上传YomovSDK
This commit is contained in:
Sora丶kong
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using System;
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using System.Collections.Generic;
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using System.Runtime.InteropServices;
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using Unity.XR.PXR;
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using UnityEngine;
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#if AR_FOUNDATION_5||AR_FOUNDATION_6
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using UnityEngine.XR.ARSubsystems;
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#endif
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using UnityEngine.XR.OpenXR;
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using UnityEngine.XR.OpenXR.Features;
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#if UNITY_EDITOR
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using UnityEditor.XR.OpenXR.Features;
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#endif
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namespace Unity.XR.OpenXR.Features.PICOSupport
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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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/// The struct that defines the lengths (in centimeters) of different body parts of the avatar.
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/// </summary>
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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 enum BodyJointSet
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{
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BODY_JOINT_SET_BODY_START_WITHOUT_ARM = 1, //- For PICO Motion Tracker, nodes numbered 0 to 15 in `BodyTrackerRole` enum will return data.
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BODY_JOINT_SET_BODY_FULL_START = 2, /// - For PICO Motion Tracker, nodes numbered 0 to 23 in `BodyTrackerRole` enum will return data.
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}
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public struct BodyTrackingStartInfo
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{
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public BodyJointSet jointSet;
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public BodyTrackingBoneLength BoneLength;
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}
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/// <summary>Status code for body tracking data.</summary>
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public enum BodyTrackingStatusCode
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{
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/// <summary>There is no body tracking data.</summary>
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BT_INVALID = 0,
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/// <summary>There is body tracking data, and the data is accurate.</summary>
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BT_VALID = 1,
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/// <summary>There is body tracking data, but the data is not very accurate.</summary>
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BT_LIMITED = 2
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}
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/// <summary>Error codes for body tracking.<summary>
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public enum BodyTrackingMessage
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{
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BT_MESSAGE_UNKNOWN = 0,
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/// <summary>PICO Motion Tracker not calibrated.</summary>
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BT_MESSAGE_TRACKER_NOT_CALIBRATED = 1,
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/// <summary>The number of connected PICO Motion Trackers is not enough.</summary>
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BT_MESSAGE_TRACKER_NUM_NOT_ENOUGH = 2,
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/// <summary>PICO Motion Tracker's status is abnormal.</summary>
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BT_MESSAGE_TRACKER_STATE_NOT_SATISFIED = 3,
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/// <summary>PICO Motion Tracker is always invisible.</summary>
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BT_MESSAGE_TRACKER_PERSISTENT_INVISIBILITY = 4,
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/// <summary>PICO Motion Tracker's data is abnormal.</summary>
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BT_MESSAGE_TRACKER_DATA_ERROR = 5,
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/// <summary>The user may have changed.</summary>
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BT_MESSAGE_USER_CHANGE = 6,
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/// <summary>The body tracking pose is abnormal.</summary>
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BT_MESSAGE_TRACKING_POSE_ERROR = 7
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}
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/// <summary>Information about body tracking state.</summary>
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public unsafe struct BodyTrackingStatus
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{
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/// <summary>Status code for body tracking data.</summary>
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public BodyTrackingStatusCode stateCode;
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/// <summary>Body tracking error code.</summary>
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public BodyTrackingMessage message;
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public override string ToString()
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{
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string str = string.Format("stateCode:{0},errorCode:{1}\n", stateCode, message);
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return str;
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}
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}
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public struct BodyTrackingGetDataInfo
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{
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public long displayTime;
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}
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public enum BodyActionList
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{
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PxrTouchGround = 0x00000001,
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PxrKeepStatic = 0x00000002,
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PxrTouchGroundToe = 0x00000004,
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PxrFootDownAction = 0x00000008,
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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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public override string ToString()
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{
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return string.Format("TimeStamp :{0}, PosX:{1}, PosY:{2}, PosZ:{3}, RotQx:{4}, RotQy:{5}, RotQz:{6}, RotQw:{7}\n", TimeStamp, PosX, PosY, PosZ, RotQx, RotQy, RotQz, RotQw);
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}
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}
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/// <summary>Information about the tracked bone node.</summary>
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public unsafe struct BodyTrackingRoleData
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{
