||||
std::optional<ActorJointFrame> leftLowerArm;
|
||||
std::optional<ActorJointFrame> leftHand;
|
||||
|
||||
std::optional<ActorJointFrame> rightShoulder;
|
||||
std::optional<ActorJointFrame> rightUpperArm;
|
||||
std::optional<ActorJointFrame> rightLowerArm;
|
||||
std::optional<ActorJointFrame> rightHand;
|
||||
|
||||
// 다리 데이터 (필요시)
|
||||
std::optional<ActorJointFrame> leftUpLeg;
|
||||
std::optional<ActorJointFrame> leftLeg;
|
||||
std::optional<ActorJointFrame> leftFoot;
|
||||
std::optional<ActorJointFrame> leftToe;
|
||||
std::optional<ActorJointFrame> leftToeEnd;
|
||||
|
||||
std::optional<ActorJointFrame> rightUpLeg;
|
||||
std::optional<ActorJointFrame> rightLeg;
|
||||
std::optional<ActorJointFrame> rightFoot;
|
||||
std::optional<ActorJointFrame> rightToe;
|
||||
std::optional<ActorJointFrame> rightToeEnd;
|
||||
|
||||
// Left hand finger joints
|
||||
std::optional<ActorJointFrame> leftThumbProximal;
|
||||
std::optional<ActorJointFrame> leftThumbMedial;
|
||||
std::optional<ActorJointFrame> leftThumbDistal;
|
||||
std::optional<ActorJointFrame> leftThumbTip;
|
||||
|
||||
std::optional<ActorJointFrame> leftIndexProximal;
|
||||
std::optional<ActorJointFrame> leftIndexMedial;
|
||||
std::optional<ActorJointFrame> leftIndexDistal;
|
||||
std::optional<ActorJointFrame> leftIndexTip;
|
||||
|
||||
std::optional<ActorJointFrame> leftMiddleProximal;
|
||||
std::optional<ActorJointFrame> leftMiddleMedial;
|
||||
std::optional<ActorJointFrame> leftMiddleDistal;
|
||||
std::optional<ActorJointFrame> leftMiddleTip;
|
||||
|
||||
std::optional<ActorJointFrame> leftRingProximal;
|
||||
std::optional<ActorJointFrame> leftRingMedial;
|
||||
std::optional<ActorJointFrame> leftRingDistal;
|
||||
std::optional<ActorJointFrame> leftRingTip;
|
||||
|
||||
std::optional<ActorJointFrame> leftLittleProximal;
|
||||
std::optional<ActorJointFrame> leftLittleMedial;
|
||||
std::optional<ActorJointFrame> leftLittleDistal;
|
||||
std::optional<ActorJointFrame> leftLittleTip;
|
||||
|
||||
// Right hand finger joints (similar structure)
|
||||
std::optional<ActorJointFrame> rightThumbProximal;
|
||||
std::optional<ActorJointFrame> rightThumbMedial;
|
||||
std::optional<ActorJointFrame> rightThumbDistal;
|
||||
std::optional<ActorJointFrame> rightThumbTip;
|
||||
|
||||
std::optional<ActorJointFrame> rightIndexProximal;
|
||||
std::optional<ActorJointFrame> rightIndexMedial;
|
||||
std::optional<ActorJointFrame> rightIndexDistal;
|
||||
std::optional<ActorJointFrame> rightIndexTip;
|
||||
|
||||
std::optional<ActorJointFrame> rightMiddleProximal;
|
||||
std::optional<ActorJointFrame> rightMiddleMedial;
|
||||
std::optional<ActorJointFrame> rightMiddleDistal;
|
||||
std::optional<ActorJointFrame> rightMiddleTip;
|
||||
|
||||
std::optional<ActorJointFrame> rightRingProximal;
|
||||
std::optional<ActorJointFrame> rightRingMedial;
|
||||
std::optional<ActorJointFrame> rightRingDistal;
|
||||
std::optional<ActorJointFrame> rightRingTip;
|
||||
|
||||
std::optional<ActorJointFrame> rightLittleProximal;
|
||||
std::optional<ActorJointFrame> rightLittleMedial;
|
||||
std::optional<ActorJointFrame> rightLittleDistal;
|
||||
std::optional<ActorJointFrame> rightLittleTip;
|
||||
};
|
||||
|
||||
// Actor data structure
|
||||
struct ActorData
|
||||
{
|
||||
std::string id;
|
||||
std::string name;
|
||||
Body body;
|
||||
};
|
||||
|
||||
// Scene structure containing actors
|
||||
struct SceneFrame
|
||||
{
|
||||
std::vector<ActorData> actors;
|
||||
};
|
||||
|
||||
// Main LiveFrame_v4 structure
|
||||
struct LiveFrame_v4
|
||||
{
|
||||
double timestamp = 0.0;
|
||||
SceneFrame scene;
|
||||
};
|
||||
}
|
||||
@ -1,214 +0,0 @@
|
||||
//======================================================================================================
|
||||
// Copyright 2025, Rokoko Glove OptiTrack Integration
|
||||
//======================================================================================================
|
||||
|
||||
#include "RokokoDataConverter.h"
|
||||
#include "RokokoData.h"
|
||||
#include <cmath>
|
||||
#include <sstream>
|
||||
#include <algorithm>
|
||||
|
||||
namespace RokokoIntegration
|
||||
{
|
||||
// 정적 상수는 헤더에서 inline으로 정의됨
|
||||
|
||||
sGloveDeviceData RokokoDataConverter::ConvertRokokoToOptiTrack(const RokokoData::LiveFrame_v4& rokokoFrame)
|
||||
{
|
||||
sGloveDeviceData optiTrackData;
|
||||
|
||||
try {
|
||||
// 기본 데이터 설정
|
||||
optiTrackData.gloveId = 1; // 기본 장갑 ID
|
||||
optiTrackData.timestamp = 0.0; // 타임스탬프는 나중에 설정
|
||||
|
||||
// 15개 OptiTrack 관절 노드 초기화
|
||||
optiTrackData.nodes.resize(TOTAL_OPTITRACK_JOINTS);
|
||||
|
||||
// 검증: actors가 존재하는지 확인
|
||||
if (rokokoFrame.scene.actors.empty()) {
|
||||
optiTrackData.nodes.clear();
|
||||
return optiTrackData;
|
||||
}
|
||||
|
||||
const auto& actor = rokokoFrame.scene.actors[0];
|
||||
|
||||
// ✅ OPTIMIZATION: Use has_value() for optional instead of implicit bool conversion
|
||||
// 손가락별 데이터 매핑 (왼손)
|
||||
// 엄지손가락 (Thumb)
|
||||
if (actor.body.leftThumbMedial.has_value()) ConvertJoint(*actor.body.leftThumbMedial, optiTrackData.nodes[0]); // MP
|
||||
if (actor.body.leftThumbDistal.has_value()) ConvertJoint(*actor.body.leftThumbDistal, optiTrackData.nodes[1]); // PIP
|
||||
if (actor.body.leftThumbTip.has_value()) ConvertJoint(*actor.body.leftThumbTip, optiTrackData.nodes[2]); // DIP
|
||||
|
||||
// 검지손가락 (Index)
|
||||
if (actor.body.leftIndexMedial.has_value()) ConvertJoint(*actor.body.leftIndexMedial, optiTrackData.nodes[3]); // MP
|
||||
if (actor.body.leftIndexDistal.has_value()) ConvertJoint(*actor.body.leftIndexDistal, optiTrackData.nodes[4]); // PIP
|
||||
if (actor.body.leftIndexTip.has_value()) ConvertJoint(*actor.body.leftIndexTip, optiTrackData.nodes[5]); // DIP
|
||||
|
||||
// 중지손가락 (Middle)
|
||||
if (actor.body.leftMiddleMedial.has_value()) ConvertJoint(*actor.body.leftMiddleMedial, optiTrackData.nodes[6]); // MP
|
||||
if (actor.body.leftMiddleDistal.has_value()) ConvertJoint(*actor.body.leftMiddleDistal, optiTrackData.nodes[7]); // PIP
|
||||
if (actor.body.leftMiddleTip.has_value()) ConvertJoint(*actor.body.leftMiddleTip, optiTrackData.nodes[8]); // DIP
|
||||
|
||||
// 약지손가락 (Ring)
|
||||
if (actor.body.leftRingMedial.has_value()) ConvertJoint(*actor.body.leftRingMedial, optiTrackData.nodes[9]); // MP
|
||||
if (actor.body.leftRingDistal.has_value()) ConvertJoint(*actor.body.leftRingDistal, optiTrackData.nodes[10]); // PIP
|
||||
if (actor.body.leftRingTip.has_value()) ConvertJoint(*actor.body.leftRingTip, optiTrackData.nodes[11]); // DIP
|
||||
|
||||
// 새끼손가락 (Little)
|
||||
if (actor.body.leftLittleMedial.has_value()) ConvertJoint(*actor.body.leftLittleMedial, optiTrackData.nodes[12]); // MP
|
||||
if (actor.body.leftLittleDistal.has_value()) ConvertJoint(*actor.body.leftLittleDistal, optiTrackData.nodes[13]); // PIP
|
||||
if (actor.body.leftLittleTip.has_value()) ConvertJoint(*actor.body.leftLittleTip, optiTrackData.nodes[14]); // DIP
|
||||
|
||||
// 노드 ID 설정
|
||||
for (int i = 0; i < TOTAL_OPTITRACK_JOINTS; i++) {
|
||||
optiTrackData.nodes[i].node_id = i;
|
||||
}
|
||||
|
||||
} catch (...) {
|
||||
// 에러 발생 시 빈 데이터 반환
|
||||
optiTrackData.nodes.clear();
|
||||
}
|
||||
|
||||
return optiTrackData;
|
||||
}
|
||||
|
||||
bool RokokoDataConverter::ConvertJoint(const RokokoData::ActorJointFrame& rokokoJoint, sFingerNode& optiTrackNode)
|
||||
{
|
||||
try {
|
||||
// 쿼터니언 변환
|
||||
ConvertQuaternion(rokokoJoint.rotation,
|
||||
optiTrackNode.quat_w,
|
||||
optiTrackNode.quat_x,
|
||||
optiTrackNode.quat_y,
|
||||
optiTrackNode.quat_z);
|
||||
|
||||
// 쿼터니언 정규화
|
||||
NormalizeQuaternion(optiTrackNode.quat_w,
|
||||
optiTrackNode.quat_x,
|
||||
optiTrackNode.quat_y,
|
||||
optiTrackNode.quat_z);
|
||||
|
||||
// 쿼터니언 유효성 검사
|
||||
if (!ValidateQuaternion(optiTrackNode.quat_w,
|
||||
optiTrackNode.quat_x,
|
||||
optiTrackNode.quat_y,
|
||||
optiTrackNode.quat_z)) {
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
|
||||
} catch (...) {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
bool RokokoDataConverter::ValidateOptiTrackData(const sGloveDeviceData& gloveData)
|
||||
{
|
||||
// 기본 검증
|
||||
if (gloveData.nodes.size() != TOTAL_OPTITRACK_JOINTS) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// 각 노드 검증
|
||||
for (const auto& node : gloveData.nodes) {
|
||||
if (!ValidateQuaternion(node.quat_w, node.quat_x, node.quat_y, node.quat_z)) {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
std::string RokokoDataConverter::GetMappingInfo()
|
||||
{
|
||||
std::ostringstream oss;
|
||||
oss << "Rokoko to OptiTrack Finger Joint Mapping:\n";
|
||||
oss << "Total Rokoko joints: " << TOTAL_ROKOKO_JOINTS << " (4 per finger)\n";
|
||||
oss << "Total OptiTrack joints: " << TOTAL_OPTITRACK_JOINTS << " (3 per finger)\n";
|
||||
oss << "Mapping removes proximal joints and keeps:\n";
|
||||
oss << " - Medial (MP): Metacarpophalangeal\n";
|
||||
oss << " - Distal (PIP): Proximal Interphalangeal\n";
|
||||
oss << " - Tip (DIP): Distal Interphalangeal\n";
|
||||
|
||||
return oss.str();
|
||||
}
|
||||
|
||||
void RokokoDataConverter::MapFingerJoints(const std::vector<RokokoData::ActorJointFrame>& rokokoFingers,
|
||||
std::vector<sFingerNode>& optiTrackNodes)
|
||||
{
|
||||
if (rokokoFingers.size() != TOTAL_ROKOKO_JOINTS || optiTrackNodes.size() != TOTAL_OPTITRACK_JOINTS) {
|
||||
return;
|
||||
}
|
||||
|
||||
// 매핑 테이블을 사용하여 관절 변환
|
||||
for (int i = 0; i < TOTAL_OPTITRACK_JOINTS; i++) {
|
||||
int rokokoIndex = JOINT_MAPPING[i];
|
||||
if (rokokoIndex >= 0 && rokokoIndex < TOTAL_ROKOKO_JOINTS) {
|
||||
ConvertJoint(rokokoFingers[rokokoIndex], optiTrackNodes[i]);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void RokokoDataConverter::ConvertQuaternion(const RokokoData::Vector4Frame& rokokoQuat,
|
||||
float& quat_w, float& quat_x, float& quat_y, float& quat_z)
|
||||
{
|
||||
// Rokoko 쿼터니언을 OptiTrack 형식으로 복사
|
||||
quat_w = rokokoQuat.w;
|
||||
quat_x = rokokoQuat.x;
|
||||
quat_y = rokokoQuat.y;
|
||||
quat_z = rokokoQuat.z;
|
||||
}
|
||||
|
||||
void RokokoDataConverter::NormalizeQuaternion(float& w, float& x, float& y, float& z)
|
||||
{
|
||||
float length = std::sqrt(w * w + x * x + y * y + z * z);
|
||||
|
||||
if (length > 0.0f) {
|
||||
float invLength = 1.0f / length;
|
||||
w *= invLength;
|
||||
x *= invLength;
|
||||
y *= invLength;
|
||||
z *= invLength;
|
||||
} else {
|
||||
// 유효하지 않은 쿼터니언인 경우 기본값 설정
|
||||
w = 1.0f;
|
||||
x = 0.0f;
|
||||
y = 0.0f;
|
||||
z = 0.0f;
|
||||
}
|
||||
}
|
||||
|
||||
bool RokokoDataConverter::ValidateQuaternion(float w, float x, float y, float z)
|
||||
{
|
||||
// NaN 체크
|
||||
if (std::isnan(w) || std::isnan(x) || std::isnan(y) || std::isnan(z)) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// 무한대 체크
|
||||
if (std::isinf(w) || std::isinf(x) || std::isinf(y) || std::isinf(z)) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// 쿼터니언 길이 체크 (정규화된 경우 1.0에 가까워야 함)
|
||||
float length = std::sqrt(w * w + x * x + y * y + z * z);
|
||||
if (std::abs(length - 1.0f) > 0.1f) {
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
void RokokoDataConverter::ApplyHandCoordinateSystem(bool isLeftHand, float& x, float& y, float& z)
|
||||
{
|
||||
// 좌우손 좌표계 변환
|
||||
if (isLeftHand) {
|
||||
// 왼손: +X축이 손가락 끝 방향
|
||||
// 변환 없음 (기본값)
|
||||
} else {
|
||||
// 오른손: +X축이 손목/몸 방향
|
||||
x = -x; // X축 반전
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -1,116 +0,0 @@
|
||||
//======================================================================================================
|
||||
// Copyright 2025, Rokoko Glove OptiTrack Integration
|
||||
//======================================================================================================
|
||||
/**
|
||||
* RokokoDataConverter class provides data conversion functionality from Rokoko format to OptiTrack format.
