536 lines
16 KiB
C#
536 lines
16 KiB
C#
/*******************************************************************************
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Copyright © 2015-2022 PICO Technology Co., Ltd.All rights reserved.
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NOTICE：All information contained herein is, and remains the property of
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PICO Technology Co., Ltd. The intellectual and technical concepts
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contained hererin are proprietary to PICO Technology Co., Ltd. and may be
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covered by patents, patents in process, and are protected by trade secret or
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copyright law. Dissemination of this information or reproduction of this
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material is strictly forbidden unless prior written permission is obtained from
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PICO Technology Co., Ltd.
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*******************************************************************************/
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using System;
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using System.Runtime.InteropServices;
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using UnityEngine;
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namespace Unity.XR.PICO.LivePreview
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{
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public struct BodyTrackingBoneLength
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{
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/// <summary>
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/// The length of the head, which is from the top of the head to the upper area of the neck.
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/// </summary>
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public float headLen;
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/// <summary>
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/// The length of the neck, which is from the upper area of the neck to the lower area of the neck.
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/// </summary>
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public float neckLen;
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/// <summary>
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/// The length of the torso, which is from the lower area of the neck to the navel.
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/// </summary>
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public float torsoLen;
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/// <summary>
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/// The length of the hip, which is from the navel to the center of the upper area of the upper leg.
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/// </summary>
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public float hipLen;
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/// <summary>
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/// The length of the upper leg, which from the hip to the knee-joint.
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/// </summary>
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public float upperLegLen;
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/// <summary>
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/// The length of the lower leg, which is from the knee-joint to the ankle.
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/// </summary>
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public float lowerLegLen;
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/// <summary>
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/// The length of the foot, which is from the ankle to the tiptoe.
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/// </summary>
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public float footLen;
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/// <summary>
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/// The length of the shoulder, which is between the left and right shoulder joints.
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/// </summary>
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public float shoulderLen;
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/// <summary>
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/// The length of the upper arm, which is from the sholder joint to the elbow joint.
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/// </summary>
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public float upperArmLen;
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/// <summary>
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/// The length of the lower arm, which is from the elbow joint to the wrist.
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/// </summary>
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public float lowerArmLen;
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/// <summary>
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/// The length of the hand, which is from the wrist to the finger tip.
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/// </summary>
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public float handLen;
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}
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public struct BodyTrackerResult
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{
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/// <summary>
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/// A fixed-length array, each position transmits the data of one body joint.
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/// </summary>
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[MarshalAs(UnmanagedType.ByValArray, SizeConst = 24)]
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public BodyTrackerTransform[] trackingdata;
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}
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/// <summary>
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/// Contains data about the position, velocity, acceleration, and action of a body joint.
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/// </summary>
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[StructLayout(LayoutKind.Sequential)]
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public struct BodyTrackerTransform
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{
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/// <summary>
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/// Body joint name. If the value is `NONE_ROLE`, the joint's data will not be calculated.
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/// </summary>
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public BodyTrackerRole bone;
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/// <summary>
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/// The joint's position in the scene. Use `localpose` for your app.
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/// </summary>
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public BodyTrackerTransPose localpose;
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/// <summary>
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/// (do not use `globalpose`)
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/// </summary>
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public BodyTrackerTransPose globalpose;
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/// <summary>
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/// The joint's velocity on the X, Y, and Z axes.
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/// </summary>
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[MarshalAs(UnmanagedType.ByValArray, SizeConst = 3)]
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public double[] velo;
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/// <summary>
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/// The joint's acceleration on the X, Y, and Z axes.
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/// </summary>
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[MarshalAs(UnmanagedType.ByValArray, SizeConst = 3)]
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public double[] acce;
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/// <summary>
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/// The joint's angular velocity on the X, Y, and Z axes.
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/// </summary>
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[MarshalAs(UnmanagedType.ByValArray, SizeConst = 3)]
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public double[] wvelo;
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/// <summary>
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/// The joint's angular acceleration on the X, Y, and Z axes.
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/// </summary>
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[MarshalAs(UnmanagedType.ByValArray, SizeConst = 3)]
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public double[] wacce;
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/// <summary>
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/// Multiple actions can be supported at the same time by means of OR
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/// </summary>
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public UInt32 Action;
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}
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/// <summary>
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/// Body joint enumerations.
