47 lines
1.5 KiB
C#
47 lines
1.5 KiB
C#
|
using UnityEngine;
|
|||
|
|
|
|||
|
|
public class OpenSeeIKTarget : MonoBehaviour
|
|||
|
|
{
|
|||
|
|
public OpenSee.OpenSee openSee;
|
|||
|
|
public bool calibrate = true;
|
|||
|
|
public int faceId = 0;
|
|||
|
|
public float translationScale = 0.3f;
|
|||
|
|
public float smooth = 0.2f;
|
|||
|
|
double updated = 0.0f;
|
|||
|
|
Quaternion dR;
|
|||
|
|
Vector3 dT;
|
|||
|
|
|
|||
|
|
void Update()
|
|||
|
|
{
|
|||
|
|
var openSeeData = openSee.trackingData;
|
|||
|
|
if (openSeeData == null || openSeeData.Length < 1)
|
|||
|
|
return;
|
|||
|
|
int idx = -1;
|
|||
|
|
int i = 0;
|
|||
|
|
foreach (var item in openSeeData) {
|
|||
|
|
if (item.id == faceId)
|
|||
|
|
idx = i;
|
|||
|
|
i++;
|
|||
|
|
}
|
|||
|
|
if (idx < 0)
|
|||
|
|
return;
|
|||
|
|
if (openSeeData[idx].time > updated) {
|
|||
|
|
updated = openSeeData[idx].time;
|
|||
|
|
} else {
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
if (calibrate) {
|
|||
|
|
calibrate = false;
|
|||
|
|
dR = Quaternion.Euler(-openSeeData[idx].rotation.x, openSeeData[idx].rotation.y, -openSeeData[0].rotation.z);
|
|||
|
|
dR = Quaternion.Inverse(dR);
|
|||
|
|
dT = openSeeData[idx].translation;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
Vector3 v = openSeeData[idx].translation - dT;
|
|||
|
|
v.z = -v.z;
|
|||
|
|
transform.localPosition = Vector3.Lerp(transform.localPosition, v * translationScale, 1f - smooth);
|
|||
|
|
transform.localRotation = Quaternion.Lerp(transform.localRotation, Quaternion.Euler(-openSeeData[idx].rotation.x, openSeeData[idx].rotation.y, -openSeeData[idx].rotation.z) * dR, 1f - smooth);
|
|||
|
|
}
|
|||
|
|
}
|