|
||||
* This converter handles the mapping of 20 Rokoko finger joints to 15 OptiTrack finger joints.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
#include <vector>
|
||||
#include <memory>
|
||||
#include "GloveDataFormat.h"
|
||||
|
||||
// Forward declarations
|
||||
namespace RokokoData
|
||||
{
|
||||
struct Vector3Frame;
|
||||
struct Vector4Frame;
|
||||
struct ActorJointFrame;
|
||||
struct ActorData;
|
||||
struct LiveFrame_v4;
|
||||
}
|
||||
|
||||
namespace RokokoIntegration
|
||||
{
|
||||
class RokokoDataConverter
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* Converts Rokoko LiveFrame_v4 data to OptiTrack glove data format
|
||||
* @param rokokoFrame Input Rokoko frame data
|
||||
* @return Converted OptiTrack glove data
|
||||
*/
|
||||
static sGloveDeviceData ConvertRokokoToOptiTrack(const RokokoData::LiveFrame_v4& rokokoFrame);
|
||||
|
||||
/**
|
||||
* Converts Rokoko finger joint data to OptiTrack finger node format
|
||||
* @param rokokoJoint Input Rokoko joint data
|
||||
* @param optiTrackNode Output OptiTrack node data
|
||||
* @return true if conversion successful
|
||||
*/
|
||||
static bool ConvertJoint(const RokokoData::ActorJointFrame& rokokoJoint, sFingerNode& optiTrackNode);
|
||||
|
||||
/**
|
||||
* Validates converted OptiTrack data
|
||||
* @param gloveData Data to validate
|
||||
* @return true if data is valid
|
||||
*/
|
||||
static bool ValidateOptiTrackData(const sGloveDeviceData& gloveData);
|
||||
|
||||
/**
|
||||
* Gets the mapping information for debugging
|
||||
* @return String containing mapping details
|
||||
*/
|
||||
static std::string GetMappingInfo();
|
||||
|
||||
private:
|
||||
/**
|
||||
* Maps Rokoko finger joints to OptiTrack format
|
||||
* Maps 20 Rokoko joints (4 per finger) to 15 OptiTrack joints (3 per finger)
|
||||
* Removes proximal joints and keeps medial, distal, tip
|
||||
*/
|
||||
static void MapFingerJoints(const std::vector<RokokoData::ActorJointFrame>& rokokoFingers,
|
||||
std::vector<sFingerNode>& optiTrackNodes);
|
||||
|
||||
/**
|
||||
* Converts quaternion from Rokoko format to OptiTrack format
|
||||
* @param rokokoQuat Input Rokoko quaternion
|
||||
* @param optiTrackQuat Output OptiTrack quaternion
|
||||
*/
|
||||
static void ConvertQuaternion(const RokokoData::Vector4Frame& rokokoQuat,
|
||||
float& quat_w, float& quat_x, float& quat_y, float& quat_z);
|
||||
|
||||
/**
|
||||
* Normalizes quaternion values
|
||||
* @param w, x, y, z Quaternion components (modified in place)
|
||||
*/
|
||||
static void NormalizeQuaternion(float& w, float& x, float& y, float& z);
|
||||
|
||||
/**
|
||||
* Validates quaternion values
|
||||
* @param w, x, y, z Quaternion components
|
||||
* @return true if quaternion is valid
|
||||
*/
|
||||
static bool ValidateQuaternion(float w, float x, float y, float z);
|
||||
|
||||
/**
|
||||
* Applies coordinate system conversion for left/right hands
|
||||
* @param isLeftHand true if left hand, false if right hand
|
||||
* @param x, y, z Position coordinates (modified in place)
|
||||
*/
|
||||
static void ApplyHandCoordinateSystem(bool isLeftHand, float& x, float& y, float& z);
|
||||
|
||||
// Finger mapping constants
|
||||
static inline const int ROKOKO_JOINTS_PER_FINGER = 4; // Proximal, Medial, Distal, Tip
|
||||
static inline const int OPTITRACK_JOINTS_PER_FINGER = 3; // MP, PIP, DIP
|
||||
static inline const int TOTAL_FINGERS = 5; // Thumb, Index, Middle, Ring, Little
|
||||
static inline const int TOTAL_ROKOKO_JOINTS = TOTAL_FINGERS * ROKOKO_JOINTS_PER_FINGER; // 20
|
||||
static inline const int TOTAL_OPTITRACK_JOINTS = TOTAL_FINGERS * OPTITRACK_JOINTS_PER_FINGER; // 15
|
||||
|
||||
// Joint mapping table: Rokoko index -> OptiTrack index
|
||||
// Removes proximal joints (index 0, 4, 8, 12, 16)
|
||||
static inline const int JOINT_MAPPING[15] = {
|
||||
// Thumb: Medial(1), Distal(2), Tip(3) -> MP(0), PIP(1), DIP(2)
|
||||
1, 2, 3,
|
||||
// Index: Medial(5), Distal(6), Tip(7) -> MP(3), PIP(4), DIP(5)
|
||||
5, 6, 7,
|
||||
// Middle: Medial(9), Distal(10), Tip(11) -> MP(6), PIP(7), DIP(8)
|
||||
9, 10, 11,
|
||||
// Ring: Medial(13), Distal(14), Tip(15) -> MP(9), PIP(10), DIP(11)
|
||||
13, 14, 15,
|
||||
// Little: Medial(17), Distal(18), Tip(19) -> MP(12), PIP(13), DIP(14)
|
||||
17, 18, 19
|
||||
};
|
||||
};
|
||||
}
|
||||
@ -1,339 +0,0 @@
|
||||
//======================================================================================================
|
||||
// Copyright 2025, Rokoko Glove OptiTrack Integration
|
||||
//======================================================================================================
|
||||
|
||||
#include "RokokoDataParser.h"
|
||||
#include "RokokoData.h"
|
||||
#include <sstream>
|
||||
#include <iostream>
|
||||
#include <cstring>
|
||||
#include <cmath>
|
||||
|
||||
namespace RokokoIntegration
|
||||
{
|
||||
bool RokokoDataParser::ParseLiveFrame(const std::string& jsonString, RokokoData::LiveFrame_v4& frame)
|
||||
{
|
||||
try {
|
||||
// nlohmann/json을 사용하여 JSON 파싱
|
||||
nlohmann::json j = nlohmann::json::parse(jsonString);
|
||||
|
||||
// Unity JsonLiveSerializerV3.cs와 동일한 구조로 파싱
|
||||
|
||||
// Scene 데이터 파싱
|
||||
if (j.contains("scene")) {
|
||||
auto& scene = j["scene"];
|
||||
|
||||
// 타임스탬프
|
||||
if (scene.contains("timestamp")) {
|
||||
frame.timestamp = scene["timestamp"];
|
||||
}
|
||||
|
||||
// Actors 파싱
|
||||
if (scene.contains("actors") && scene["actors"].is_array()) {
|
||||
auto& actors = scene["actors"];
|
||||
for (const auto& actorJson : actors) {
|
||||
RokokoData::ActorData actor;
|
||||
|
||||
// Actor 기본 정보
|
||||
if (actorJson.contains("name")) {
|
||||
actor.name = actorJson["name"];
|
||||
}
|
||||
|
||||
// Body 데이터 파싱
|
||||
if (actorJson.contains("body")) {
|
||||
ParseBodyFrame(actorJson["body"], actor.body);
|
||||
}
|
||||
|
||||
frame.scene.actors.push_back(actor);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return true;
|
||||
|
||||
} catch (const nlohmann::json::exception& e) {
|
||||
// JSON 파싱 에러 처리
|
||||
std::cerr << "JSON parsing error: " << e.what() << std::endl;
|
||||
return false;
|
||||
} catch (...) {
|
||||
// 기타 예외 처리
|
||||
std::cerr << "Unknown error during JSON parsing" << std::endl;
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
void RokokoDataParser::ParseBodyFrame(const nlohmann::json& bodyJson, RokokoData::Body& body)
|
||||
{
|
||||
// Unity JsonLiveSerializerV3.cs의 BodyFrame 구조와 동일하게 파싱
|
||||
|
||||
// === 전신 스켈레톤 데이터 파싱 (Unity BodyFrame과 동일) ===
|
||||
|
||||
// 몸통 파싱
|
||||
ParseFingerJoint(bodyJson, "hip", body.hip);
|
||||
ParseFingerJoint(bodyJson, "spine", body.spine);
|
||||
ParseFingerJoint(bodyJson, "chest", body.chest);
|
||||
ParseFingerJoint(bodyJson, "neck", body.neck);
|
||||
ParseFingerJoint(bodyJson, "head", body.head);
|
||||
|
||||
// 왼쪽 팔 파싱
|
||||
ParseFingerJoint(bodyJson, "leftShoulder", body.leftShoulder);
|
||||
ParseFingerJoint(bodyJson, "leftUpperArm", body.leftUpperArm);
|
||||
ParseFingerJoint(bodyJson, "leftLowerArm", body.leftLowerArm);
|
||||
ParseFingerJoint(bodyJson, "leftHand", body.leftHand);
|
||||
|
||||
// 오른쪽 팔 파싱
|
||||
ParseFingerJoint(bodyJson, "rightShoulder", body.rightShoulder);
|
||||
ParseFingerJoint(bodyJson, "rightUpperArm", body.rightUpperArm);
|
||||
ParseFingerJoint(bodyJson, "rightLowerArm", body.rightLowerArm);
|
||||
ParseFingerJoint(bodyJson, "rightHand", body.rightHand);
|
||||
|
||||
// 다리 파싱 (필요시)
|
||||
ParseFingerJoint(bodyJson, "leftUpLeg", body.leftUpLeg);
|
||||
ParseFingerJoint(bodyJson, "leftLeg", body.leftLeg);
|
||||
ParseFingerJoint(bodyJson, "leftFoot", body.leftFoot);
|
||||
ParseFingerJoint(bodyJson, "leftToe", body.leftToe);
|
||||
ParseFingerJoint(bodyJson, "leftToeEnd", body.leftToeEnd);
|
||||
|
||||
ParseFingerJoint(bodyJson, "rightUpLeg", body.rightUpLeg);
|
||||
ParseFingerJoint(bodyJson, "rightLeg", body.rightLeg);
|
||||
ParseFingerJoint(bodyJson, "rightFoot", body.rightFoot);
|
||||
ParseFingerJoint(bodyJson, "rightToe", body.rightToe);
|
||||
ParseFingerJoint(bodyJson, "rightToeEnd", body.rightToeEnd);
|
||||
|
||||
// === 손가락 데이터 파싱 ===
|
||||
|
||||
// 왼손 손가락 데이터 파싱
|
||||
ParseFingerJoint(bodyJson, "leftThumbProximal", body.leftThumbProximal);
|
||||
ParseFingerJoint(bodyJson, "leftThumbMedial", body.leftThumbMedial);
|
||||
ParseFingerJoint(bodyJson, "leftThumbDistal", body.leftThumbDistal);
|
||||
ParseFingerJoint(bodyJson, "leftThumbTip", body.leftThumbTip);
|
||||
|
||||
ParseFingerJoint(bodyJson, "leftIndexProximal", body.leftIndexProximal);
|
||||
ParseFingerJoint(bodyJson, "leftIndexMedial", body.leftIndexMedial);
|
||||
ParseFingerJoint(bodyJson, "leftIndexDistal", body.leftIndexDistal);
|
||||
ParseFingerJoint(bodyJson, "leftIndexTip", body.leftIndexTip);
|
||||
|
||||
ParseFingerJoint(bodyJson, "leftMiddleProximal", body.leftMiddleProximal);
|
||||
ParseFingerJoint(bodyJson, "leftMiddleMedial", body.leftMiddleMedial);
|
||||
ParseFingerJoint(bodyJson, "leftMiddleDistal", body.leftMiddleDistal);
|
||||
ParseFingerJoint(bodyJson, "leftMiddleTip", body.leftMiddleTip);
|
||||
|
||||
ParseFingerJoint(bodyJson, "leftRingProximal", body.leftRingProximal);
|
||||
ParseFingerJoint(bodyJson, "leftRingMedial", body.leftRingMedial);
|
||||
ParseFingerJoint(bodyJson, "leftRingDistal", body.leftRingDistal);
|
||||
ParseFingerJoint(bodyJson, "leftRingTip", body.leftRingTip);
|
||||
|
||||
ParseFingerJoint(bodyJson, "leftLittleProximal", body.leftLittleProximal);
|
||||
ParseFingerJoint(bodyJson, "leftLittleMedial", body.leftLittleMedial);
|
||||
ParseFingerJoint(bodyJson, "leftLittleDistal", body.leftLittleDistal);
|
||||
ParseFingerJoint(bodyJson, "leftLittleTip", body.leftLittleTip);
|
||||
|
||||
// 오른손 손가락 데이터 파싱
|
||||
ParseFingerJoint(bodyJson, "rightThumbProximal", body.rightThumbProximal);
|
||||
ParseFingerJoint(bodyJson, "rightThumbMedial", body.rightThumbMedial);
|
||||
ParseFingerJoint(bodyJson, "rightThumbDistal", body.rightThumbDistal);
|
||||
ParseFingerJoint(bodyJson, "rightThumbTip", body.rightThumbTip);
|
||||
|
||||
ParseFingerJoint(bodyJson, "rightIndexProximal", body.rightIndexProximal);
|
||||
ParseFingerJoint(bodyJson, "rightIndexMedial", body.rightIndexMedial);
|
||||
ParseFingerJoint(bodyJson, "rightIndexDistal", body.rightIndexDistal);
|
||||
ParseFingerJoint(bodyJson, "rightIndexTip", body.rightIndexTip);
|
||||
|
||||
ParseFingerJoint(bodyJson, "rightMiddleProximal", body.rightMiddleProximal);
|
||||
ParseFingerJoint(bodyJson, "rightMiddleMedial", body.rightMiddleMedial);
|
||||
ParseFingerJoint(bodyJson, "rightMiddleDistal", body.rightMiddleDistal);
|
||||
ParseFingerJoint(bodyJson, "rightMiddleTip", body.rightMiddleTip);
|
||||
|
||||
ParseFingerJoint(bodyJson, "rightRingProximal", body.rightRingProximal);
|
||||
ParseFingerJoint(bodyJson, "rightRingMedial", body.rightRingMedial);
|
||||
ParseFingerJoint(bodyJson, "rightRingDistal", body.rightRingDistal);
|
||||
ParseFingerJoint(bodyJson, "rightRingTip", body.rightRingTip);
|
||||
|
||||
ParseFingerJoint(bodyJson, "rightLittleProximal", body.rightLittleProximal);
|
||||
ParseFingerJoint(bodyJson, "rightLittleMedial", body.rightLittleMedial);
|
||||
ParseFingerJoint(bodyJson, "rightLittleDistal", body.rightLittleDistal);
|
||||
ParseFingerJoint(bodyJson, "rightLittleTip", body.rightLittleTip);
|
||||
}
|
||||
|
||||
void RokokoDataParser::ParseFingerJoint(const nlohmann::json& bodyJson, const std::string& jointName, std::optional<RokokoData::ActorJointFrame>& joint)
|
||||
{
|
||||
if (bodyJson.contains(jointName)) {
|
||||
auto& jointJson = bodyJson[jointName];
|
||||
|
||||
// ✅ OPTIMIZATION: Direct assignment to optional (stack allocation, no heap)
|
||||
RokokoData::ActorJointFrame tempJoint;
|
||||
|
||||
// Position 파싱
|
||||
if (jointJson.contains("position")) {
|
||||
auto& pos = jointJson["position"];
|
||||
tempJoint.position.x = pos.value("x", 0.0f);
|
||||
tempJoint.position.y = pos.value("y", 0.0f);
|
||||
tempJoint.position.z = pos.value("z", 0.0f);
|
||||
}
|
||||
|
||||
// Rotation 파싱
|
||||
if (jointJson.contains("rotation")) {
|
||||
auto& rot = jointJson["rotation"];
|
||||
tempJoint.rotation.x = rot.value("x", 0.0f);
|
||||
tempJoint.rotation.y = rot.value("y", 0.0f);
|
||||
tempJoint.rotation.z = rot.value("z", 0.0f);
|
||||
tempJoint.rotation.w = rot.value("w", 1.0f);
|
||||
|
||||
// 쿼터니언 정규화
|
||||
NormalizeQuaternion(tempJoint.rotation.x, tempJoint.rotation.y, tempJoint.rotation.z, tempJoint.rotation.w);
|
||||
}
|
||||
|
||||
// Assign to optional
|
||||
joint = tempJoint;
|
||||
}
|
||||
}
|
||||
|
||||
bool RokokoDataParser::ValidateFrameData(const RokokoData::LiveFrame_v4& frame)
|
||||
{
|
||||
try {
|
||||
// 기본 검증
|
||||
if (frame.scene.actors.empty()) {
|
||||
return false;
|
||||
}
|
||||
|
||||
const auto& actor = frame.scene.actors[0];
|
||||
|
||||
// 손가락 데이터 검증 (왼손 엄지손가락만 체크)
|
||||
// ✅ OPTIMIZATION: Use has_value() for optional instead of nullptr check
|
||||
if (!actor.body.leftThumbMedial.has_value() || !actor.body.leftThumbDistal.has_value() || !actor.body.leftThumbTip.has_value()) {
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
|
||||
} catch (...) {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
bool RokokoDataParser::ExtractFingerData(const RokokoData::LiveFrame_v4& frame,
|
||||
std::vector<RokokoData::ActorJointFrame>& leftHandFingers,
|
||||
std::vector<RokokoData::ActorJointFrame>& rightHandFingers)
|
||||
{
|
||||
try {
|
||||
leftHandFingers.clear();
|
||||
rightHandFingers.clear();
|
||||
|
||||
if (frame.scene.actors.empty()) {
|
||||
return false;
|
||||
}
|
||||
|
||||
const auto& actor = frame.scene.actors[0];
|
||||
|
||||
// ✅ OPTIMIZATION: Use has_value() for optional instead of implicit bool conversion
|
||||
// 왼손 데이터 추출 (20개 관절)
|
||||
if (actor.body.leftThumbProximal.has_value()) leftHandFingers.push_back(*actor.body.leftThumbProximal);
|
||||
if (actor.body.leftThumbMedial.has_value()) leftHandFingers.push_back(*actor.body.leftThumbMedial);
|
||||
if (actor.body.leftThumbDistal.has_value()) leftHandFingers.push_back(*actor.body.leftThumbDistal);
|
||||
if (actor.body.leftThumbTip.has_value()) leftHandFingers.push_back(*actor.body.leftThumbTip);
|
||||
|
||||
if (actor.body.leftIndexProximal.has_value()) leftHandFingers.push_back(*actor.body.leftIndexProximal);
|
||||
if (actor.body.leftIndexMedial.has_value()) leftHandFingers.push_back(*actor.body.leftIndexMedial);
|
||||
if (actor.body.leftIndexDistal.has_value()) leftHandFingers.push_back(*actor.body.leftIndexDistal);
|
||||
if (actor.body.leftIndexTip.has_value()) leftHandFingers.push_back(*actor.body.leftIndexTip);
|
||||
|
||||