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/// * For leg tracking mode, joints numbered from 0 to 15 return data.
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/// * For full body tracking mode, all joints return data.
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/// </summary>
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public enum BodyTrackerRole
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{
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Pelvis = 0,
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LEFT_HIP = 1,
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RIGHT_HIP = 2,
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SPINE1 = 3,
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LEFT_KNEE = 4,
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RIGHT_KNEE = 5,
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SPINE2 = 6,
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LEFT_ANKLE = 7,
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RIGHT_ANKLE = 8,
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SPINE3 = 9,
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LEFT_FOOT = 10,
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RIGHT_FOOT = 11,
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NECK = 12,
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LEFT_COLLAR = 13,
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RIGHT_COLLAR = 14,
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HEAD = 15,
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LEFT_SHOULDER = 16,
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RIGHT_SHOULDER = 17,
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LEFT_ELBOW = 18,
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RIGHT_ELBOW = 19,
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LEFT_WRIST = 20,
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RIGHT_WRIST = 21,
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LEFT_HAND = 22,
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RIGHT_HAND = 23,
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NONE_ROLE = 24, // unvalid
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MIN_ROLE = 0, // min value
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MAX_ROLE = 23, // max value
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ROLE_NUM = 24,
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}
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/// <summary>
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/// Contains data about the position and rotation of a body joint.
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/// </summary>
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public struct BodyTrackerTransPose
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{
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/// <summary>
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/// IMU timestamp.
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/// </summary>
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public Int64 TimeStamp;
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/// <summary>
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/// The joint's position on the X axis.
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/// </summary>
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public double PosX;
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/// <summary>
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/// The joint's position on the Y axis.
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/// </summary>
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public double PosY;
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/// <summary>
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/// The joint's position on the Z axis.
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/// </summary>
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public double PosZ;
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/// <summary>
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/// The joint's rotation on the X component of the Quaternion.
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/// </summary>
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public double RotQx;
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/// <summary>
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/// The joint's rotation on the Y component of the Quaternion.
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/// </summary>
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public double RotQy;
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/// <summary>
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/// The joint's rotation on the Z component of the Quaternion.
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/// </summary>
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public double RotQz;
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/// <summary>
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/// The joint's rotation on the W component of the Quaternion.
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/// </summary>
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public double RotQw;
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}
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/// <summary>
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/// The data about the poses of ray and fingers.
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/// </summary>
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public struct HandAimState
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{
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/// <summary>
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/// The status of hand tracking. If it is not `tracked`, confidence will be `0`.
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/// </summary>
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public HandAimStatus aimStatus;
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/// <summary>
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/// The pose of the ray.
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/// </summary>
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public Posef aimRayPose;
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/// <summary>
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/// The strength of index finger's pinch.
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/// </summary>
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private float pinchStrengthIndex;
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/// <summary>
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/// The strength of middle finger's pinch.
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/// </summary>
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private float pinchStrengthMiddle;
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/// <summary>
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/// The strength of ring finger's pinch.
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/// </summary>
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private float pinchStrengthRing;
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/// <summary>
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/// The strength of little finger's pinch.
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/// </summary>
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private float pinchStrengthLittle;
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/// <summary>
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/// The strength of ray's touch.
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/// </summary>
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public float touchStrengthRay;
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}
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/// <summary>
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/// The status of ray and fingers.
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/// </summary>
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public enum HandAimStatus : ulong
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{
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/// <summary>
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/// Whether the data is valid.
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/// </summary>
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AimComputed = 0x00000001,
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/// <summary>
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/// Whether the ray appears.
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/// </summary>
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AimRayValid = 0x00000002,
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/// <summary>
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/// Whether the index finger pinches.
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/// </summary>
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AimIndexPinching = 0x00000004,
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/// <summary>
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/// Whether the middle finger pinches.
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/// </summary>
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AimMiddlePinching = 0x00000008,
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/// <summary>
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/// Whether the ring finger pinches.
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/// </summary>
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AimRingPinching = 0x00000010,
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/// <summary>
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/// Whether the little finger pinches.
