implement headfree movement
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009368e71a
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6e843d76e7
1 changed files with 122 additions and 11 deletions
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@ -1094,6 +1094,8 @@ public class ZEDManager : MonoBehaviour
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if (camLeftTransform.transform.parent != null)
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{
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zedRigRoot = camLeftTransform.parent; //Make the camera's parent object (Camera_eyes in the ZED_Rig_Stereo prefab) the new zedRigRoot to be tracked.
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Debug.Log("set camLeftTransform.position");
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}
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if (UnityEngine.XR.XRDevice.isPresent)
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@ -1119,8 +1121,10 @@ public class ZEDManager : MonoBehaviour
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cameraLeft = caml;
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if (camLeftTransform.transform.parent != null)
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{
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zedRigRoot = camLeftTransform.parent;
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}
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}
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else
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{
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zedRigRoot = transform;
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@ -1831,6 +1835,9 @@ public class ZEDManager : MonoBehaviour
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}
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/// <summary>
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/// Gets the tracking position from the ZED and updates zedRigRoot's position. Also updates the AR tracking if enabled.
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/// Only called in Live (not SVO playback) mode. Called in Update().
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@ -1854,7 +1861,8 @@ public class ZEDManager : MonoBehaviour
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AdjustZEDRigCameraPosition(); //Re-apply the ZED's offset from the VR headset.
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calibrationHasChanged = false;
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}
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//(Mod)
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/*
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arRig.ExtractLatencyPose(imageTimeStamp); //Find what HMD's pose was at ZED image's timestamp for latency compensation.
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arRig.AdjustTrackingAR(zedPosition, zedOrientation, out r, out v, setIMUPriorInAR);
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zedRigRoot.localRotation = r;
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@ -1864,6 +1872,91 @@ public class ZEDManager : MonoBehaviour
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ZEDSyncRotation = r;
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HMDSyncPosition = arRig.LatencyPose().translation;
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HMDSyncRotation = arRig.LatencyPose().rotation;
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*/
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//Rotate Image plane with zed rotation
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r = zedOrientation;
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zedRigDisplayer.transform.localRotation = r; //(Mod) zedRigDisplayer should move/rotate the image plane
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//zedRigDisplayer.transform.localEulerAngles = new Vector3(r.x,r.y,0);
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//TODO: rotation von hmd soll zedRigDisplayer weiterhin beeinflussen (r.z nicht übernehmen evtl?)
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//camLeft.transform.SetParent(zedRigDisplayer.transform); //(Mod)
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//camLeftTransform gets overwritten by hmd transform
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//move cams(within camRig) along with zedRig (test, immitates behaviour with cams parent set to zedRigDisplayer)
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//camRigDisplayer.transform.rotation = zedRigDisplayer.transform.rotation;
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//camRigDisplayer.transform.position = zedRigDisplayer.transform.position;
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//hmd: camRigDisplayer.transform.eulerAngles.z = pitch
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//hmd: camRigDisplayer.transform.eulerAngles.y = yaw
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//hmd: camRigDisplayer.transform.eulerAngles.x = roll
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//zed roll = z
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//camLeft.transform <- Rotation des HMD
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//zedRigDisplayer.transform <- rotation der ZED (durch zeile oben, fuer umwandlung in euler von quaternion)
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//camRigDisplayer.transform <- Rotation des HMD (Parent, rotiert nicht mit hmd mit)
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//camRigDisplayer.transform.eulerAngles = new Vector3(0,0,0);
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//Transform rotAxis = camRigDisplayer.transform; //axis to rotate around
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//rotAxis.Rotate(camLeftTransform.eulerAngles); //match camera direction
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/*GameObject emptyGO = new GameObject();
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Transform u = emptyGO.transform;
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u.position = new Vector3(0,0,1); //rotation axis
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u.Rotate(zedRigDisplayer.transform.eulerAngles); //rotate so that vector above matches rotation direction of zedRigDisplayers coordinate system
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*/
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//camRigDisplayer.transform = camRigDisplayer.transform.rotateAroundVector(u, zedOrientation.z) //TODO
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//Transform u = rotationTransformhelper.transform;
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//rotationTransformhelper.transform.position = camLeft.transform.position; //copy data
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//rotationTransformhelper.transform.rotation = camLeft.transform.rotation; //copy data
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///rotationTransformhelper.transform.position = camLeft.transform.localPosition; //copy data
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///rotationTransformhelper.transform.rotation = camLeft.transform.localRotation; //copy data
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//Debug.Log(new Vector3(0, 0, zedRigDisplayer.transform.eulerAngles.z));
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///rotationTransformhelper.transform.Rotate(new Vector3(0, 0, zedRigDisplayer.transform.localEulerAngles.z));
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///rotationTransformhelper.transform.Rotate(-camLeft.transform.localEulerAngles);//rotate back
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//var newrot = zedRigDisplayer.transform.eulerAngles - rotationTransformhelper.transform.eulerAngles;
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//camRigDisplayer.transform.eulerAngles = newrot;
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//camRigDisplayer.transform.eulerAngles = rotationTransformhelper.transform.eulerAngles;
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//TODO: das hier geht auch noch nicht, rotation noch etwas komisch. ggf weil rotationspunkt von camLeft/Right nicht im ursprung ist?