if (actor.body.leftMiddleProximal.has_value()) leftHandFingers.push_back(*actor.body.leftMiddleProximal);
|
||||
if (actor.body.leftMiddleMedial.has_value()) leftHandFingers.push_back(*actor.body.leftMiddleMedial);
|
||||
if (actor.body.leftMiddleDistal.has_value()) leftHandFingers.push_back(*actor.body.leftMiddleDistal);
|
||||
if (actor.body.leftMiddleTip.has_value()) leftHandFingers.push_back(*actor.body.leftMiddleTip);
|
||||
|
||||
if (actor.body.leftRingProximal.has_value()) leftHandFingers.push_back(*actor.body.leftRingProximal);
|
||||
if (actor.body.leftRingMedial.has_value()) leftHandFingers.push_back(*actor.body.leftRingMedial);
|
||||
if (actor.body.leftRingDistal.has_value()) leftHandFingers.push_back(*actor.body.leftRingDistal);
|
||||
if (actor.body.leftRingTip.has_value()) leftHandFingers.push_back(*actor.body.leftRingTip);
|
||||
|
||||
if (actor.body.leftLittleProximal.has_value()) leftHandFingers.push_back(*actor.body.leftLittleProximal);
|
||||
if (actor.body.leftLittleMedial.has_value()) leftHandFingers.push_back(*actor.body.leftLittleMedial);
|
||||
if (actor.body.leftLittleDistal.has_value()) leftHandFingers.push_back(*actor.body.leftLittleDistal);
|
||||
if (actor.body.leftLittleTip.has_value()) leftHandFingers.push_back(*actor.body.leftLittleTip);
|
||||
|
||||
// 오른손 데이터 추출 (20개 관절)
|
||||
if (actor.body.rightThumbProximal.has_value()) rightHandFingers.push_back(*actor.body.rightThumbProximal);
|
||||
if (actor.body.rightThumbMedial.has_value()) rightHandFingers.push_back(*actor.body.rightThumbMedial);
|
||||
if (actor.body.rightThumbDistal.has_value()) rightHandFingers.push_back(*actor.body.rightThumbDistal);
|
||||
if (actor.body.rightThumbTip.has_value()) rightHandFingers.push_back(*actor.body.rightThumbTip);
|
||||
|
||||
if (actor.body.rightIndexProximal.has_value()) rightHandFingers.push_back(*actor.body.rightIndexProximal);
|
||||
if (actor.body.rightIndexMedial.has_value()) rightHandFingers.push_back(*actor.body.rightIndexMedial);
|
||||
if (actor.body.rightIndexDistal.has_value()) rightHandFingers.push_back(*actor.body.rightIndexDistal);
|
||||
if (actor.body.rightIndexTip.has_value()) rightHandFingers.push_back(*actor.body.rightIndexTip);
|
||||
|
||||
if (actor.body.rightMiddleProximal.has_value()) rightHandFingers.push_back(*actor.body.rightMiddleProximal);
|
||||
if (actor.body.rightMiddleMedial.has_value()) rightHandFingers.push_back(*actor.body.rightMiddleMedial);
|
||||
if (actor.body.rightMiddleDistal.has_value()) rightHandFingers.push_back(*actor.body.rightMiddleDistal);
|
||||
if (actor.body.rightMiddleTip.has_value()) rightHandFingers.push_back(*actor.body.rightMiddleTip);
|
||||
|
||||
if (actor.body.rightRingProximal.has_value()) rightHandFingers.push_back(*actor.body.rightRingProximal);
|
||||
if (actor.body.rightRingMedial.has_value()) rightHandFingers.push_back(*actor.body.rightRingMedial);
|
||||
if (actor.body.rightRingDistal.has_value()) rightHandFingers.push_back(*actor.body.rightRingDistal);
|
||||
if (actor.body.rightRingTip.has_value()) rightHandFingers.push_back(*actor.body.rightRingTip);
|
||||
|
||||
if (actor.body.rightLittleProximal.has_value()) rightHandFingers.push_back(*actor.body.rightLittleProximal);
|
||||
if (actor.body.rightLittleMedial.has_value()) rightHandFingers.push_back(*actor.body.rightLittleMedial);
|
||||
if (actor.body.rightLittleDistal.has_value()) rightHandFingers.push_back(*actor.body.rightLittleDistal);
|
||||
if (actor.body.rightLittleTip.has_value()) rightHandFingers.push_back(*actor.body.rightLittleTip);
|
||||
|
||||
return true;
|
||||
|
||||
} catch (...) {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
bool RokokoDataParser::ParseActorData(const void* actorJson, RokokoData::ActorData& actor)
|
||||
{
|
||||
// 현재는 기본 구현만 제공
|
||||
// 실제 JSON 파싱 라이브러리 사용 시 구현
|
||||
return true;
|
||||
}
|
||||
|
||||
bool RokokoDataParser::ParseFingerData(const void* fingerJson, RokokoData::ActorJointFrame& finger)
|
||||
{
|
||||
// 현재는 기본 구현만 제공
|
||||
// 실제 JSON 파싱 라이브러리 사용 시 구현
|
||||
return true;
|
||||
}
|
||||
|
||||
bool RokokoDataParser::ValidateQuaternion(float x, float y, float z, float w)
|
||||
{
|
||||
// NaN 체크
|
||||
if (std::isnan(x) || std::isnan(y) || std::isnan(z) || std::isnan(w)) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// 무한대 체크
|
||||
if (std::isinf(x) || std::isinf(y) || std::isinf(z) || std::isinf(w)) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// 쿼터니언 길이 체크 (정규화된 경우 1.0에 가까워야 함)
|
||||
float length = std::sqrt(x * x + y * y + z * z + w * w);
|
||||
if (length < 0.1f || length > 10.0f) {
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
void RokokoDataParser::NormalizeQuaternion(float& x, float& y, float& z, float& w)
|
||||
{
|
||||
float length = std::sqrt(x * x + y * y + z * z + w * w);
|
||||
if (length > 0.0001f) {
|
||||
x /= length;
|
||||
y /= length;
|
||||
z /= length;
|
||||
w /= length;
|
||||
} else {
|
||||
// 기본값 설정
|
||||
x = 0.0f;
|
||||
y = 0.0f;
|
||||
z = 0.0f;
|
||||
w = 1.0f;
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -1,104 +0,0 @@
|
||||
//======================================================================================================
|
||||
// Copyright 2025, Rokoko Glove OptiTrack Integration
|
||||
//======================================================================================================
|
||||
/**
|
||||
* RokokoDataParser class provides JSON parsing functionality for Rokoko glove data.
|
||||
* This parser handles the LiveFrame_v4 JSON format from Rokoko Studio.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
#include <string>
|
||||
#include <vector>
|
||||
#include <memory>
|
||||
#include <optional>
|
||||
#include <nlohmann/json.hpp>
|
||||
|
||||
// Forward declarations for JSON data structures
|
||||
namespace RokokoData
|
||||
{
|
||||
struct Vector3Frame;
|
||||
struct Vector4Frame;
|
||||
struct ActorJointFrame;
|
||||
struct ActorData;
|
||||
struct LiveFrame_v4;
|
||||
struct Body;
|
||||
}
|
||||
|
||||
namespace RokokoIntegration
|
||||
{
|
||||
class RokokoDataParser
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* Parses LiveFrame_v4 JSON data
|
||||
* @param jsonString JSON string to parse
|
||||
* @param frame Output frame data structure
|
||||
* @return true if parsing successful
|
||||
*/
|
||||
static bool ParseLiveFrame(const std::string& jsonString, RokokoData::LiveFrame_v4& frame);
|
||||
|
||||
/**
|
||||
* Validates parsed frame data
|
||||
* @param frame Frame data to validate
|
||||
* @return true if frame data is valid
|
||||
*/
|
||||
static bool ValidateFrameData(const RokokoData::LiveFrame_v4& frame);
|
||||
|
||||
/**
|
||||
* Extracts finger joint data from frame
|
||||
* @param frame Input frame data
|
||||
* @param leftHandFingers Output left hand finger data
|
||||
* @param rightHandFingers Output right hand finger data
|
||||
* @return true if extraction successful
|
||||
*/
|
||||
static bool ExtractFingerData(const RokokoData::LiveFrame_v4& frame,
|
||||
std::vector<RokokoData::ActorJointFrame>& leftHandFingers,
|
||||
std::vector<RokokoData::ActorJointFrame>& rightHandFingers);
|
||||
|
||||
private:
|
||||
/**
|
||||
* Parses body frame data from JSON
|
||||
* @param bodyJson JSON object containing body data
|
||||
* @param body Output body data structure
|
||||
*/
|
||||
static void ParseBodyFrame(const nlohmann::json& bodyJson, RokokoData::Body& body);
|
||||
|
||||
/**
|
||||
* Parses individual finger joint data from JSON
|
||||
* @param bodyJson JSON object containing body data
|
||||
* @param jointName Name of the joint to parse
|
||||
* @param joint Output joint data structure (std::optional for stack allocation)
|
||||
*/
|
||||
static void ParseFingerJoint(const nlohmann::json& bodyJson, const std::string& jointName,
|
||||
std::optional<RokokoData::ActorJointFrame>& joint);
|
||||
|
||||
/**
|
||||
* Parses actor data from JSON
|
||||
* @param actorJson JSON object containing actor data
|
||||
* @param actor Output actor data structure
|
||||
* @return true if parsing successful
|
||||
*/
|
||||
static bool ParseActorData(const void* actorJson, RokokoData::ActorData& actor);
|
||||
|
||||
/**
|
||||
* Parses finger joint data from JSON
|
||||
* @param fingerJson JSON object containing finger data
|
||||
* @param finger Output finger data structure
|
||||
* @return true if parsing successful
|
||||
*/
|
||||
static bool ParseFingerData(const void* fingerJson, RokokoData::ActorJointFrame& finger);
|
||||
|
||||
/**
|
||||
* Validates quaternion values
|
||||
* @param x, y, z, w Quaternion components
|
||||
* @return true if quaternion is valid
|
||||
*/
|
||||
static bool ValidateQuaternion(float x, float y, float z, float w);
|
||||
|
||||
/**
|
||||
* Normalizes quaternion values
|
||||
* @param x, y, z, w Quaternion components (modified in place)
|
||||
*/
|
||||
static void NormalizeQuaternion(float& x, float& y, float& z, float& w);
|
||||
};
|
||||
}
|
||||
@ -1,151 +0,0 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<Project DefaultTargets="Build" ToolsVersion="14.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
|
||||
<ItemGroup Label="ProjectConfigurations">
|
||||
<ProjectConfiguration Include="Debug|x64">
|
||||
<Configuration>Debug</Configuration>
|
||||
<Platform>x64</Platform>
|
||||
</ProjectConfiguration>
|
||||
<ProjectConfiguration Include="Release|x64">
|
||||
<Configuration>Release</Configuration>
|
||||
<Platform>x64</Platform>
|
||||
</ProjectConfiguration>
|
||||
</ItemGroup>
|
||||
<PropertyGroup Label="Globals">
|
||||
<ProjectGuid>{AAAAAAAA-BBBB-CCCC-DDDD-EEEEEEEEEEEE}</ProjectGuid>
|
||||
<Keyword>Win32Proj</Keyword>
|
||||
<RootNamespace>RokokoGloveDevice_Fixed</RootNamespace>
|
||||
<WindowsTargetPlatformVersion>8.1</WindowsTargetPlatformVersion>
|
||||
<ProjectName>RokokoGloveDevice_Fixed</ProjectName>
|
||||
</PropertyGroup>
|
||||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
|
||||
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
|
||||
<ConfigurationType>DynamicLibrary</ConfigurationType>
|
||||
<UseDebugLibraries>true</UseDebugLibraries>
|
||||
<PlatformToolset>v142</PlatformToolset>
|
||||
<CharacterSet>Unicode</CharacterSet>
|
||||
</PropertyGroup>
|
||||
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
|
||||
<ConfigurationType>DynamicLibrary</ConfigurationType>
|
||||
<UseDebugLibraries>false</UseDebugLibraries>
|
||||
<PlatformToolset>v142</PlatformToolset>
|
||||
<WholeProgramOptimization>true</WholeProgramOptimization>
|
||||
<CharacterSet>Unicode</CharacterSet>
|
||||
</PropertyGroup>
|
||||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
|
||||
<ImportGroup Label="ExtensionSettings">
|
||||
</ImportGroup>
|
||||
<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
|
||||
<Import Project="GloveDeviceDeveloperConfigDebug.props" Condition="Exists('GloveDeviceDeveloperConfigDebug.props')" />
|
||||
</ImportGroup>
|
||||
<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
|
||||
<Import Project="GloveDeviceDeveloperConfigRelease.props" Condition="Exists('GloveDeviceDeveloperConfigRelease.props')" />
|
||||
</ImportGroup>
|
||||
<PropertyGroup Label="UserMacros" />
|
||||
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
|
||||
<LinkIncremental>true</LinkIncremental>
|
||||
<OutDir>$(SolutionDir)$(Platform)\$(Configuration)\</OutDir>
|
||||
<IntDir>$(Platform)\$(Configuration)\</IntDir>
|
||||
<LocalDebuggerCommand>C:\Program Files\OptiTrack\Motive\Motive.exe</LocalDebuggerCommand>
|
||||
<DebuggerFlavor>WindowsLocalDebugger</DebuggerFlavor>
|
||||
</PropertyGroup>
|
||||
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
|
||||
<LinkIncremental>false</LinkIncremental>
|
||||
<OutDir>$(SolutionDir)$(Platform)\$(Configuration)\</OutDir>
|
||||
<IntDir>$(Platform)\$(Configuration)\</IntDir>
|
||||
<LocalDebuggerCommand>C:\Program Files\OptiTrack\Motive\Motive.exe</LocalDebuggerCommand>
|
||||
<DebuggerFlavor>WindowsLocalDebugger</DebuggerFlavor>
|
||||
</PropertyGroup>
|
||||
<!-- Post-Build 이벤트 비활성화 - DLL을 수동으로 복사하도록 설정 -->
|
||||
<!--
|
||||
<ItemDefinitionGroup Condition="!Exists('GloveDeviceDeveloperConfigDebug.props')">
|
||||
<PostBuildEvent>
|
||||
<Command>if not exist "C:\Program Files\OptiTrack\Motive\devices" mkdir "C:\Program Files\OptiTrack\Motive\devices"
|
||||
if exist "$(OutDir)RokokoGloveDevice.dll" copy "$(OutDir)RokokoGloveDevice.dll" "C:\Program Files\OptiTrack\Motive\devices"
|
||||
if exist "$(OutDir)ExampleGloveData.csv" copy "$(OutDir)ExampleGloveData.csv" "C:\Program Files\OptiTrack\Motive\devices"</Command>
|
||||
</PostBuildEvent>
|
||||
</ItemDefinitionGroup>
|
||||
-->
|
||||
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
|
||||
<ClCompile>
|
||||
<WarningLevel>Level3</WarningLevel>
|
||||
<Optimization>Disabled</Optimization>
|
||||
<LanguageStandard>stdcpp17</LanguageStandard>
|
||||
<PreprocessorDefinitions>WIN32;_DEBUG;_WINDOWS;_USRDLL;ANALOGSYSTEM_IMPORTS;OPTITRACKPERIPHERALEXAMPLE_EXPORTS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
|
||||
<GenerateXMLDocumentationFiles>false</GenerateXMLDocumentationFiles>
|
||||
<AdditionalIncludeDirectories>..\include;..\external;..\external\nlohmann;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
|
||||
<AdditionalOptions>/utf-8 %(AdditionalOptions)</AdditionalOptions>
|
||||
</ClCompile>
|
||||
<Link>
|
||||
<SubSystem>Windows</SubSystem>
|
||||
<GenerateDebugInformation>true</GenerateDebugInformation>
|
||||
<ShowProgress>NotSet</ShowProgress>
|
||||
<AdditionalDependencies>PeripheralImport.lib;ws2_32.lib;%(AdditionalDependencies)</AdditionalDependencies>
|
||||
<AdditionalLibraryDirectories>..\lib;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
|
||||
</Link>
|
||||
<ProjectReference>
|
||||
<LinkLibraryDependencies>false</LinkLibraryDependencies>
|
||||
</ProjectReference>
|
||||
</ItemDefinitionGroup>
|
||||
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
|
||||
<ClCompile>
|
||||
<WarningLevel>Level3</WarningLevel>
|
||||
<Optimization>MaxSpeed</Optimization>
|
||||
<FunctionLevelLinking>true</FunctionLevelLinking>
|
||||
<IntrinsicFunctions>true</IntrinsicFunctions>
|
||||
<LanguageStandard>stdcpp17</LanguageStandard>
|
||||
<PreprocessorDefinitions>WIN32;NDEBUG;_WINDOWS;_USRDLL;OPTITRACKPERIPHERALEXAMPLE_EXPORTS;ANALOGSYSTEM_IMPORTS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
|
||||
<AdditionalIncludeDirectories>..\include;..\external;..\external\nlohmann;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
|
||||
<AdditionalOptions>/utf-8 %(AdditionalOptions)</AdditionalOptions>
|
||||
</ClCompile>
|
||||
<Link>
|
||||
<SubSystem>Windows</SubSystem>
|
||||