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/// </summary>
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AimLittlePinching = 0x00000020,
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/// <summary>
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/// Whether the ray touches.
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/// </summary>
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AimRayTouched = 0x00000200
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}
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public struct Vector3f
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{
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public float x;
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public float y;
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public float z;
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public Vector3 ToVector3()
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{
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return new Vector3() { x = x, y = y, z = -z };
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}
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}
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public struct Quatf
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{
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public float x;
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public float y;
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public float z;
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public float w;
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public Quaternion ToQuat()
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{
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return new Quaternion() { x = x, y = y, z = -z, w = -w };
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}
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}
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/// <summary>
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/// The location of hand joint.
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/// </summary>
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public struct Posef
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{
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/// <summary>
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/// The orientation of hand joint.
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/// </summary>
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public Quatf Orientation;
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/// <summary>
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/// The position of hand joint.
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/// </summary>
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public Vector3f Position;
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public override string ToString()
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{
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return string.Format("Orientation :{0}, {1}, {2}, {3} Position: {4}, {5}, {6}",
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Orientation.x, Orientation.y, Orientation.z, Orientation.w,
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Position.x, Position.y, Position.z);
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}
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}
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/// <summary>
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/// The data about the location of hand joint.
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/// </summary>
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public struct HandJointLocation
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{
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/// <summary>
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/// The status of hand joint location.
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/// </summary>
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public HandLocationStatus locationStatus;
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/// <summary>
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/// The orientation and position of hand joint.
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/// </summary>
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public Posef pose;
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/// <summary>
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/// The radius of hand joint.
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/// </summary>
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public float radius;
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}
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/// <summary>
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/// The data about hand tracking.
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/// </summary>
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public struct HandJointLocations
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{
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/// <summary>
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/// The quality level of hand tracking:
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/// `0`: low
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/// `1`: high
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/// </summary>
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public uint isActive;
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/// <summary>
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/// The number of hand joints that the SDK supports. Currenty returns `26`.
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/// </summary>
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public uint jointCount;
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/// <summary>
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/// The scale of the hand.
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/// </summary>
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public float handScale;
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/// <summary>
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/// The locations (orientation and position) of hand joints.
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/// </summary>
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[MarshalAs(UnmanagedType.ByValArray, SizeConst = (int)HandJoint.JointMax)]
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public HandJointLocation[] jointLocations;
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}
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public enum HandJoint
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{
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JointPalm = 0,
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JointWrist = 1,
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JointThumbMetacarpal = 2,
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JointThumbProximal = 3,
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JointThumbDistal = 4,
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JointThumbTip = 5,
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JointIndexMetacarpal = 6,
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JointIndexProximal = 7,
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JointIndexIntermediate = 8,
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JointIndexDistal = 9,
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JointIndexTip = 10,
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JointMiddleMetacarpal = 11,
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JointMiddleProximal = 12,
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JointMiddleIntermediate = 13,
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JointMiddleDistal = 14,
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JointMiddleTip = 15,
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JointRingMetacarpal = 16,
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JointRingProximal = 17,
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JointRingIntermediate = 18,
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JointRingDistal = 19,
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JointRingTip = 20,
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JointLittleMetacarpal = 21,
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JointLittleProximal = 22,
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JointLittleIntermediate = 23,
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JointLittleDistal = 24,
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JointLittleTip = 25,
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JointMax = 26
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}
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/// <summary>
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/// The data about the status of hand joint location.
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/// </summary>
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public enum HandLocationStatus : ulong
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{
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/// <summary>
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/// Whether the joint's orientation is valid.
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/// </summary>
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OrientationValid = 0x00000001,
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/// <summary>
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/// Whether the joint's position is valid.
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/// </summary>
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PositionValid = 0x00000002,
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/// <summary>
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/// Whether the joint's orientation is being tracked.
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/// </summary>
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OrientationTracked = 0x00000004,
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/// <summary>
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/// Whether the joint's position is being tracked.