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///camRigDisplayer.transform.eulerAngles = rotationTransformhelper.transform.eulerAngles; //get cam rotation
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///camRigDisplayer.transform.position = zedRigDisplayer.transform.position;
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// # Versuch Z Rotation der ZED transformiert auf Rotation des camRig uebertragen #
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//rotationTransformhelper.transform.rotation = zedRigDisplayer.transform.localRotation;
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//rotationTransformhelper.transform.localEulerAngles = new Vector3(-zedRigDisplayer.transform.eulerAngles.x, -zedRigDisplayer.transform.eulerAngles.y, 0);
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Vector3 zedDirection = new Vector3(0, 0, 1); //Create Vector towars Z+
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zedDirection = zedRigDisplayer.transform.rotation * zedDirection; //rotate vector by zedRigRotation (vector should point towards +Z of zedRigDisplayer)
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camRigDisplayer.transform.localRotation = Quaternion.AngleAxis(zedRigDisplayer.transform.localEulerAngles.z, zedDirection); //rotate only around zedDirection.z with respect to original coordinate system
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//same for camera Z rotation compensation
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Vector3 hmdDirection = new Vector3(0, 0, 1); //Create Vector towars Z+
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hmdDirection = camLeft.transform.rotation * hmdDirection; //rotate vector by cam (HMD) (vector should point towards +Z of HMD)
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camRigDisplayer.transform.rotation *= Quaternion.AngleAxis(-camLeft.transform.localEulerAngles.z, hmdDirection); //compensate only around hmd.z with respect to original coordinate system
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//zedRigRoot.localRotation = r;
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//zedRigRoot.localPosition = v;
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}
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else //Not AR pass-through mode.
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{
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@ -1894,6 +1987,12 @@ public class ZEDManager : MonoBehaviour
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arRig.CollectPose(); //Save headset pose with current timestamp.
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}
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Vector3 rotatePointAroundAxis(Vector3 point, float angle, Vector3 axis)
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{
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Quaternion q = Quaternion.AngleAxis(angle, axis);
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return q * point; //Note: q must be first (point * q wouldn't compile)
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}
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/// <summary>
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/// Updates images, collects HMD poses for latency correction, and applies tracking.
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/// Called by Unity each frame.
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@ -2089,6 +2188,9 @@ public class ZEDManager : MonoBehaviour
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/// </summary>
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[HideInInspector]
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public GameObject zedRigDisplayer;
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public GameObject camRigDisplayer; //(Mod)
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public GameObject rotationTransformhelper;//(Mod):
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public GameObject camLeft;//(Mod);
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private ZEDMixedRealityPlugin arRig;
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/// <summary>
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/// Create a GameObject to display the ZED in an headset (ZED-M Only).
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@ -2102,6 +2204,10 @@ public class ZEDManager : MonoBehaviour
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zedRigDisplayer = new GameObject("ZEDRigDisplayer");
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arRig = zedRigDisplayer.AddComponent<ZEDMixedRealityPlugin>();
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camRigDisplayer = new GameObject("camRigDisplayer"); //(Mod)
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rotationTransformhelper = new GameObject("rotationTransformhelper"); //(Mod)
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//rotationTransformhelper.transform.SetParent(zedRigDisplayer.transform);
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/*Screens left and right */
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GameObject leftScreen = GameObject.CreatePrimitive(PrimitiveType.Quad);
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leftScreen.name = "Quad - Left";
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@ -2128,8 +2234,11 @@ public class ZEDManager : MonoBehaviour
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rightScreen.layer = arLayer;
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/*Camera left and right*/
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GameObject camLeft = new GameObject("cameraLeft");
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camLeft.transform.SetParent(zedRigDisplayer.transform);
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//GameObject camLeft = new GameObject("cameraLeft"); //(Mod)
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camLeft = new GameObject("cameraLeft");
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//camLeft.transform.SetParent(zedRigDisplayer.transform); //(Mod)
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camLeft.transform.SetParent(camRigDisplayer.transform); //(Mod)
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Camera camL = camLeft.AddComponent<Camera>();
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camL.stereoTargetEye = StereoTargetEyeMask.Both; //Temporary setting to fix loading screen issue.
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camL.renderingPath = RenderingPath.Forward;//Minimal overhead
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@ -2141,7 +2250,9 @@ public class ZEDManager : MonoBehaviour
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camL.depth = camLeftTransform.GetComponent<Camera>().depth;
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GameObject camRight = new GameObject("cameraRight");
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camRight.transform.SetParent(zedRigDisplayer.transform);
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//camRight.transform.SetParent(zedRigDisplayer.transform); //(Mod)
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camRight.transform.SetParent(camRigDisplayer.transform); //(Mod)
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Camera camR = camRight.AddComponent<Camera>();
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camR.renderingPath = RenderingPath.Forward;//Minimal overhead
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camR.clearFlags = CameraClearFlags.Color;
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