<GenerateDebugInformation>true</GenerateDebugInformation>
|
||||
<EnableCOMDATFolding>true</EnableCOMDATFolding>
|
||||
<OptimizeReferences>true</OptimizeReferences>
|
||||
<AdditionalDependencies>PeripheralImport.lib;ws2_32.lib;%(AdditionalDependencies)</AdditionalDependencies>
|
||||
<AdditionalLibraryDirectories>..\lib;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
|
||||
</Link>
|
||||
</ItemDefinitionGroup>
|
||||
<ItemGroup>
|
||||
<ClInclude Include="dllcommon.h" />
|
||||
<ClInclude Include="ExampleGloveAdapterSingleton.h" />
|
||||
<ClInclude Include="ExampleGloveDevice.h" />
|
||||
<ClInclude Include="GloveDeviceBase.h" />
|
||||
<ClInclude Include="GloveDataFormat.h" />
|
||||
<ClInclude Include="LZ4Wrapper.h" />
|
||||
|
||||
<ClInclude Include="RokokoData.h" />
|
||||
<ClInclude Include="RokokoDataParser.h" />
|
||||
<ClInclude Include="RokokoUDPReceiver.h" />
|
||||
<ClInclude Include="RokokoDataConverter.h" />
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<ClCompile Include="dllmain.cpp">
|
||||
<CompileAsManaged Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">false</CompileAsManaged>
|
||||
<PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
|
||||
</PrecompiledHeader>
|
||||
<CompileAsManaged Condition="'$(Configuration)|$(Platform)'=='Release|x64'">false</CompileAsManaged>
|
||||
<PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
|
||||
</PrecompiledHeader>
|
||||
</ClCompile>
|
||||
<ClCompile Include="ExampleGloveAdapterSingleton.cpp" />
|
||||
<ClCompile Include="ExampleGloveDevice.cpp" />
|
||||
<ClCompile Include="GloveDeviceBase.cpp" />
|
||||
<ClCompile Include="LZ4Wrapper.cpp" />
|
||||
|
||||
<ClCompile Include="RokokoUDPReceiver.cpp" />
|
||||
<ClCompile Include="RokokoDataParser.cpp" />
|
||||
<ClCompile Include="RokokoDataConverter.cpp" />
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<Text Include="readme.txt" />
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<CopyFileToFolders Include="ExampleGloveData.csv">
|
||||
<FileType>Document</FileType>
|
||||
</CopyFileToFolders>
|
||||
</ItemGroup>
|
||||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
|
||||
<ImportGroup Label="ExtensionTargets">
|
||||
</ImportGroup>
|
||||
</Project>
|
||||
@ -1,90 +0,0 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
|
||||
<ItemGroup>
|
||||
<Filter Include="Source Files">
|
||||
<UniqueIdentifier>{4FC737F1-C7A5-4376-A066-2A32D752A2FF}</UniqueIdentifier>
|
||||
<Extensions>cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx</Extensions>
|
||||
</Filter>
|
||||
<Filter Include="Header Files">
|
||||
<UniqueIdentifier>{93995380-89BD-4b04-88EB-625FBE52EBFB}</UniqueIdentifier>
|
||||
<Extensions>h;hh;hpp;hxx;hm;inl;inc;xsd</Extensions>
|
||||
</Filter>
|
||||
<Filter Include="Resource Files">
|
||||
<UniqueIdentifier>{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}</UniqueIdentifier>
|
||||
<Extensions>rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms</Extensions>
|
||||
</Filter>
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<ClInclude Include="dllcommon.h">
|
||||
<Filter>Header Files</Filter>
|
||||
</ClInclude>
|
||||
<ClInclude Include="ExampleGloveDevice.h">
|
||||
<Filter>Header Files</Filter>
|
||||
</ClInclude>
|
||||
<ClInclude Include="GloveDataFormat.h">
|
||||
<Filter>Header Files</Filter>
|
||||
</ClInclude>
|
||||
<ClInclude Include="GloveDeviceBase.h">
|
||||
<Filter>Header Files</Filter>
|
||||
</ClInclude>
|
||||
<ClInclude Include="HardwareSimulator.h">
|
||||
<Filter>Header Files</Filter>
|
||||
</ClInclude>
|
||||
<ClInclude Include="ExampleGloveAdapterSingleton.h">
|
||||
<Filter>Header Files</Filter>
|
||||
</ClInclude>
|
||||
<ClInclude Include="LZ4Wrapper.h">
|
||||
<Filter>Header Files</Filter>
|
||||
</ClInclude>
|
||||
<ClInclude Include="lz4.h">
|
||||
<Filter>Header Files</Filter>
|
||||
</ClInclude>
|
||||
<ClInclude Include="RokokoData.h">
|
||||
<Filter>Header Files</Filter>
|
||||
</ClInclude>
|
||||
<ClInclude Include="RokokoDataParser.h">
|
||||
<Filter>Header Files</Filter>
|
||||
</ClInclude>
|
||||
<ClInclude Include="RokokoUDPReceiver.h">
|
||||
<Filter>Header Files</Filter>
|
||||
</ClInclude>
|
||||
<ClInclude Include="RokokoDataConverter.h">
|
||||
<Filter>Header Files</Filter>
|
||||
</ClInclude>
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<ClCompile Include="dllmain.cpp">
|
||||
<Filter>Source Files</Filter>
|
||||
</ClCompile>
|
||||
<ClCompile Include="ExampleGloveDevice.cpp">
|
||||
<Filter>Source Files</Filter>
|
||||
</ClCompile>
|
||||
<ClCompile Include="GloveDeviceBase.cpp">
|
||||
<Filter>Source Files</Filter>
|
||||
</ClCompile>
|
||||
<ClCompile Include="HardwareSimulator.cpp">
|
||||
<Filter>Source Files</Filter>
|
||||
</ClCompile>
|
||||
<ClCompile Include="ExampleGloveAdapterSingleton.cpp">
|
||||
<Filter>Source Files</Filter>
|
||||
</ClCompile>
|
||||
<ClCompile Include="LZ4Wrapper.cpp">
|
||||
<Filter>Source Files</Filter>
|
||||
</ClCompile>
|
||||
<ClCompile Include="lz4.c">
|
||||
<Filter>Source Files</Filter>
|
||||
</ClCompile>
|
||||
<ClCompile Include="RokokoUDPReceiver.cpp">
|
||||
<Filter>Source Files</Filter>
|
||||
</ClCompile>
|
||||
<ClCompile Include="RokokoDataConverter.cpp">
|
||||
<Filter>Source Files</Filter>
|
||||
</ClCompile>
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<Text Include="readme.txt" />
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<CopyFileToFolders Include="ExampleGloveData.csv" />
|
||||
</ItemGroup>
|
||||
</Project>
|
||||
@ -1,307 +0,0 @@
|
||||
//======================================================================================================
|
||||
// Copyright 2025, Rokoko Glove OptiTrack Integration - FIXED VERSION
|
||||
//======================================================================================================
|
||||
/**
|
||||
* FIXES APPLIED:
|
||||
* 1. ✅ WSACleanup duplicate calls - Added reference counting
|
||||
* 2. ✅ CPU 100% usage - Added select() with timeout instead of busy-wait
|
||||
* 3. ✅ Thread safety - Using lock_guard consistently
|
||||
*/
|
||||
|
||||
#include "RokokoUDPReceiver.h"
|
||||
#include <chrono>
|
||||
#include <sstream>
|
||||
#include <iostream>
|
||||
|
||||
namespace RokokoIntegration
|
||||
{
|
||||
// Static members for WSA reference counting
|
||||
std::atomic<int> RokokoUDPReceiver::s_wsaRefCount{0};
|
||||
std::mutex RokokoUDPReceiver::s_wsaMutex;
|
||||
|
||||
RokokoUDPReceiver::RokokoUDPReceiver()
|
||||
: mSocket(INVALID_SOCKET)
|
||||
, mIsRunning(false)
|
||||
, mIsListening(false)
|
||||
, mPacketsReceived(0)
|
||||
, mBytesReceived(0)
|
||||
, mLastPacketTime(0.0)
|
||||
, mPort(14043)
|
||||
, mBufferSize(65000)
|
||||
, mWsaInitialized(false)
|
||||
{
|
||||
}
|
||||
|
||||
RokokoUDPReceiver::~RokokoUDPReceiver()
|
||||
{
|
||||
StopListening();
|
||||
CloseSocket();
|
||||
}
|
||||
|
||||
// FIX 1: WSA Reference Counting
|
||||
bool RokokoUDPReceiver::InitializeWSA()
|
||||
{
|
||||
std::lock_guard<std::mutex> lock(s_wsaMutex);
|
||||
|
||||
if (s_wsaRefCount == 0) {
|
||||
WSADATA wsaData;
|
||||
if (WSAStartup(MAKEWORD(2, 2), &wsaData) != 0) {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
s_wsaRefCount++;
|
||||
mWsaInitialized = true;
|
||||
return true;
|
||||
}
|
||||
|
||||
void RokokoUDPReceiver::CleanupWSA()
|
||||
{
|
||||
if (!mWsaInitialized) {
|
||||
return;
|
||||
}
|
||||
|
||||
std::lock_guard<std::mutex> lock(s_wsaMutex);
|
||||
|
||||
s_wsaRefCount--;
|
||||
if (s_wsaRefCount == 0) {
|
||||
WSACleanup();
|
||||
}
|
||||
|
||||
mWsaInitialized = false;
|
||||
}
|
||||
|
||||
bool RokokoUDPReceiver::Initialize(int port)
|
||||
{
|
||||
try {
|
||||
mPort = port;
|
||||
|
||||
// FIX: Use reference-counted WSA initialization
|
||||
if (!InitializeWSA()) {
|
||||
SetError("WSAStartup failed");
|
||||
return false;
|
||||
}
|
||||
|
||||
// UDP 소켓 생성
|
||||
mSocket = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
|
||||
if (mSocket == INVALID_SOCKET) {
|
||||
SetError("Failed to create UDP socket");
|
||||
CleanupWSA();
|
||||
return false;
|
||||
}
|
||||
|
||||
// 소켓 옵션 설정
|
||||
int sendBufferSize = mBufferSize;
|
||||
if (setsockopt(mSocket, SOL_SOCKET, SO_SNDBUF,
|
||||
(char*)&sendBufferSize, sizeof(sendBufferSize)) == SOCKET_ERROR) {
|
||||
SetError("Failed to set send buffer size");
|
||||
CloseSocket();
|
||||
return false;
|
||||
}
|
||||
|
||||
// 주소 구조체 설정
|
||||
struct sockaddr_in serverAddr;
|
||||
serverAddr.sin_family = AF_INET;
|
||||
serverAddr.sin_port = htons(mPort);
|
||||
serverAddr.sin_addr.s_addr = INADDR_ANY;
|
||||
|
||||
// 소켓 바인딩
|
||||
if (bind(mSocket, (struct sockaddr*)&serverAddr, sizeof(serverAddr)) == SOCKET_ERROR) {
|
||||
std::ostringstream oss;
|
||||
oss << "Failed to bind to port " << mPort << ". Port may be in use.";
|
||||
SetError(oss.str());
|
||||
CloseSocket();
|
||||
return false;
|
||||
}
|
||||
|
||||
// 논블로킹 모드는 select()와 함께 사용
|
||||
u_long mode = 1;
|
||||
if (ioctlsocket(mSocket, FIONBIO, &mode) == SOCKET_ERROR) {
|
||||
SetError("Failed to set non-blocking mode");
|
||||
CloseSocket();
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
|
||||
} catch (...) {
|
||||
SetError("Exception during UDP initialization");
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
bool RokokoUDPReceiver::StartListening()
|
||||
{
|
||||
if (mSocket == INVALID_SOCKET) {
|
||||
SetError("UDP socket not initialized");
|
||||
return false;
|
||||
}
|
||||
|
||||
if (mIsListening) {
|
||||
SetError("Already listening");
|
||||
return false;
|
||||
}
|
||||
|
||||
try {
|
||||
mIsRunning = true;
|
||||
mIsListening = true;
|
||||
|
||||
// 수신 스레드 시작
|
||||
mReceiveThread = std::thread(&RokokoUDPReceiver::ReceiveThread, this);
|
||||
|
||||
return true;
|
||||
|
||||
} catch (...) {
|
||||
SetError("Exception starting receive thread");
|
||||
mIsRunning = false;
|
||||
mIsListening = false;
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
void RokokoUDPReceiver::StopListening()
|
||||
{
|
||||
mIsRunning = false;
|
||||
mIsListening = false;
|
||||
|
||||
if (mReceiveThread.joinable()) {
|
||||
mReceiveThread.join();
|
||||
}
|
||||
}
|
||||
|
||||
void RokokoUDPReceiver::SetDataCallback(std::function<void(const std::vector<uint8_t>&, const std::string&)> callback)
|
||||
{
|
||||
mDataCallback = callback;
|
||||
}
|
||||
|
||||
bool RokokoUDPReceiver::IsListening() const
|
||||
{
|
||||
return mIsListening;
|
||||
}
|
||||
|
||||
bool RokokoUDPReceiver::IsConnected() const
|
||||
{
|
||||
return mIsListening && mPacketsReceived > 0;
|
||||
}
|
||||
|
||||
std::string RokokoUDPReceiver::GetLastError() const
|
||||
{
|
||||
std::lock_guard<std::mutex> lock(mErrorMutex);
|
||||
return mLastError;
|
||||
}
|
||||
|
||||
void RokokoUDPReceiver::GetStatistics(uint64_t& packetsReceived, uint64_t& bytesReceived, double& lastPacketTime) const
|
||||
{
|
||||
std::lock_guard<std::mutex> lock(mStatsMutex);
|
||||
packetsReceived = mPacketsReceived;
|
||||
bytesReceived = mBytesReceived;
|
||||
lastPacketTime = mLastPacketTime;
|
||||
}
|
||||
|
||||
// FIX 2: Use select() to prevent CPU 100% usage
|
||||
void RokokoUDPReceiver::ReceiveThread()
|
||||
{
|
||||
std::vector<uint8_t> buffer(mBufferSize);
|
||||
|
||||
while (mIsRunning) {
|
||||
try {
|
||||
// ✅ FIX: Use select() to wait for data efficiently
|
||||
fd_set readSet;
|
||||
FD_ZERO(&readSet);
|
||||
FD_SET(mSocket, &readSet);
|
||||
|
||||
// Timeout: 100ms (10 checks per second)
|
||||
timeval timeout;
|
||||
timeout.tv_sec = 0;
|
||||
timeout.tv_usec = 100000; // 100ms
|
||||
|
||||
int selectResult = select(0, &readSet, nullptr, nullptr, &timeout);
|
||||
|
||||
if (selectResult > 0 && FD_ISSET(mSocket, &readSet)) {
|
||||
// Data available - receive it
|
||||
struct sockaddr_in senderAddr;
|
||||
int senderAddrSize = sizeof(senderAddr);
|
||||
|
||||
int bytesReceived = recvfrom(mSocket,
|
||||
reinterpret_cast<char*>(buffer.data()),
|
||||
mBufferSize,
|
||||
0,
|
||||
(struct sockaddr*)&senderAddr,
|
||||
&senderAddrSize);
|
||||
|
||||
if (bytesReceived > 0) {
|
||||
// 발신자 IP 주소 추출
|
||||
char senderIP[INET_ADDRSTRLEN];
|
||||
inet_ntop(AF_INET, &senderAddr.sin_addr, senderIP, INET_ADDRSTRLEN);
|
||||
std::string senderIPStr(senderIP);
|
||||
|
||||
// 데이터 처리
|
||||
ProcessIncomingData(buffer.data(), bytesReceived, senderIPStr);
|
||||
|
||||
// 통계 업데이트
|
||||
UpdateStatistics(bytesReceived);
|
||||
}
|
||||
} else if (selectResult == SOCKET_ERROR) {
|
||||
int error = WSAGetLastError();
|
||||
std::ostringstream oss;
|
||||
oss << "select() error: " << error;
|
||||
SetError(oss.str());
|
||||
break;
|
||||
}
|
||||
// selectResult == 0 means timeout - just continue loop (no busy-wait!)
|
||||
|
||||
} catch (...) {
|
||||
SetError("Exception in receive thread");
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
mIsListening = false;
|
||||
}
|
||||
|
||||
void RokokoUDPReceiver::ProcessIncomingData(const uint8_t* data, int size, const std::string& senderIP)
|
||||
{
|
||||
if (mDataCallback && data && size > 0) {
|
||||
try {
|
||||
// 데이터를 벡터로 복사
|
||||
std::vector<uint8_t> dataCopy(data, data + size);
|
||||
|
||||
// 콜백 호출
|
||||
mDataCallback(dataCopy, senderIP);
|
||||
|
||||
} catch (...) {
|
||||
SetError("Exception in data callback");
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void RokokoUDPReceiver::SetError(const std::string& error)
|
||||
{
|
||||
std::lock_guard<std::mutex> lock(mErrorMutex);
|
||||
mLastError = error;
|
||||
|
||||
// 에러 로깅 (OptiTrack에서 확인 가능)
|
||||
std::cerr << "[RokokoUDPReceiver] Error: " << error << std::endl;
|
||||
}
|
||||
|
||||
void RokokoUDPReceiver::UpdateStatistics(int packetSize)
|
||||
{
|
||||
std::lock_guard<std::mutex> lock(mStatsMutex);
|
||||
mPacketsReceived++;
|
||||
mBytesReceived += packetSize;
|
||||
mLastPacketTime = std::chrono::duration_cast<std::chrono::milliseconds>(
|
||||
std::chrono::high_resolution_clock::now().time_since_epoch()
|
||||
).count() / 1000.0;
|
||||
}
|
||||
|
||||
void RokokoUDPReceiver::CloseSocket()
|
||||
{
|
||||
if (mSocket != INVALID_SOCKET) {
|
||||
closesocket(mSocket);
|
||||
mSocket = INVALID_SOCKET;
|
||||
}
|
||||
|
||||
// FIX: Use reference-counted cleanup
|
||||
CleanupWSA();
|
||||
}
|
||||
}
|
||||
@ -1,154 +0,0 @@
|
||||
//======================================================================================================
|
||||
// Copyright 2025, Rokoko Glove OptiTrack Integration
|
||||
//======================================================================================================
|
||||
/**
|
||||
* RokokoUDPReceiver class provides UDP communication functionality for receiving Rokoko glove data.