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/// </summary>
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PositionTracked = 0x00000008
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}
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public static class PXR_PTApi
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{
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private const string PXR_PLATFORM_DLL = "PxrLivePreview";
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[DllImport(PXR_PLATFORM_DLL, CallingConvention = CallingConvention.Cdecl)]
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private static extern void Pxr_SetSRPState(bool value);
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[DllImport(PXR_PLATFORM_DLL, CallingConvention = CallingConvention.Cdecl)]
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private static extern void LP_StartBodyTrackingCalibApp();
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[DllImport(PXR_PLATFORM_DLL, CallingConvention = CallingConvention.Cdecl)]
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private static extern void LP_StartBodyTracking(int jointSet, ref BodyTrackingBoneLength length,int algmode);
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[DllImport(PXR_PLATFORM_DLL, CallingConvention = CallingConvention.Cdecl)]
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private static extern void LP_StopBodyTracking();
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[DllImport(PXR_PLATFORM_DLL, CallingConvention = CallingConvention.Cdecl)]
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private static extern void LP_GetBodyTrackingPose(ref BodyTrackerResult results);
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[DllImport(PXR_PLATFORM_DLL, CallingConvention = CallingConvention.Cdecl)]
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private static extern void LP_GetFitnessBandCalibState(ref int state);
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[DllImport(PXR_PLATFORM_DLL, CallingConvention = CallingConvention.Cdecl)]
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private static extern void LP_GetHandTrackerActiveState(ref int state);
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[DllImport(PXR_PLATFORM_DLL, CallingConvention = CallingConvention.Cdecl)]
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private static extern void LP_GetHandTrackerAimState(int hand, ref HandAimState aimState);
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[DllImport(PXR_PLATFORM_DLL, CallingConvention = CallingConvention.Cdecl)]
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private static extern void LP_GetHandTrackerJointLocations(int hand, ref HandJointLocations jointLocations);
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public static void UPxr_PTSetSRPState(bool value)
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{
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#if UNITY_EDITOR
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Pxr_SetSRPState(value);
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#endif
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}
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public static bool UPxr_GetSettingState()
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{
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#if UNITY_EDITOR
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return true;
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#endif
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}
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public static void UPxr_GetHandTrackerAimState(int hand, ref HandAimState aimState)
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{
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#if UNITY_EDITOR
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LP_GetHandTrackerAimState(hand, ref aimState);
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#endif
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}
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public static void UPxr_GetHandTrackerJointLocations(int hand, ref HandJointLocations jointLocations)
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{
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#if UNITY_EDITOR
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LP_GetHandTrackerJointLocations(hand, ref jointLocations);
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#endif
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}
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public static bool UPxr_GetGetHandTrackerActiveState()
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{
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int state = 0;
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#if UNITY_EDITOR
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LP_GetHandTrackerActiveState(ref state);
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#endif
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return Convert.ToBoolean(state);
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}
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public static void UPxr_OpenFitnessBandCalibrationAPP()
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{
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#if UNITY_EDITOR
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LP_StartBodyTrackingCalibApp();
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#endif
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}
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public static void UPxr_GetFitnessBandCalibState(ref int calibrated)
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{
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#if UNITY_EDITOR
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LP_GetFitnessBandCalibState(ref calibrated);
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#endif
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}
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public static void UPxr_StopBodyTracking()
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{
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#if UNITY_EDITOR
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LP_StopBodyTracking();
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#endif
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}
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public static void UPxr_StartBodyTracking()
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{
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BodyTrackingBoneLength length = new BodyTrackingBoneLength();
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#if UNITY_EDITOR
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LP_StartBodyTracking( 1, ref length,1);
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#endif
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}
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public static void UPxr_SetSwiftMode(int mode)
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{
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#if UNITY_EDITOR
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BodyTrackingBoneLength length = new BodyTrackingBoneLength();
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LP_StartBodyTracking( 1, ref length,mode);
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#endif
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}
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public static void UPxr_SetBodyTrackingBoneLength(BodyTrackingBoneLength length)
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{
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#if UNITY_EDITOR
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LP_StartBodyTracking(1, ref length,2);
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#endif
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}
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public static void UPxr_GetBodyTrackingPose(ref BodyTrackerResult bodyTrackerResult)
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{
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#if UNITY_EDITOR
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LP_GetBodyTrackingPose(ref bodyTrackerResult);
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#endif
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}
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}
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} |