131 lines
3.5 KiB
C#
131 lines
3.5 KiB
C#
/*
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Copyright © 2016 NaturalPoint Inc.
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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*/
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using System;
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using UnityEngine;
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/// <summary>
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/// Implements live tracking of streamed OptiTrack rigid body data onto an object.
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/// </summary>
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public class OptitrackRigidBody : MonoBehaviour
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{
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[Tooltip("The ID of the rigid body to track.")]
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public int rigidBodyId;
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[Tooltip("The name of the prop to track. If set, this will override the rigidBodyId.")]
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public string propName;
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[Tooltip("Whether to use network compensation for this rigid body.")]
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public bool useNetworkCompensation = true;
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private OptitrackStreamingClient m_streamingClient;
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private bool m_isRigidBodyFound = false;
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private int m_resolvedRigidBodyId = -1;
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public bool isRigidBodyFound
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{
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get { return m_isRigidBodyFound; }
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}
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void Start()
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{
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m_streamingClient = OptitrackStreamingClient.FindDefaultClient();
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if (m_streamingClient == null)
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{
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Debug.LogError("OptitrackRigidBody: No OptitrackStreamingClient found in scene.", this);
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return;
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}
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// Resolve prop name to ID if provided
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if (!string.IsNullOrEmpty(propName))
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{
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m_resolvedRigidBodyId = m_streamingClient.GetRigidBodyIdByName(propName);
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if (m_resolvedRigidBodyId == -1)
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{
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Debug.LogWarning($"OptitrackRigidBody: Could not find rigid body with name '{propName}'", this);
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return;
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}
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}
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else
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{
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m_resolvedRigidBodyId = rigidBodyId;
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}
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m_streamingClient.RegisterRigidBody(this, m_resolvedRigidBodyId);
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}
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#if UNITY_2017_1_OR_NEWER
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void OnEnable()
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{
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Application.onBeforeRender += OnBeforeRender;
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}
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void OnDisable()
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{
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Application.onBeforeRender -= OnBeforeRender;
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}
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void OnBeforeRender()
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{
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UpdatePose();
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}
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#endif
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void Update()
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{
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if (m_streamingClient == null || m_resolvedRigidBodyId == -1)
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return;
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OptitrackRigidBodyState rbState = m_streamingClient.GetLatestRigidBodyState(m_resolvedRigidBodyId, useNetworkCompensation);
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if (rbState != null)
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{
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m_isRigidBodyFound = rbState.IsTracked;
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if (m_isRigidBodyFound)
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{
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transform.position = rbState.Pose.Position;
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transform.rotation = rbState.Pose.Orientation;
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}
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}
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else
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{
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m_isRigidBodyFound = false;
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}
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}
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void UpdatePose()
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{
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if (m_streamingClient == null || m_resolvedRigidBodyId == -1)
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return;
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OptitrackRigidBodyState rbState = m_streamingClient.GetLatestRigidBodyState(m_resolvedRigidBodyId, useNetworkCompensation);
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if (rbState != null)
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{
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m_isRigidBodyFound = rbState.IsTracked;
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if (m_isRigidBodyFound)
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{
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transform.position = rbState.Pose.Position;
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transform.rotation = rbState.Pose.Orientation;
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}
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}
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}
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}
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