|
||||
* This receiver handles UDP socket communication and data reception from Rokoko Studio.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
#include <winsock2.h>
|
||||
#include <ws2tcpip.h>
|
||||
#include <functional>
|
||||
#include <thread>
|
||||
#include <vector>
|
||||
#include <atomic>
|
||||
#include <mutex>
|
||||
|
||||
namespace RokokoIntegration
|
||||
{
|
||||
class RokokoUDPReceiver
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* Constructor
|
||||
*/
|
||||
RokokoUDPReceiver();
|
||||
|
||||
/**
|
||||
* Destructor
|
||||
*/
|
||||
~RokokoUDPReceiver();
|
||||
|
||||
/**
|
||||
* Initializes UDP receiver
|
||||
* @param port UDP port to listen on (default: 14043)
|
||||
* @return true if initialization successful
|
||||
*/
|
||||
bool Initialize(int port = 14043);
|
||||
|
||||
/**
|
||||
* Starts listening for UDP data
|
||||
* @return true if started successfully
|
||||
*/
|
||||
bool StartListening();
|
||||
|
||||
/**
|
||||
* Stops listening for UDP data
|
||||
*/
|
||||
void StopListening();
|
||||
|
||||
/**
|
||||
* Sets callback function for received data
|
||||
* @param callback Function to call when data is received
|
||||
*/
|
||||
void SetDataCallback(std::function<void(const std::vector<uint8_t>&, const std::string&)> callback);
|
||||
|
||||
/**
|
||||
* Checks if receiver is currently listening
|
||||
* @return true if listening
|
||||
*/
|
||||
bool IsListening() const;
|
||||
|
||||
/**
|
||||
* Gets the current connection status
|
||||
* @return true if connected and receiving data
|
||||
*/
|
||||
bool IsConnected() const;
|
||||
|
||||
/**
|
||||
* Gets the last error message
|
||||
* @return Error message string
|
||||
*/
|
||||
std::string GetLastError() const;
|
||||
|
||||
/**
|
||||
* Gets connection statistics
|
||||
* @param packetsReceived Number of packets received
|
||||
* @param bytesReceived Total bytes received
|
||||
* @param lastPacketTime Timestamp of last packet
|
||||
*/
|
||||
void GetStatistics(uint64_t& packetsReceived, uint64_t& bytesReceived, double& lastPacketTime) const;
|
||||
|
||||
private:
|
||||
// UDP socket
|
||||
SOCKET mSocket;
|
||||
|
||||
// Thread management
|
||||
std::thread mReceiveThread;
|
||||
std::atomic<bool> mIsRunning;
|
||||
std::atomic<bool> mIsListening;
|
||||
|
||||
// Data callback
|
||||
std::function<void(const std::vector<uint8_t>&, const std::string&)> mDataCallback;
|
||||
|
||||
// Statistics
|
||||
mutable std::mutex mStatsMutex;
|
||||
uint64_t mPacketsReceived;
|
||||
uint64_t mBytesReceived;
|
||||
double mLastPacketTime;
|
||||
|
||||
// Error handling
|
||||
mutable std::mutex mErrorMutex;
|
||||
std::string mLastError;
|
||||
|
||||
// Configuration
|
||||
int mPort;
|
||||
int mBufferSize;
|
||||
|
||||
/**
|
||||
* Main receive thread function
|
||||
*/
|
||||
void ReceiveThread();
|
||||
|
||||
/**
|
||||
* Processes incoming UDP data
|
||||
* @param data Received data
|
||||
* @param size Size of received data
|
||||
* @param senderIP IP address of sender
|
||||
*/
|
||||
void ProcessIncomingData(const uint8_t* data, int size, const std::string& senderIP);
|
||||
|
||||
/**
|
||||
* Sets error message
|
||||
* @param error Error message
|
||||
*/
|
||||
void SetError(const std::string& error);
|
||||
|
||||
/**
|
||||
* Updates statistics
|
||||
* @param packetSize Size of received packet
|
||||
*/
|
||||
void UpdateStatistics(int packetSize);
|
||||
|
||||
/**
|
||||
* Closes UDP socket
|
||||
*/
|
||||
void CloseSocket();
|
||||
|
||||
// WSA reference counting (FIX: Prevent duplicate WSACleanup calls)
|
||||
static std::atomic<int> s_wsaRefCount;
|
||||
static std::mutex s_wsaMutex;
|
||||
bool mWsaInitialized;
|
||||
|
||||
/**
|
||||
* Initialize WSA with reference counting
|
||||
*/
|
||||
bool InitializeWSA();
|
||||
|
||||
/**
|
||||
* Cleanup WSA with reference counting
|
||||
*/
|
||||
void CleanupWSA();
|
||||
};
|
||||
}
|
||||
@ -1,12 +0,0 @@
|
||||
//======================================================================================================
|
||||
// Copyright 2016, NaturalPoint Inc.
|
||||
//======================================================================================================
|
||||
|
||||
// windows
|
||||
#include <SDKDDKVer.h>
|
||||
#define _CRTDBG_MAP_ALLOC
|
||||
#include <stdlib.h>
|
||||
#include <crtdbg.h>
|
||||
#define WIN32_LEAN_AND_MEAN
|
||||
#include <windows.h>
|
||||
|
||||
@ -1,103 +0,0 @@
|
||||
//======================================================================================================
|
||||
// Copyright 2016, NaturalPoint Inc.
|
||||
//======================================================================================================
|
||||
//
|
||||
// dllmain.cpp : Defines the entry point for the DLL application.
|
||||
//
|
||||
|
||||
#include "dllcommon.h"
|
||||
|
||||
// stl
|
||||
#include <list>
|
||||
#include <memory>
|
||||
using namespace std;
|
||||
|
||||
// OptiTrack Peripheral Device API
|
||||
#include "IDeviceManager.h"
|
||||
using namespace AnalogSystem;
|
||||
|
||||
// local devices
|
||||
#include "ExampleGloveDevice.h"
|
||||
using namespace OptiTrackPluginDevices;
|
||||
|
||||
int hostVersionMajor, hostVersionMinor, hostVersionRevision;
|
||||
|
||||
#ifdef OPTITRACKPERIPHERALEXAMPLE_EXPORTS
|
||||
#define OPTITRACKPERIPHERALEXAMPLE_API __declspec(dllexport)
|
||||
#else
|
||||
#define OPTITRACKPERIPHERALEXAMPLE_API __declspec(dllimport)
|
||||
#endif
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
using namespace OptiTrackPluginDevices;
|
||||
using namespace ExampleDevice;
|
||||
|
||||
|
||||
/**
|
||||
* Defines the version information of the plugin DLL within Motive.
|
||||
*/
|
||||
OPTITRACKPERIPHERALEXAMPLE_API void DLLVersion(int hostMajor, int hostMinor, int hostRevision, int& dllMajor, int& dllMinor, int& dllRevision)
|
||||
{
|
||||
hostVersionMajor = hostMajor;
|
||||
hostVersionMajor = hostMinor;
|
||||
hostVersionMajor = hostRevision;
|
||||
|
||||
// report this peripheral device's version to host
|
||||
dllMajor = 1;
|
||||
dllMinor = 0;
|
||||
dllRevision = 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* Motive calls the following method on application start up. This register device factories with Motive
|
||||
* so that the device can be instantiated when it's ready (1 factory per device)
|
||||
*/
|
||||
OPTITRACKPERIPHERALEXAMPLE_API int DLLEnumerateDeviceFactories(IDeviceManager* pDeviceManager)
|
||||
{
|
||||
|
||||
list<unique_ptr<IDeviceFactory>> availDFs;
|
||||
|
||||
ExampleDevice::ExampleGlove_EnumerateDeviceFactories(pDeviceManager, availDFs);
|
||||
for (list<unique_ptr<IDeviceFactory>>::iterator iter = availDFs.begin(); iter != availDFs.end(); iter++) {
|
||||
// transfers ownership of device factory to host
|
||||
pDeviceManager->AddDevice(std::move(*iter));
|
||||
}
|
||||
|
||||
return (int)availDFs.size();
|
||||
}
|
||||
|
||||
/**
|
||||
* The following method gets called on application shutdown. Proper shutdown should happen here;
|
||||
* including termination of the process of the DLL and memory unload.
|
||||
*/
|
||||
OPTITRACKPERIPHERALEXAMPLE_API int PluginDLLUnload(IDeviceManager* pDeviceManager)
|
||||
{
|
||||
// OPTIONAL: perform device DLL shutdown here
|
||||
ExampleGlove_Shutdown();
|
||||
return 0;
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
BOOL APIENTRY DllMain( HMODULE hModule, DWORD ul_reason_for_call, LPVOID lpReserved )
|
||||
{
|
||||
switch (ul_reason_for_call)
|
||||
{
|
||||
case DLL_PROCESS_ATTACH:
|
||||
break;
|
||||
case DLL_THREAD_ATTACH:
|
||||
break;
|
||||
case DLL_THREAD_DETACH:
|
||||
break;
|
||||
case DLL_PROCESS_DETACH:
|
||||
break;
|
||||
}
|
||||
return TRUE;
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
@ -1,842 +0,0 @@
|
||||
/*
|
||||
* LZ4 - Fast LZ compression algorithm
|
||||
* Header File
|
||||
* Copyright (C) 2011-2020, Yann Collet.
|
||||
|
||||
BSD 2-Clause License (http://www.opensource.org/licenses/bsd-license.php)
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are
|
||||
met:
|
||||
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above
|
||||
copyright notice, this list of conditions and the following disclaimer
|
||||
in the documentation and/or other materials provided with the
|
||||
distribution.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
|
||||
A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
|
||||
OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
|
||||
SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
|
||||
LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
|
||||
DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
|
||||
THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
||||
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
|
||||
You can contact the author at :
|
||||
- LZ4 homepage : http://www.lz4.org
|
||||
- LZ4 source repository : https://github.com/lz4/lz4
|
||||
*/
|
||||
#if defined (__cplusplus)
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
#ifndef LZ4_H_2983827168210
|
||||
#define LZ4_H_2983827168210
|
||||
|
||||
/* --- Dependency --- */
|
||||
#include <stddef.h> /* size_t */
|
||||
|
||||
|
||||
/**
|
||||
Introduction
|
||||
|
||||
LZ4 is lossless compression algorithm, providing compression speed >500 MB/s per core,
|
||||
scalable with multi-cores CPU. It features an extremely fast decoder, with speed in
|
||||
multiple GB/s per core, typically reaching RAM speed limits on multi-core systems.
|
||||
|
||||
The LZ4 compression library provides in-memory compression and decompression functions.
|
||||
It gives full buffer control to user.
|
||||
Compression can be done in:
|
||||
- a single step (described as Simple Functions)
|
||||
- a single step, reusing a context (described in Advanced Functions)
|
||||
- unbounded multiple steps (described as Streaming compression)
|
||||
|
||||
lz4.h generates and decodes LZ4-compressed blocks (doc/lz4_Block_format.md).
|
||||
Decompressing such a compressed block requires additional metadata.
|
||||
Exact metadata depends on exact decompression function.
|
||||
For the typical case of LZ4_decompress_safe(),
|
||||
metadata includes block's compressed size, and maximum bound of decompressed size.
|
||||
Each application is free to encode and pass such metadata in whichever way it wants.
|
||||
|
||||
lz4.h only handle blocks, it can not generate Frames.
|
||||
|
||||
Blocks are different from Frames (doc/lz4_Frame_format.md).
|
||||
Frames bundle both blocks and metadata in a specified manner.
|
||||
Embedding metadata is required for compressed data to be self-contained and portable.
|
||||
Frame format is delivered through a companion API, declared in lz4frame.h.
|
||||
The `lz4` CLI can only manage frames.
|
||||
*/
|
||||
|
||||
/*^***************************************************************
|
||||
* Export parameters
|
||||
*****************************************************************/
|
||||
/*
|
||||
* LZ4_DLL_EXPORT :
|
||||
* Enable exporting of functions when building a Windows DLL
|
||||
* LZ4LIB_VISIBILITY :
|
||||
* Control library symbols visibility.
|
||||
*/
|
||||
#ifndef LZ4LIB_VISIBILITY
|
||||
# if defined(__GNUC__) && (__GNUC__ >= 4)
|
||||
# define LZ4LIB_VISIBILITY __attribute__ ((visibility ("default")))
|
||||
# else
|
||||
# define LZ4LIB_VISIBILITY
|
||||
# endif
|
||||
#endif
|
||||
#if defined(LZ4_DLL_EXPORT) && (LZ4_DLL_EXPORT==1)
|
||||
# define LZ4LIB_API __declspec(dllexport) LZ4LIB_VISIBILITY
|
||||
#elif defined(LZ4_DLL_IMPORT) && (LZ4_DLL_IMPORT==1)
|
||||
# define LZ4LIB_API __declspec(dllimport) LZ4LIB_VISIBILITY /* It isn't required but allows to generate better code, saving a function pointer load from the IAT and an indirect jump.*/
|
||||
#else
|
||||
# define LZ4LIB_API LZ4LIB_VISIBILITY
|
||||
#endif
|
||||
|
||||
/*! LZ4_FREESTANDING :
|
||||
* When this macro is set to 1, it enables "freestanding mode" that is
|
||||
* suitable for typical freestanding environment which doesn't support
|
||||
* standard C library.
|
||||
*
|
||||
* - LZ4_FREESTANDING is a compile-time switch.
|
||||
* - It requires the following macros to be defined:
|
||||
* LZ4_memcpy, LZ4_memmove, LZ4_memset.
|
||||
* - It only enables LZ4/HC functions which don't use heap.
|
||||
* All LZ4F_* functions are not supported.
|
||||
* - See tests/freestanding.c to check its basic setup.
|
||||
*/
|
||||
#if defined(LZ4_FREESTANDING) && (LZ4_FREESTANDING == 1)
|
||||
# define LZ4_HEAPMODE 0
|
||||
# define LZ4HC_HEAPMODE 0
|
||||
# define LZ4_STATIC_LINKING_ONLY_DISABLE_MEMORY_ALLOCATION 1
|
||||
# if !defined(LZ4_memcpy)
|
||||
# error "LZ4_FREESTANDING requires macro 'LZ4_memcpy'."
|
||||
# endif
|
||||
# if !defined(LZ4_memset)
|
||||
# error "LZ4_FREESTANDING requires macro 'LZ4_memset'."
|
||||
# endif
|
||||
# if !defined(LZ4_memmove)
|
||||
# error "LZ4_FREESTANDING requires macro 'LZ4_memmove'."
|
||||
# endif
|
||||
#elif ! defined(LZ4_FREESTANDING)
|
||||
# define LZ4_FREESTANDING 0
|
||||
#endif
|
||||
|
||||
|
||||
/*------ Version ------*/
|
||||
#define LZ4_VERSION_MAJOR 1 /* for breaking interface changes */
|
||||
#define LZ4_VERSION_MINOR 9 /* for new (non-breaking) interface capabilities */
|
||||
#define LZ4_VERSION_RELEASE 4 /* for tweaks, bug-fixes, or development */
|
||||
|
||||
#define LZ4_VERSION_NUMBER (LZ4_VERSION_MAJOR *100*100 + LZ4_VERSION_MINOR *100 + LZ4_VERSION_RELEASE)
|
||||
|
||||
#define LZ4_LIB_VERSION LZ4_VERSION_MAJOR.LZ4_VERSION_MINOR.LZ4_VERSION_RELEASE
|
||||
#define LZ4_QUOTE(str) #str
|
||||
#define LZ4_EXPAND_AND_QUOTE(str) LZ4_QUOTE(str)
|
||||
#define LZ4_VERSION_STRING LZ4_EXPAND_AND_QUOTE(LZ4_LIB_VERSION) /* requires v1.7.3+ */
|
||||
|
||||
LZ4LIB_API int LZ4_versionNumber (void); /**< library version number; useful to check dll version; requires v1.3.0+ */
|
||||
LZ4LIB_API const char* LZ4_versionString (void); /**< library version string; useful to check dll version; requires v1.7.5+ */
|
||||
|
||||
|
||||
/*-************************************
|
||||
* Tuning parameter
|
||||
**************************************/
|
||||
#define LZ4_MEMORY_USAGE_MIN 10
|
||||
#define LZ4_MEMORY_USAGE_DEFAULT 14
|
||||
#define LZ4_MEMORY_USAGE_MAX 20
|
||||
|
||||
/*!
|
||||
* LZ4_MEMORY_USAGE :
|
||||
* Memory usage formula : N->2^N Bytes (examples : 10 -> 1KB; 12 -> 4KB ; 16 -> 64KB; 20 -> 1MB; )
|
||||
* Increasing memory usage improves compression ratio, at the cost of speed.
|
||||
* Reduced memory usage may improve speed at the cost of ratio, thanks to better cache locality.
|
||||
* Default value is 14, for 16KB, which nicely fits into Intel x86 L1 cache
|
||||
*/
|
||||
#ifndef LZ4_MEMORY_USAGE
|
||||
# define LZ4_MEMORY_USAGE LZ4_MEMORY_USAGE_DEFAULT
|
||||
#endif
|
||||
|
||||
#if (LZ4_MEMORY_USAGE < LZ4_MEMORY_USAGE_MIN)
|
||||
# error "LZ4_MEMORY_USAGE is too small !"
|
||||
#endif
|
||||
|
||||
#if (LZ4_MEMORY_USAGE > LZ4_MEMORY_USAGE_MAX)
|
||||
# error "LZ4_MEMORY_USAGE is too large !"
|
||||
#endif
|
||||
|
||||
/*-************************************
|
||||
* Simple Functions
|
||||
**************************************/
|
||||
/*! LZ4_compress_default() :
|
||||
* Compresses 'srcSize' bytes from buffer 'src'
|
||||
* into already allocated 'dst' buffer of size 'dstCapacity'.
|
||||
* Compression is guaranteed to succeed if 'dstCapacity' >= LZ4_compressBound(srcSize).
|
||||
* It also runs faster, so it's a recommended setting.
|
||||
* If the function cannot compress 'src' into a more limited 'dst' budget,
|
||||
* compression stops *immediately*, and the function result is zero.
|
||||
* In which case, 'dst' content is undefined (invalid).
|
||||
* srcSize : max supported value is LZ4_MAX_INPUT_SIZE.
|
||||
* dstCapacity : size of buffer 'dst' (which must be already allocated)
|
||||
* @return : the number of bytes written into buffer 'dst' (necessarily <= dstCapacity)
|
||||
* or 0 if compression fails
|
||||
* Note : This function is protected against buffer overflow scenarios (never writes outside 'dst' buffer, nor read outside 'source' buffer).
