99.imdk_unity 上传

Assets/99.imdk_unity/Runtime/Scripts/XR/SceneUpdater.cs

@@ -0,0 +1,75 @@
+/*===============================================================================
+Copyright (C) 2024 Immersal - Part of Hexagon. All Rights Reserved.
+
+This file is part of the Immersal SDK.
+
+The Immersal SDK cannot be copied, distributed, or made available to
+third-parties for commercial purposes without written permission of Immersal Ltd.
+
+Contact sales@immersal.com for licensing requests.
+===============================================================================*/
+
+using System.Linq;
+using System.Threading.Tasks;
+using UnityEngine;
+using Object = UnityEngine.Object;
+
+namespace Immersal.XR
+{
+	public class SceneUpdateData
+	{
+		public Matrix4x4 Pose;
+		public Matrix4x4 TrackerSpace;
+		public Matrix4x4 MapSpacePose;
+		public ICameraData CameraData;
+		public LocalizeInfo LocalizeInfo;
+		public MapEntry MapEntry;
+		public bool Ignore;
+	}
+	
+    public class SceneUpdater : MonoBehaviour, ISceneUpdater
+    {
+	    public async Task UpdateScene(MapEntry entry, ICameraData cameraData, ILocalizationResult localizationResult)
+	    {
+			ImmersalLogger.Log("Updating scene", ImmersalLogger.LoggingLevel.Verbose);
+	    
+		    LocalizeInfo locInfo = localizationResult.LocalizeInfo;
+		    
+		    // Immersal pose relative to the map
+		    Vector3 localizedPos = locInfo.position;
+		    Quaternion localizedRot = locInfo.rotation;
+		    
+		    // Apply device specific orientation and switch handedness to align with Unity
+		    localizedRot *= cameraData.Orientation;
+		    localizedPos.SwitchHandedness();
+		    localizedRot.SwitchHandedness();
+		
+		    // Apply map to space relative transform (map pose in the scene)
+		    MapToSpaceRelation mo = entry.Relation;
+		    Matrix4x4 offsetNoScale = Matrix4x4.TRS(mo.Position, mo.Rotation, Vector3.one);
+		    Vector3 scaledPos = Vector3.Scale(localizedPos, mo.Scale);
+		    Matrix4x4 mapSpace = offsetNoScale * Matrix4x4.TRS(scaledPos, localizedRot, Vector3.one);
+
+		    // Tracker space
+		    Vector3 capturePos = cameraData.CameraPositionOnCapture;
+		    Quaternion captureRot = cameraData.CameraRotationOnCapture;
+		    Matrix4x4 trackerSpace = Matrix4x4.TRS(capturePos, captureRot, Vector3.one);
+		    
+		    // Tracker relative pose
+		    Matrix4x4 m = trackerSpace * (mapSpace.inverse);
+
+		    SceneUpdateData data = new SceneUpdateData
+		    {
+			    Pose = m,
+			    TrackerSpace = trackerSpace,
+			    MapSpacePose = mapSpace,
+			    CameraData = cameraData,
+			    LocalizeInfo = locInfo,
+			    MapEntry = entry,
+			    Ignore = false
+		    };
+
+		    await entry.SceneParent.SceneUpdate(data);
+	    }
+    }
+}