|
||||
*/
|
||||
LZ4LIB_API int LZ4_compress_default(const char* src, char* dst, int srcSize, int dstCapacity);
|
||||
|
||||
/*! LZ4_decompress_safe() :
|
||||
* compressedSize : is the exact complete size of the compressed block.
|
||||
* dstCapacity : is the size of destination buffer (which must be already allocated), presumed an upper bound of decompressed size.
|
||||
* @return : the number of bytes decompressed into destination buffer (necessarily <= dstCapacity)
|
||||
* If destination buffer is not large enough, decoding will stop and output an error code (negative value).
|
||||
* If the source stream is detected malformed, the function will stop decoding and return a negative result.
|
||||
* Note 1 : This function is protected against malicious data packets :
|
||||
* it will never writes outside 'dst' buffer, nor read outside 'source' buffer,
|
||||
* even if the compressed block is maliciously modified to order the decoder to do these actions.
|
||||
* In such case, the decoder stops immediately, and considers the compressed block malformed.
|
||||
* Note 2 : compressedSize and dstCapacity must be provided to the function, the compressed block does not contain them.
|
||||
* The implementation is free to send / store / derive this information in whichever way is most beneficial.
|
||||
* If there is a need for a different format which bundles together both compressed data and its metadata, consider looking at lz4frame.h instead.
|
||||
*/
|
||||
LZ4LIB_API int LZ4_decompress_safe (const char* src, char* dst, int compressedSize, int dstCapacity);
|
||||
|
||||
|
||||
/*-************************************
|
||||
* Advanced Functions
|
||||
**************************************/
|
||||
#define LZ4_MAX_INPUT_SIZE 0x7E000000 /* 2 113 929 216 bytes */
|
||||
#define LZ4_COMPRESSBOUND(isize) ((unsigned)(isize) > (unsigned)LZ4_MAX_INPUT_SIZE ? 0 : (isize) + ((isize)/255) + 16)
|
||||
|
||||
/*! LZ4_compressBound() :
|
||||
Provides the maximum size that LZ4 compression may output in a "worst case" scenario (input data not compressible)
|
||||
This function is primarily useful for memory allocation purposes (destination buffer size).
|
||||
Macro LZ4_COMPRESSBOUND() is also provided for compilation-time evaluation (stack memory allocation for example).
|
||||
Note that LZ4_compress_default() compresses faster when dstCapacity is >= LZ4_compressBound(srcSize)
|
||||
inputSize : max supported value is LZ4_MAX_INPUT_SIZE
|
||||
return : maximum output size in a "worst case" scenario
|
||||
or 0, if input size is incorrect (too large or negative)
|
||||
*/
|
||||
LZ4LIB_API int LZ4_compressBound(int inputSize);
|
||||
|
||||
/*! LZ4_compress_fast() :
|
||||
Same as LZ4_compress_default(), but allows selection of "acceleration" factor.
|
||||
The larger the acceleration value, the faster the algorithm, but also the lesser the compression.
|
||||
It's a trade-off. It can be fine tuned, with each successive value providing roughly +~3% to speed.
|
||||
An acceleration value of "1" is the same as regular LZ4_compress_default()
|
||||
Values <= 0 will be replaced by LZ4_ACCELERATION_DEFAULT (currently == 1, see lz4.c).
|
||||
Values > LZ4_ACCELERATION_MAX will be replaced by LZ4_ACCELERATION_MAX (currently == 65537, see lz4.c).
|
||||
*/
|
||||
LZ4LIB_API int LZ4_compress_fast (const char* src, char* dst, int srcSize, int dstCapacity, int acceleration);
|
||||
|
||||
|
||||
/*! LZ4_compress_fast_extState() :
|
||||
* Same as LZ4_compress_fast(), using an externally allocated memory space for its state.
|
||||
* Use LZ4_sizeofState() to know how much memory must be allocated,
|
||||
* and allocate it on 8-bytes boundaries (using `malloc()` typically).
|
||||
* Then, provide this buffer as `void* state` to compression function.
|
||||
*/
|
||||
LZ4LIB_API int LZ4_sizeofState(void);
|
||||
LZ4LIB_API int LZ4_compress_fast_extState (void* state, const char* src, char* dst, int srcSize, int dstCapacity, int acceleration);
|
||||
|
||||
|
||||
/*! LZ4_compress_destSize() :
|
||||
* Reverse the logic : compresses as much data as possible from 'src' buffer
|
||||
* into already allocated buffer 'dst', of size >= 'targetDestSize'.
|
||||
* This function either compresses the entire 'src' content into 'dst' if it's large enough,
|
||||
* or fill 'dst' buffer completely with as much data as possible from 'src'.
|
||||
* note: acceleration parameter is fixed to "default".
|
||||
*
|
||||
* *srcSizePtr : will be modified to indicate how many bytes where read from 'src' to fill 'dst'.
|
||||
* New value is necessarily <= input value.
|
||||
* @return : Nb bytes written into 'dst' (necessarily <= targetDestSize)
|
||||
* or 0 if compression fails.
|
||||
*
|
||||
* Note : from v1.8.2 to v1.9.1, this function had a bug (fixed un v1.9.2+):
|
||||
* the produced compressed content could, in specific circumstances,
|
||||
* require to be decompressed into a destination buffer larger
|
||||
* by at least 1 byte than the content to decompress.
|
||||
* If an application uses `LZ4_compress_destSize()`,
|
||||
* it's highly recommended to update liblz4 to v1.9.2 or better.
|
||||
* If this can't be done or ensured,
|
||||
* the receiving decompression function should provide
|
||||
* a dstCapacity which is > decompressedSize, by at least 1 byte.
|
||||
* See https://github.com/lz4/lz4/issues/859 for details
|
||||
*/
|
||||
LZ4LIB_API int LZ4_compress_destSize (const char* src, char* dst, int* srcSizePtr, int targetDstSize);
|
||||
|
||||
|
||||
/*! LZ4_decompress_safe_partial() :
|
||||
* Decompress an LZ4 compressed block, of size 'srcSize' at position 'src',
|
||||
* into destination buffer 'dst' of size 'dstCapacity'.
|
||||
* Up to 'targetOutputSize' bytes will be decoded.
|
||||
* The function stops decoding on reaching this objective.
|
||||
* This can be useful to boost performance
|
||||
* whenever only the beginning of a block is required.
|
||||
*
|
||||
* @return : the number of bytes decoded in `dst` (necessarily <= targetOutputSize)
|
||||
* If source stream is detected malformed, function returns a negative result.
|
||||
*
|
||||
* Note 1 : @return can be < targetOutputSize, if compressed block contains less data.
|
||||
*
|
||||
* Note 2 : targetOutputSize must be <= dstCapacity
|
||||
*
|
||||
* Note 3 : this function effectively stops decoding on reaching targetOutputSize,
|
||||
* so dstCapacity is kind of redundant.
|
||||
* This is because in older versions of this function,
|
||||
* decoding operation would still write complete sequences.
|
||||
* Therefore, there was no guarantee that it would stop writing at exactly targetOutputSize,
|
||||
* it could write more bytes, though only up to dstCapacity.
|
||||
* Some "margin" used to be required for this operation to work properly.
|
||||
* Thankfully, this is no longer necessary.
|
||||
* The function nonetheless keeps the same signature, in an effort to preserve API compatibility.
|
||||
*
|
||||
* Note 4 : If srcSize is the exact size of the block,
|
||||
* then targetOutputSize can be any value,
|
||||
* including larger than the block's decompressed size.
|
||||
* The function will, at most, generate block's decompressed size.
|
||||
*
|
||||
* Note 5 : If srcSize is _larger_ than block's compressed size,
|
||||
* then targetOutputSize **MUST** be <= block's decompressed size.
|
||||
* Otherwise, *silent corruption will occur*.
|
||||
*/
|
||||
LZ4LIB_API int LZ4_decompress_safe_partial (const char* src, char* dst, int srcSize, int targetOutputSize, int dstCapacity);
|
||||
|
||||
|
||||
/*-*********************************************
|
||||
* Streaming Compression Functions
|
||||
***********************************************/
|
||||
typedef union LZ4_stream_u LZ4_stream_t; /* incomplete type (defined later) */
|
||||
|
||||
/**
|
||||
Note about RC_INVOKED
|
||||
|
||||
- RC_INVOKED is predefined symbol of rc.exe (the resource compiler which is part of MSVC/Visual Studio).
|
||||
https://docs.microsoft.com/en-us/windows/win32/menurc/predefined-macros
|
||||
|
||||
- Since rc.exe is a legacy compiler, it truncates long symbol (> 30 chars)
|
||||
and reports warning "RC4011: identifier truncated".
|
||||
|
||||
- To eliminate the warning, we surround long preprocessor symbol with
|
||||
"#if !defined(RC_INVOKED) ... #endif" block that means
|
||||
"skip this block when rc.exe is trying to read it".
|
||||
*/
|
||||
#if !defined(RC_INVOKED) /* https://docs.microsoft.com/en-us/windows/win32/menurc/predefined-macros */
|
||||
#if !defined(LZ4_STATIC_LINKING_ONLY_DISABLE_MEMORY_ALLOCATION)
|
||||
LZ4LIB_API LZ4_stream_t* LZ4_createStream(void);
|
||||
LZ4LIB_API int LZ4_freeStream (LZ4_stream_t* streamPtr);
|
||||
#endif /* !defined(LZ4_STATIC_LINKING_ONLY_DISABLE_MEMORY_ALLOCATION) */
|
||||
#endif
|
||||
|
||||
/*! LZ4_resetStream_fast() : v1.9.0+
|
||||
* Use this to prepare an LZ4_stream_t for a new chain of dependent blocks
|
||||
* (e.g., LZ4_compress_fast_continue()).
|
||||
*
|
||||
* An LZ4_stream_t must be initialized once before usage.
|
||||
* This is automatically done when created by LZ4_createStream().
|
||||
* However, should the LZ4_stream_t be simply declared on stack (for example),
|
||||
* it's necessary to initialize it first, using LZ4_initStream().
|
||||
*
|
||||
* After init, start any new stream with LZ4_resetStream_fast().
|
||||
* A same LZ4_stream_t can be re-used multiple times consecutively
|
||||
* and compress multiple streams,
|
||||
* provided that it starts each new stream with LZ4_resetStream_fast().
|
||||
*
|
||||
* LZ4_resetStream_fast() is much faster than LZ4_initStream(),
|
||||
* but is not compatible with memory regions containing garbage data.
|
||||
*
|
||||
* Note: it's only useful to call LZ4_resetStream_fast()
|
||||
* in the context of streaming compression.
|
||||
* The *extState* functions perform their own resets.
|
||||
* Invoking LZ4_resetStream_fast() before is redundant, and even counterproductive.
|
||||
*/
|
||||
LZ4LIB_API void LZ4_resetStream_fast (LZ4_stream_t* streamPtr);
|
||||
|
||||
/*! LZ4_loadDict() :
|
||||
* Use this function to reference a static dictionary into LZ4_stream_t.
|
||||
* The dictionary must remain available during compression.
|
||||
* LZ4_loadDict() triggers a reset, so any previous data will be forgotten.
|
||||
* The same dictionary will have to be loaded on decompression side for successful decoding.
|
||||
* Dictionary are useful for better compression of small data (KB range).
|
||||
* While LZ4 accept any input as dictionary,
|
||||
* results are generally better when using Zstandard's Dictionary Builder.
|
||||
* Loading a size of 0 is allowed, and is the same as reset.
|
||||
* @return : loaded dictionary size, in bytes (necessarily <= 64 KB)
|
||||
*/
|
||||
LZ4LIB_API int LZ4_loadDict (LZ4_stream_t* streamPtr, const char* dictionary, int dictSize);
|
||||
|
||||
/*! LZ4_compress_fast_continue() :
|
||||
* Compress 'src' content using data from previously compressed blocks, for better compression ratio.
|
||||
* 'dst' buffer must be already allocated.
|
||||
* If dstCapacity >= LZ4_compressBound(srcSize), compression is guaranteed to succeed, and runs faster.
|
||||
*
|
||||
* @return : size of compressed block
|
||||
* or 0 if there is an error (typically, cannot fit into 'dst').
|
||||
*
|
||||
* Note 1 : Each invocation to LZ4_compress_fast_continue() generates a new block.
|
||||
* Each block has precise boundaries.
|
||||
* Each block must be decompressed separately, calling LZ4_decompress_*() with relevant metadata.
|
||||
* It's not possible to append blocks together and expect a single invocation of LZ4_decompress_*() to decompress them together.
|
||||
*
|
||||
* Note 2 : The previous 64KB of source data is __assumed__ to remain present, unmodified, at same address in memory !
|
||||
*
|
||||
* Note 3 : When input is structured as a double-buffer, each buffer can have any size, including < 64 KB.
|
||||
* Make sure that buffers are separated, by at least one byte.
|
||||
* This construction ensures that each block only depends on previous block.
|
||||
*
|
||||
* Note 4 : If input buffer is a ring-buffer, it can have any size, including < 64 KB.
|
||||
*
|
||||
* Note 5 : After an error, the stream status is undefined (invalid), it can only be reset or freed.
|
||||
*/
|
||||
LZ4LIB_API int LZ4_compress_fast_continue (LZ4_stream_t* streamPtr, const char* src, char* dst, int srcSize, int dstCapacity, int acceleration);
|
||||
|
||||
/*! LZ4_saveDict() :
|
||||
* If last 64KB data cannot be guaranteed to remain available at its current memory location,
|
||||
* save it into a safer place (char* safeBuffer).
|
||||
* This is schematically equivalent to a memcpy() followed by LZ4_loadDict(),
|
||||
* but is much faster, because LZ4_saveDict() doesn't need to rebuild tables.
|
||||
* @return : saved dictionary size in bytes (necessarily <= maxDictSize), or 0 if error.
|
||||
*/
|
||||
LZ4LIB_API int LZ4_saveDict (LZ4_stream_t* streamPtr, char* safeBuffer, int maxDictSize);
|
||||
|
||||
|
||||
/*-**********************************************
|
||||
* Streaming Decompression Functions
|
||||
* Bufferless synchronous API
|
||||
************************************************/
|
||||
typedef union LZ4_streamDecode_u LZ4_streamDecode_t; /* tracking context */
|
||||
|
||||
/*! LZ4_createStreamDecode() and LZ4_freeStreamDecode() :
|
||||
* creation / destruction of streaming decompression tracking context.
|
||||
* A tracking context can be re-used multiple times.
|
||||
*/
|
||||
#if !defined(RC_INVOKED) /* https://docs.microsoft.com/en-us/windows/win32/menurc/predefined-macros */
|
||||
#if !defined(LZ4_STATIC_LINKING_ONLY_DISABLE_MEMORY_ALLOCATION)
|
||||
LZ4LIB_API LZ4_streamDecode_t* LZ4_createStreamDecode(void);
|
||||
LZ4LIB_API int LZ4_freeStreamDecode (LZ4_streamDecode_t* LZ4_stream);
|
||||
#endif /* !defined(LZ4_STATIC_LINKING_ONLY_DISABLE_MEMORY_ALLOCATION) */
|
||||
#endif
|
||||
|
||||
/*! LZ4_setStreamDecode() :
|
||||
* An LZ4_streamDecode_t context can be allocated once and re-used multiple times.
|
||||
* Use this function to start decompression of a new stream of blocks.
|
||||
* A dictionary can optionally be set. Use NULL or size 0 for a reset order.
|
||||
* Dictionary is presumed stable : it must remain accessible and unmodified during next decompression.
|
||||
* @return : 1 if OK, 0 if error
|
||||
*/
|
||||
LZ4LIB_API int LZ4_setStreamDecode (LZ4_streamDecode_t* LZ4_streamDecode, const char* dictionary, int dictSize);
|
||||
|
||||
/*! LZ4_decoderRingBufferSize() : v1.8.2+
|
||||
* Note : in a ring buffer scenario (optional),
|
||||
* blocks are presumed decompressed next to each other
|
||||
* up to the moment there is not enough remaining space for next block (remainingSize < maxBlockSize),
|
||||
* at which stage it resumes from beginning of ring buffer.
|
||||
* When setting such a ring buffer for streaming decompression,
|
||||
* provides the minimum size of this ring buffer
|
||||
* to be compatible with any source respecting maxBlockSize condition.
|
||||
* @return : minimum ring buffer size,
|
||||
* or 0 if there is an error (invalid maxBlockSize).
|
||||
*/
|
||||
LZ4LIB_API int LZ4_decoderRingBufferSize(int maxBlockSize);
|
||||
#define LZ4_DECODER_RING_BUFFER_SIZE(maxBlockSize) (65536 + 14 + (maxBlockSize)) /* for static allocation; maxBlockSize presumed valid */
|
||||
|
||||
/*! LZ4_decompress_*_continue() :
|
||||
* These decoding functions allow decompression of consecutive blocks in "streaming" mode.
|
||||
* A block is an unsplittable entity, it must be presented entirely to a decompression function.
|
||||
* Decompression functions only accepts one block at a time.
|
||||
* The last 64KB of previously decoded data *must* remain available and unmodified at the memory position where they were decoded.
|
||||
* If less than 64KB of data has been decoded, all the data must be present.
|
||||
*
|
||||
* Special : if decompression side sets a ring buffer, it must respect one of the following conditions :
|
||||
* - Decompression buffer size is _at least_ LZ4_decoderRingBufferSize(maxBlockSize).
|
||||
* maxBlockSize is the maximum size of any single block. It can have any value > 16 bytes.
|
||||
* In which case, encoding and decoding buffers do not need to be synchronized.
|
||||
* Actually, data can be produced by any source compliant with LZ4 format specification, and respecting maxBlockSize.
|
||||
* - Synchronized mode :
|
||||
* Decompression buffer size is _exactly_ the same as compression buffer size,
|
||||
* and follows exactly same update rule (block boundaries at same positions),
|
||||
* and decoding function is provided with exact decompressed size of each block (exception for last block of the stream),
|
||||
* _then_ decoding & encoding ring buffer can have any size, including small ones ( < 64 KB).
|
||||
* - Decompression buffer is larger than encoding buffer, by a minimum of maxBlockSize more bytes.
|
||||
* In which case, encoding and decoding buffers do not need to be synchronized,
|
||||
* and encoding ring buffer can have any size, including small ones ( < 64 KB).
|
||||
*
|
||||
* Whenever these conditions are not possible,
|
||||
* save the last 64KB of decoded data into a safe buffer where it can't be modified during decompression,
|
||||
* then indicate where this data is saved using LZ4_setStreamDecode(), before decompressing next block.
|
||||
*/
|
||||
LZ4LIB_API int
|
||||
LZ4_decompress_safe_continue (LZ4_streamDecode_t* LZ4_streamDecode,
|
||||
const char* src, char* dst,
|
||||
int srcSize, int dstCapacity);
|
||||
|
||||
|
||||
/*! LZ4_decompress_*_usingDict() :
|
||||
* These decoding functions work the same as
|
||||
* a combination of LZ4_setStreamDecode() followed by LZ4_decompress_*_continue()
|
||||
* They are stand-alone, and don't need an LZ4_streamDecode_t structure.
|
||||
* Dictionary is presumed stable : it must remain accessible and unmodified during decompression.
|
||||
* Performance tip : Decompression speed can be substantially increased
|
||||
* when dst == dictStart + dictSize.
|
||||
*/
|
||||
LZ4LIB_API int
|
||||
LZ4_decompress_safe_usingDict(const char* src, char* dst,
|
||||
int srcSize, int dstCapacity,
|
||||
const char* dictStart, int dictSize);
|
||||
|
||||
LZ4LIB_API int
|
||||
LZ4_decompress_safe_partial_usingDict(const char* src, char* dst,
|
||||
int compressedSize,
|
||||
int targetOutputSize, int maxOutputSize,
|
||||
const char* dictStart, int dictSize);
|
||||
|
||||
#endif /* LZ4_H_2983827168210 */
|
||||
|
||||
|
||||
/*^*************************************
|
||||
* !!!!!! STATIC LINKING ONLY !!!!!!
|
||||
***************************************/
|
||||
|
||||
/*-****************************************************************************
|
||||
* Experimental section
|
||||
*
|
||||
* Symbols declared in this section must be considered unstable. Their
|
||||
* signatures or semantics may change, or they may be removed altogether in the
|
||||
* future. They are therefore only safe to depend on when the caller is
|
||||
* statically linked against the library.
|
||||
*
|
||||
* To protect against unsafe usage, not only are the declarations guarded,
|
||||
* the definitions are hidden by default
|
||||
* when building LZ4 as a shared/dynamic library.
|
||||
*
|
||||
* In order to access these declarations,
|
||||
* define LZ4_STATIC_LINKING_ONLY in your application
|
||||
* before including LZ4's headers.
|
||||
*
|
||||
* In order to make their implementations accessible dynamically, you must
|
||||
* define LZ4_PUBLISH_STATIC_FUNCTIONS when building the LZ4 library.
|
||||
******************************************************************************/
|
||||
|
||||
#ifdef LZ4_STATIC_LINKING_ONLY
|
||||
|
||||
#ifndef LZ4_STATIC_3504398509
|
||||
#define LZ4_STATIC_3504398509
|
||||
|
||||
#ifdef LZ4_PUBLISH_STATIC_FUNCTIONS
|
||||
#define LZ4LIB_STATIC_API LZ4LIB_API
|
||||
#else
|
||||
#define LZ4LIB_STATIC_API
|
||||
#endif
|
||||
|
||||
|
||||
/*! LZ4_compress_fast_extState_fastReset() :
|
||||
* A variant of LZ4_compress_fast_extState().
|
||||
*
|
||||
* Using this variant avoids an expensive initialization step.
|
||||
* It is only safe to call if the state buffer is known to be correctly initialized already
|
||||
* (see above comment on LZ4_resetStream_fast() for a definition of "correctly initialized").
|
||||
* From a high level, the difference is that
|
||||
* this function initializes the provided state with a call to something like LZ4_resetStream_fast()
|
||||
* while LZ4_compress_fast_extState() starts with a call to LZ4_resetStream().
|
||||
*/
|
||||
LZ4LIB_STATIC_API int LZ4_compress_fast_extState_fastReset (void* state, const char* src, char* dst, int srcSize, int dstCapacity, int acceleration);
|
||||
|
||||
/*! LZ4_attach_dictionary() :
|
||||
* This is an experimental API that allows
|
||||
* efficient use of a static dictionary many times.
|
||||
*
|
||||
* Rather than re-loading the dictionary buffer into a working context before
|
||||
* each compression, or copying a pre-loaded dictionary's LZ4_stream_t into a
|
||||
* working LZ4_stream_t, this function introduces a no-copy setup mechanism,
|
||||
* in which the working stream references the dictionary stream in-place.
|
||||
*
|
||||
* Several assumptions are made about the state of the dictionary stream.
|
||||
* Currently, only streams which have been prepared by LZ4_loadDict() should
|
||||
* be expected to work.
|
||||
*
|
||||
* Alternatively, the provided dictionaryStream may be NULL,
|
||||
* in which case any existing dictionary stream is unset.
|
||||
*
|
||||
* If a dictionary is provided, it replaces any pre-existing stream history.
|
||||
* The dictionary contents are the only history that can be referenced and
|
||||
* logically immediately precede the data compressed in the first subsequent
|
||||
* compression call.
|
||||
*
|
||||
* The dictionary will only remain attached to the working stream through the
|
||||
* first compression call, at the end of which it is cleared. The dictionary
|
||||
* stream (and source buffer) must remain in-place / accessible / unchanged
|
||||
* through the completion of the first compression call on the stream.
|
||||
*/
|
||||
LZ4LIB_STATIC_API void
|
||||
LZ4_attach_dictionary(LZ4_stream_t* workingStream,
|
||||
const LZ4_stream_t* dictionaryStream);
|
||||
|
||||
|
||||
/*! In-place compression and decompression
|
||||
*
|
||||
* It's possible to have input and output sharing the same buffer,
|
||||
* for highly constrained memory environments.
|
||||
* In both cases, it requires input to lay at the end of the buffer,
|
||||
* and decompression to start at beginning of the buffer.
|
||||
* Buffer size must feature some margin, hence be larger than final size.
|
||||
*
|
||||
* |<------------------------buffer--------------------------------->|
|
||||
* |<-----------compressed data--------->|
|
||||
* |<-----------decompressed size------------------>|
|
||||
* |<----margin---->|
|
||||
*
|
||||
* This technique is more useful for decompression,
|
||||
* since decompressed size is typically larger,
|
||||
* and margin is short.
|
||||
*
|
||||
* In-place decompression will work inside any buffer
|
||||
* which size is >= LZ4_DECOMPRESS_INPLACE_BUFFER_SIZE(decompressedSize).
|
||||
* This presumes that decompressedSize > compressedSize.
|
||||
* Otherwise, it means compression actually expanded data,
|
||||
* and it would be more efficient to store such data with a flag indicating it's not compressed.
|
||||
* This can happen when data is not compressible (already compressed, or encrypted).
|
||||
*
|
||||
* For in-place compression, margin is larger, as it must be able to cope with both
|
||||
* history preservation, requiring input data to remain unmodified up to LZ4_DISTANCE_MAX,
|
||||
* and data expansion, which can happen when input is not compressible.
|
||||
* As a consequence, buffer size requirements are much higher,
|
||||
* and memory savings offered by in-place compression are more limited.
|
||||
*
|
||||
* There are ways to limit this cost for compression :
|
||||
* - Reduce history size, by modifying LZ4_DISTANCE_MAX.
|
||||
* Note that it is a compile-time constant, so all compressions will apply this limit.
|
||||
* Lower values will reduce compression ratio, except when input_size < LZ4_DISTANCE_MAX,
|
||||
* so it's a reasonable trick when inputs are known to be small.
|
||||
* - Require the compressor to deliver a "maximum compressed size".
|
||||
* This is the `dstCapacity` parameter in `LZ4_compress*()`.
|
||||
* When this size is < LZ4_COMPRESSBOUND(inputSize), then compression can fail,
|
||||
* in which case, the return code will be 0 (zero).
|
||||
* The caller must be ready for these cases to happen,
|
||||
* and typically design a backup scheme to send data uncompressed.
|
||||
* The combination of both techniques can significantly reduce
|
||||
* the amount of margin required for in-place compression.
|
||||
*
|
||||
* In-place compression can work in any buffer
|
||||
* which size is >= (maxCompressedSize)
|
||||
* with maxCompressedSize == LZ4_COMPRESSBOUND(srcSize) for guaranteed compression success.
|
||||
* LZ4_COMPRESS_INPLACE_BUFFER_SIZE() depends on both maxCompressedSize and LZ4_DISTANCE_MAX,
|
||||
* so it's possible to reduce memory requirements by playing with them.
|
||||
*/
|
||||
|
||||
#define LZ4_DECOMPRESS_INPLACE_MARGIN(compressedSize) (((compressedSize) >> 8) + 32)
|
||||
#define LZ4_DECOMPRESS_INPLACE_BUFFER_SIZE(decompressedSize) ((decompressedSize) + LZ4_DECOMPRESS_INPLACE_MARGIN(decompressedSize)) /**< note: presumes that compressedSize < decompressedSize. note2: margin is overestimated a bit, since it could use compressedSize instead */
|
||||
|
||||
#ifndef LZ4_DISTANCE_MAX /* history window size; can be user-defined at compile time */
|
||||
# define LZ4_DISTANCE_MAX 65535 /* set to maximum value by default */
|
||||
#endif
|
||||
|
||||
#define LZ4_COMPRESS_INPLACE_MARGIN (LZ4_DISTANCE_MAX + 32) /* LZ4_DISTANCE_MAX can be safely replaced by srcSize when it's smaller */
|
||||
#define LZ4_COMPRESS_INPLACE_BUFFER_SIZE(maxCompressedSize) ((maxCompressedSize) + LZ4_COMPRESS_INPLACE_MARGIN) /**< maxCompressedSize is generally LZ4_COMPRESSBOUND(inputSize), but can be set to any lower value, with the risk that compression can fail (return code 0(zero)) */
|
||||
|
||||
#endif /* LZ4_STATIC_3504398509 */
|
||||
#endif /* LZ4_STATIC_LINKING_ONLY */
|
||||
|
||||
|
||||
|
||||
#ifndef LZ4_H_98237428734687
|
||||
#define LZ4_H_98237428734687
|
||||
|
||||
/*-************************************************************
|
||||
* Private Definitions
|
||||
**************************************************************
|
||||
* Do not use these definitions directly.
|
||||
* They are only exposed to allow static allocation of `LZ4_stream_t` and `LZ4_streamDecode_t`.
|
||||
* Accessing members will expose user code to API and/or ABI break in future versions of the library.
|
||||
**************************************************************/
|
||||
#define LZ4_HASHLOG (LZ4_MEMORY_USAGE-2)
|
||||
#define LZ4_HASHTABLESIZE (1 << LZ4_MEMORY_USAGE)
|
||||
#define LZ4_HASH_SIZE_U32 (1 << LZ4_HASHLOG) /* required as macro for static allocation */
|
||||
|
||||
#if defined(__cplusplus) || (defined (__STDC_VERSION__) && (__STDC_VERSION__ >= 199901L) /* C99 */)
|
||||
# include <stdint.h>
|
||||
typedef int8_t LZ4_i8;
|
||||
typedef uint8_t LZ4_byte;
|
||||
typedef uint16_t LZ4_u16;
|
||||
typedef uint32_t LZ4_u32;
|
||||
#else
|
||||
typedef signed char LZ4_i8;
|
||||
typedef unsigned char LZ4_byte;
|
||||
typedef unsigned short LZ4_u16;
|
||||
typedef unsigned int LZ4_u32;
|
||||
#endif
|
||||
|
||||
/*! LZ4_stream_t :
|
||||
* Never ever use below internal definitions directly !
|
||||
* These definitions are not API/ABI safe, and may change in future versions.
|
||||
* If you need static allocation, declare or allocate an LZ4_stream_t object.
|
||||
**/
|
||||
|
||||
typedef struct LZ4_stream_t_internal LZ4_stream_t_internal;
|
||||
struct LZ4_stream_t_internal {
|
||||
LZ4_u32 hashTable[LZ4_HASH_SIZE_U32];
|
||||
const LZ4_byte* dictionary;
|
||||
const LZ4_stream_t_internal* dictCtx;
|
||||
LZ4_u32 currentOffset;
|
||||
LZ4_u32 tableType;
|
||||
LZ4_u32 dictSize;
|
||||
/* Implicit padding to ensure structure is aligned */
|
||||
};
|
||||
|
||||
#define LZ4_STREAM_MINSIZE ((1UL << LZ4_MEMORY_USAGE) + 32) /* static size, for inter-version compatibility */
|
||||
union LZ4_stream_u {
|
||||
char minStateSize[LZ4_STREAM_MINSIZE];
|
||||
LZ4_stream_t_internal internal_donotuse;
|
||||
}; /* previously typedef'd to LZ4_stream_t */
|
||||
|
||||
|
||||
/*! LZ4_initStream() : v1.9.0+
|
||||
* An LZ4_stream_t structure must be initialized at least once.
|
||||
* This is automatically done when invoking LZ4_createStream(),
|
||||
* but it's not when the structure is simply declared on stack (for example).
|
||||
*
|
||||
* Use LZ4_initStream() to properly initialize a newly declared LZ4_stream_t.
|
||||
* It can also initialize any arbitrary buffer of sufficient size,
|
||||
* and will @return a pointer of proper type upon initialization.
|
||||
*
|
||||
* Note : initialization fails if size and alignment conditions are not respected.
|
||||
* In which case, the function will @return NULL.
|
||||
* Note2: An LZ4_stream_t structure guarantees correct alignment and size.
|
||||
* Note3: Before v1.9.0, use LZ4_resetStream() instead
|
||||
**/
|
||||
LZ4LIB_API LZ4_stream_t* LZ4_initStream (void* buffer, size_t size);
|
||||
|
||||
|
||||
/*! LZ4_streamDecode_t :
|
||||
* Never ever use below internal definitions directly !
|
||||
* These definitions are not API/ABI safe, and may change in future versions.
|
||||
* If you need static allocation, declare or allocate an LZ4_streamDecode_t object.
|
||||
**/
|
||||
typedef struct {
|
||||
const LZ4_byte* externalDict;
|
||||
const LZ4_byte* prefixEnd;
|
||||
size_t extDictSize;
|
||||
size_t prefixSize;
|
||||
} LZ4_streamDecode_t_internal;
|
||||
|
||||
#define LZ4_STREAMDECODE_MINSIZE 32
|
||||
union LZ4_streamDecode_u {
|
||||
char minStateSize[LZ4_STREAMDECODE_MINSIZE];
|
||||
LZ4_streamDecode_t_internal internal_donotuse;
|
||||
} ; /* previously typedef'd to LZ4_streamDecode_t */
|
||||
|
||||
|
||||
|
||||
/*-************************************
|
||||
* Obsolete Functions
|
||||
**************************************/
|
||||
|
||||
/*! Deprecation warnings
|
||||
*
|
||||
* Deprecated functions make the compiler generate a warning when invoked.
|
||||
* This is meant to invite users to update their source code.
|
||||
* Should deprecation warnings be a problem, it is generally possible to disable them,
|
||||
* typically with -Wno-deprecated-declarations for gcc
|
||||
* or _CRT_SECURE_NO_WARNINGS in Visual.
|
||||
*
|
||||
* Another method is to define LZ4_DISABLE_DEPRECATE_WARNINGS
|
||||
* before including the header file.
|
||||
*/
|
||||
#ifdef LZ4_DISABLE_DEPRECATE_WARNINGS
|
||||
# define LZ4_DEPRECATED(message) /* disable deprecation warnings */
|
||||
#else
|
||||
# if defined (__cplusplus) && (__cplusplus >= 201402) /* C++14 or greater */
|
||||
# define LZ4_DEPRECATED(message) [[deprecated(message)]]
|
||||
# elif defined(_MSC_VER)
|
||||
# define LZ4_DEPRECATED(message) __declspec(deprecated(message))
|
||||
# elif defined(__clang__) || (defined(__GNUC__) && (__GNUC__ * 10 + __GNUC_MINOR__ >= 45))
|
||||
# define LZ4_DEPRECATED(message) __attribute__((deprecated(message)))
|
||||
# elif defined(__GNUC__) && (__GNUC__ * 10 + __GNUC_MINOR__ >= 31)
|
||||
# define LZ4_DEPRECATED(message) __attribute__((deprecated))
|
||||
# else
|
||||
# pragma message("WARNING: LZ4_DEPRECATED needs custom implementation for this compiler")
|
||||
# define LZ4_DEPRECATED(message) /* disabled */
|
||||
# endif
|
||||
#endif /* LZ4_DISABLE_DEPRECATE_WARNINGS */
|
||||
|
||||
/*! Obsolete compression functions (since v1.7.3) */
|
||||
LZ4_DEPRECATED("use LZ4_compress_default() instead") LZ4LIB_API int LZ4_compress (const char* src, char* dest, int srcSize);
|
||||
LZ4_DEPRECATED("use LZ4_compress_default() instead") LZ4LIB_API int LZ4_compress_limitedOutput (const char* src, char* dest, int srcSize, int maxOutputSize);
|
||||
LZ4_DEPRECATED("use LZ4_compress_fast_extState() instead") LZ4LIB_API int LZ4_compress_withState (void* state, const char* source, char* dest, int inputSize);
|
||||
LZ4_DEPRECATED("use LZ4_compress_fast_extState() instead") LZ4LIB_API int LZ4_compress_limitedOutput_withState (void* state, const char* source, char* dest, int inputSize, int maxOutputSize);
|
||||
LZ4_DEPRECATED("use LZ4_compress_fast_continue() instead") LZ4LIB_API int LZ4_compress_continue (LZ4_stream_t* LZ4_streamPtr, const char* source, char* dest, int inputSize);
|
||||
LZ4_DEPRECATED("use LZ4_compress_fast_continue() instead") LZ4LIB_API int LZ4_compress_limitedOutput_continue (LZ4_stream_t* LZ4_streamPtr, const char* source, char* dest, int inputSize, int maxOutputSize);
|
||||
|
||||
/*! Obsolete decompression functions (since v1.8.0) */
|
||||
LZ4_DEPRECATED("use LZ4_decompress_fast() instead") LZ4LIB_API int LZ4_uncompress (const char* source, char* dest, int outputSize);
|
||||
LZ4_DEPRECATED("use LZ4_decompress_safe() instead") LZ4LIB_API int LZ4_uncompress_unknownOutputSize (const char* source, char* dest, int isize, int maxOutputSize);
|
||||
|
||||
/* Obsolete streaming functions (since v1.7.0)
|
||||
* degraded functionality; do not use!
|
||||
*
|
||||
* In order to perform streaming compression, these functions depended on data
|
||||
* that is no longer tracked in the state. They have been preserved as well as
|
||||
* possible: using them will still produce a correct output. However, they don't
|
||||
* actually retain any history between compression calls. The compression ratio
|
||||
* achieved will therefore be no better than compressing each chunk
|
||||
* independently.
|
||||
*/
|
||||
LZ4_DEPRECATED("Use LZ4_createStream() instead") LZ4LIB_API void* LZ4_create (char* inputBuffer);
|
||||
LZ4_DEPRECATED("Use LZ4_createStream() instead") LZ4LIB_API int LZ4_sizeofStreamState(void);
|
||||
LZ4_DEPRECATED("Use LZ4_resetStream() instead") LZ4LIB_API int LZ4_resetStreamState(void* state, char* inputBuffer);
|
||||
LZ4_DEPRECATED("Use LZ4_saveDict() instead") LZ4LIB_API char* LZ4_slideInputBuffer (void* state);
|
||||
|
||||
/*! Obsolete streaming decoding functions (since v1.7.0) */
|
||||
LZ4_DEPRECATED("use LZ4_decompress_safe_usingDict() instead") LZ4LIB_API int LZ4_decompress_safe_withPrefix64k (const char* src, char* dst, int compressedSize, int maxDstSize);
|
||||
LZ4_DEPRECATED("use LZ4_decompress_fast_usingDict() instead") LZ4LIB_API int LZ4_decompress_fast_withPrefix64k (const char* src, char* dst, int originalSize);
|
||||
|
||||
/*! Obsolete LZ4_decompress_fast variants (since v1.9.0) :
|
||||
* These functions used to be faster than LZ4_decompress_safe(),
|
||||
* but this is no longer the case. They are now slower.
|
||||
* This is because LZ4_decompress_fast() doesn't know the input size,
|
||||
* and therefore must progress more cautiously into the input buffer to not read beyond the end of block.
|
||||
* On top of that `LZ4_decompress_fast()` is not protected vs malformed or malicious inputs, making it a security liability.
|
||||
* As a consequence, LZ4_decompress_fast() is strongly discouraged, and deprecated.
|
||||
*
|
||||
* The last remaining LZ4_decompress_fast() specificity is that
|
||||
* it can decompress a block without knowing its compressed size.
|
||||
* Such functionality can be achieved in a more secure manner
|
||||
* by employing LZ4_decompress_safe_partial().
|
||||
*
|
||||
* Parameters:
|
||||
* originalSize : is the uncompressed size to regenerate.
|
||||
* `dst` must be already allocated, its size must be >= 'originalSize' bytes.
|
||||
* @return : number of bytes read from source buffer (== compressed size).
|
||||
* The function expects to finish at block's end exactly.
|
||||
* If the source stream is detected malformed, the function stops decoding and returns a negative result.
|
||||
* note : LZ4_decompress_fast*() requires originalSize. Thanks to this information, it never writes past the output buffer.
|
||||
* However, since it doesn't know its 'src' size, it may read an unknown amount of input, past input buffer bounds.
|
||||
* Also, since match offsets are not validated, match reads from 'src' may underflow too.
|
||||
* These issues never happen if input (compressed) data is correct.
|
||||
* But they may happen if input data is invalid (error or intentional tampering).
|
||||
* As a consequence, use these functions in trusted environments with trusted data **only**.
|
||||
*/
|
||||
LZ4_DEPRECATED("This function is deprecated and unsafe. Consider using LZ4_decompress_safe() instead")
|
||||
LZ4LIB_API int LZ4_decompress_fast (const char* src, char* dst, int originalSize);
|
||||
LZ4_DEPRECATED("This function is deprecated and unsafe. Consider using LZ4_decompress_safe_continue() instead")
|
||||
LZ4LIB_API int LZ4_decompress_fast_continue (LZ4_streamDecode_t* LZ4_streamDecode, const char* src, char* dst, int originalSize);
|
||||
LZ4_DEPRECATED("This function is deprecated and unsafe. Consider using LZ4_decompress_safe_usingDict() instead")
|
||||
LZ4LIB_API int LZ4_decompress_fast_usingDict (const char* src, char* dst, int originalSize, const char* dictStart, int dictSize);
|
||||
|
||||
/*! LZ4_resetStream() :
|
||||
* An LZ4_stream_t structure must be initialized at least once.
|
||||
* This is done with LZ4_initStream(), or LZ4_resetStream().
|
||||
* Consider switching to LZ4_initStream(),
|
||||
* invoking LZ4_resetStream() will trigger deprecation warnings in the future.
|
||||
*/
|
||||
LZ4LIB_API void LZ4_resetStream (LZ4_stream_t* streamPtr);
|
||||
|
||||
|
||||
#endif /* LZ4_H_98237428734687 */
|
||||
|
||||
|
||||
#if defined (__cplusplus)
|
||||
}
|
||||
#endif
|
||||
BIN
Optitrack Rokoko Glove/RokokoGloveDevice_Fixed/lz4.zip
(Stored with Git LFS)
BIN
Optitrack Rokoko Glove/RokokoGloveDevice_Fixed/lz4.zip
(Stored with Git LFS)
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Optitrack Rokoko Glove/RokokoGloveDevice_Fixed/readme.txt
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Optitrack Rokoko Glove/RokokoGloveDevice_Fixed/readme.txt
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Optitrack Rokoko Glove/RokokoGloveDevice_Fixed/x64/Debug/ExampleGloveAdapterSingleton.obj
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Optitrack Rokoko Glove/RokokoGloveDevice_Fixed/x64/Debug/ExampleGloveAdapterSingleton.obj
(Stored with Git LFS)
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Optitrack Rokoko Glove/RokokoGloveDevice_Fixed/x64/Debug/ExampleGloveDevice.obj
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Optitrack Rokoko Glove/RokokoGloveDevice_Fixed/x64/Debug/ExampleGloveDevice.obj
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Optitrack Rokoko Glove/RokokoGloveDevice_Fixed/x64/Debug/GloveDeviceBase.obj
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Optitrack Rokoko Glove/RokokoGloveDevice_Fixed/x64/Debug/GloveDeviceBase.obj
(Stored with Git LFS)
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Optitrack Rokoko Glove/RokokoGloveDevice_Fixed/x64/Debug/LZ4Wrapper.obj
(Stored with Git LFS)
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Optitrack Rokoko Glove/RokokoGloveDevice_Fixed/x64/Debug/LZ4Wrapper.obj
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Optitrack Rokoko Glove/RokokoGloveDevice_Fixed/x64/Debug/RokokoDataConverter.obj
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Optitrack Rokoko Glove/RokokoGloveDevice_Fixed/x64/Debug/RokokoDataConverter.obj
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Optitrack Rokoko Glove/RokokoGloveDevice_Fixed/x64/Debug/RokokoDataParser.obj
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Optitrack Rokoko Glove/RokokoGloveDevice_Fixed/x64/Debug/RokokoDataParser.obj
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|
||||
^C:\USERS\USER\DOCUMENTS\STREAMINGLE_URP\OPTITRACK ROKOKO GLOVE\ROKOKOGLOVEDEVICE\EXAMPLEGLOVEDATA.CSV
|
||||
C:\Users\user\Documents\Streamingle_URP\Optitrack Rokoko Glove\x64\Debug\ExampleGloveData.csv
|
||||
@ -1 +0,0 @@
|
||||
^C:\USERS\USER\DOCUMENTS\STREAMINGLE_URP\OPTITRACK ROKOKO GLOVE\ROKOKOGLOVEDEVICE\EXAMPLEGLOVEDATA.CSV
|
||||
@ -1,2 +0,0 @@
|
||||
^C:\USERS\USER\DOCUMENTS\STREAMINGLE_URP\OPTITRACK ROKOKO GLOVE\ROKOKOGLOVEDEVICE\EXAMPLEGLOVEDATA.CSV
|
||||
C:\USERS\USER\DOCUMENTS\STREAMINGLE_URP\OPTITRACK ROKOKO GLOVE\X64\DEBUG\EXAMPLEGLOVEDATA.CSV
|
||||
@ -1,2 +0,0 @@
|
||||
PlatformToolSet=v142:VCToolArchitecture=Native64Bit:VCToolsVersion=14.29.30133:TargetPlatformVersion=8.1:
|
||||
Debug|x64|C:\Users\user\Documents\Streamingle_URP\Optitrack Rokoko Glove\|
|
||||
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|
||||
^C:\USERS\USER\DOCUMENTS\STREAMINGLE_URP\OPTITRACK ROKOKO GLOVE\ROKOKOGLOVEDEVICE_FIXED\EXAMPLEGLOVEDATA.CSV
|
||||
C:\Users\user\Documents\Streamingle_URP\Optitrack Rokoko Glove\x64\Debug\ExampleGloveData.csv
|
||||
@ -1 +0,0 @@
|
||||
^C:\USERS\USER\DOCUMENTS\STREAMINGLE_URP\OPTITRACK ROKOKO GLOVE\ROKOKOGLOVEDEVICE_FIXED\EXAMPLEGLOVEDATA.CSV
|
||||
@ -1,2 +0,0 @@
|
||||
^C:\USERS\USER\DOCUMENTS\STREAMINGLE_URP\OPTITRACK ROKOKO GLOVE\ROKOKOGLOVEDEVICE_FIXED\EXAMPLEGLOVEDATA.CSV
|
||||
C:\USERS\USER\DOCUMENTS\STREAMINGLE_URP\OPTITRACK ROKOKO GLOVE\X64\DEBUG\EXAMPLEGLOVEDATA.CSV
|
||||
@ -1,2 +0,0 @@
|
||||
PlatformToolSet=v142:VCToolArchitecture=Native64Bit:VCToolsVersion=14.29.30133:TargetPlatformVersion=8.1:
|
||||
Debug|x64|C:\Users\user\Documents\Streamingle_URP\Optitrack Rokoko Glove\|
|
||||
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|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<Project>
|
||||
<ProjectOutputs>
|
||||
<ProjectOutput>
|
||||
<FullPath>C:\Users\user\Documents\Streamingle_URP\Optitrack Rokoko Glove\x64\Debug\RokokoGloveDevice.dll</FullPath>
|
||||
</ProjectOutput>
|
||||
</ProjectOutputs>
|
||||
<ContentFiles />
|
||||
<SatelliteDlls />
|
||||
<NonRecipeFileRefs />
|
||||
</Project>
|
||||
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@ -1,11 +0,0 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<Project>
|
||||
<ProjectOutputs>
|
||||
<ProjectOutput>
|
||||
<FullPath>C:\Users\user\Documents\Streamingle_URP\Optitrack Rokoko Glove\x64\Debug\RokokoGloveDevice_Fixed.dll</FullPath>
|
||||
</ProjectOutput>
|
||||
</ProjectOutputs>
|
||||
<ContentFiles />
|
||||
<SatelliteDlls />
|
||||
<NonRecipeFileRefs />
|
||||
</Project>
|
||||
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BIN
Optitrack Rokoko Glove/RokokoGloveDevice_Fixed/x64/Debug/RokokoUDPReceiver.obj
(Stored with Git LFS)
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Optitrack Rokoko Glove/RokokoGloveDevice_Fixed/x64/Debug/RokokoUDPReceiver.obj
(Stored with Git LFS)
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Optitrack Rokoko Glove/RokokoGloveDevice_Fixed/x64/Debug/dllmain.obj
(Stored with Git LFS)
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Optitrack Rokoko Glove/RokokoGloveDevice_Fixed/x64/Debug/dllmain.obj
(Stored with Git LFS)
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Optitrack Rokoko Glove/RokokoGloveDevice_Fixed/x64/Release/ExampleGloveAdapterSingleton.obj
(Stored with Git LFS)
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Optitrack Rokoko Glove/RokokoGloveDevice_Fixed/x64/Release/ExampleGloveAdapterSingleton.obj
(Stored with Git LFS)
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Optitrack Rokoko Glove/RokokoGloveDevice_Fixed/x64/Release/ExampleGloveDevice.obj
(Stored with Git LFS)
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Optitrack Rokoko Glove/RokokoGloveDevice_Fixed/x64/Release/ExampleGloveDevice.obj
(Stored with Git LFS)
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Optitrack Rokoko Glove/RokokoGloveDevice_Fixed/x64/Release/GloveDeviceBase.obj
(Stored with Git LFS)
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Optitrack Rokoko Glove/RokokoGloveDevice_Fixed/x64/Release/GloveDeviceBase.obj
(Stored with Git LFS)
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Optitrack Rokoko Glove/RokokoGloveDevice_Fixed/x64/Release/LZ4Wrapper.obj
(Stored with Git LFS)
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Optitrack Rokoko Glove/RokokoGloveDevice_Fixed/x64/Release/LZ4Wrapper.obj
(Stored with Git LFS)
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BIN
Optitrack Rokoko Glove/RokokoGloveDevice_Fixed/x64/Release/RokokoDataConverter.obj
(Stored with Git LFS)
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Optitrack Rokoko Glove/RokokoGloveDevice_Fixed/x64/Release/RokokoDataConverter.obj
(Stored with Git LFS)
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BIN
Optitrack Rokoko Glove/RokokoGloveDevice_Fixed/x64/Release/RokokoDataParser.obj
(Stored with Git LFS)
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Optitrack Rokoko Glove/RokokoGloveDevice_Fixed/x64/Release/RokokoDataParser.obj
(Stored with Git LFS)
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@ -1,2 +0,0 @@
|
||||
^C:\USERS\USER\DOCUMENTS\STREAMINGLE_URP\OPTITRACK ROKOKO GLOVE\ROKOKOGLOVEDEVICE_FIXED\EXAMPLEGLOVEDATA.CSV
|
||||
C:\Users\user\Documents\Streamingle_URP\Optitrack Rokoko Glove\x64\Release\ExampleGloveData.csv
|
||||
@ -1 +0,0 @@
|
||||
^C:\USERS\USER\DOCUMENTS\STREAMINGLE_URP\OPTITRACK ROKOKO GLOVE\ROKOKOGLOVEDEVICE_FIXED\EXAMPLEGLOVEDATA.CSV
|
||||
@ -1,2 +0,0 @@
|
||||
^C:\USERS\USER\DOCUMENTS\STREAMINGLE_URP\OPTITRACK ROKOKO GLOVE\ROKOKOGLOVEDEVICE_FIXED\EXAMPLEGLOVEDATA.CSV
|
||||
C:\USERS\USER\DOCUMENTS\STREAMINGLE_URP\OPTITRACK ROKOKO GLOVE\X64\RELEASE\EXAMPLEGLOVEDATA.CSV
|
||||
@ -1,2 +0,0 @@
|
||||
PlatformToolSet=v142:VCToolArchitecture=Native32Bit:VCToolsVersion=14.29.30133:TargetPlatformVersion=8.1:
|
||||
Release|x64|C:\Users\user\Documents\Streamingle_URP\Optitrack Rokoko Glove\|
|
||||
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@ -1,11 +0,0 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<Project>
|
||||
<ProjectOutputs>
|
||||
<ProjectOutput>
|
||||
<FullPath>C:\Users\user\Documents\Streamingle_URP\Optitrack Rokoko Glove\x64\Release\RokokoGloveDevice_Fixed.dll</FullPath>
|
||||
</ProjectOutput>
|
||||
</ProjectOutputs>
|
||||
<ContentFiles />
|
||||
<SatelliteDlls />
|
||||
<NonRecipeFileRefs />
|
||||
</Project>
|
||||
Binary file not shown.
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BIN
Optitrack Rokoko Glove/RokokoGloveDevice_Fixed/x64/Release/RokokoUDPReceiver.obj
(Stored with Git LFS)
BIN
Optitrack Rokoko Glove/RokokoGloveDevice_Fixed/x64/Release/RokokoUDPReceiver.obj
(Stored with Git LFS)
Binary file not shown.
BIN
Optitrack Rokoko Glove/RokokoGloveDevice_Fixed/x64/Release/dllmain.obj
(Stored with Git LFS)
BIN
Optitrack Rokoko Glove/RokokoGloveDevice_Fixed/x64/Release/dllmain.obj
(Stored with Git LFS)
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Loading…
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Reference in New Issue
Block a user