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private int apiVersion;
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/// <summary>Bone name. if bone = `NONE_ROLE`, this bone is not calculated.</summary>
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public BodyTrackerRole role;
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/// <summary>Multiple actions can be supported at the same time by means of `OR BodyActionList`.</summary>
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public BodyActionList bodyAction;
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/// <summary>The bone's local transform.</summary>
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public BodyTrackerTransPose localPose;
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/// <summary>The bone's global transform.</summary>
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public BodyTrackerTransPose globalPose;
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/// <summary>The velocity of X, Y, and Z.</summary>
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public fixed double velo[3];
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/// <summary>The acceleration of X, Y, and Z.</summary>
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public fixed double acce[3];
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/// <summary>The angular velocity of X, Y, and Z.</summary>
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public fixed double wvelo[3];
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/// <summary>The angular acceleration of X, Y, and Z.</summary>
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public fixed double wacce[3];
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public override string ToString()
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{
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string str = string.Format("apiVersion :{0}, role:{1}, bodyAction:{2}, localPose:{3}, globalPose:{4}\n", apiVersion, role, bodyAction, localPose, globalPose);
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for (int i = 0; i < 3; i++)
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{
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str += string.Format(" velo[{0}]:{1}", i, velo[i].ToString("F6"));
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str += string.Format(" acce[{0}]:{1}", i, acce[i].ToString("F6"));
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str += string.Format(" wvelo[{0}]:{1}", i, wvelo[i].ToString("F6"));
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str += string.Format(" wacce[{0}]:{1}", i, wacce[i].ToString("F6"));
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str += "\n";
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}
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return str;
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}
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}
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/// <summary>Body tracking data.</summary>
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public struct BodyTrackingData
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{
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private int apiVersion;
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/// <summary>Information about the tracked bone node.</summary>
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[MarshalAs(UnmanagedType.ByValArray, SizeConst = (int)BodyTrackerRole.NONE_ROLE)]
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public BodyTrackingRoleData[] roleDatas;
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public override string ToString()
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{
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string str = string.Format("apiVersion :{0}\n", apiVersion);
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for (int i = 0; i < (int)BodyTrackerRole.NONE_ROLE; i++)
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{
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str += string.Format(" roleData[{0}]:{1}", i, roleDatas[i].ToString());
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}
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return str;
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}
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}
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#if UNITY_EDITOR
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[OpenXRFeature(UiName = "PICO Body Tracking",
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Hidden = false,
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BuildTargetGroups = new[] { UnityEditor.BuildTargetGroup.Android },
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Company = "PICO",
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OpenxrExtensionStrings = extensionString,
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Version = "1.0.0",
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FeatureId = featureId)]
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#endif
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public class BodyTrackingFeature : OpenXRFeatureBase
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{
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public const string featureId = "com.pico.openxr.feature.PICO_BodyTracking";
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public const string extensionString = "XR_BD_body_tracking XR_PICO_body_tracking2";
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public const int XR_BODY_JOINT_COUNT_BD = 24;
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public static bool isEnable => OpenXRRuntime.IsExtensionEnabled("XR_BD_body_tracking");
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public override string GetExtensionString()
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{
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return extensionString;
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}
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public override void Initialize(IntPtr intPtr)
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{
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Pxr_BodyTrackingEnable(isEnable);
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}
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[Obsolete("Please use StartBodyTracking(BodyJointSet JointSet, BodyTrackingBoneLength boneLength)")]
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public static bool StartBodyTracking(XrBodyJointSetBD Mode)
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{
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if (!isEnable)
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{
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return false;
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}
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BodyTrackingBoneLength boneLength=new BodyTrackingBoneLength();
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return StartBodyTracking((BodyJointSet)Mode, boneLength)==0;
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}
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/// <summary>Starts body tracking.</summary>
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/// <param name="mode">Specifies the body tracking mode (default or high-accuracy).</param>
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/// <param name="boneLength">Specifies lengths (unit: cm) for the bones of the avatar, which is only available for the `BTM_FULL_BODY_HIGH` mode.
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/// Bones that are not set lengths for will use the default values.
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/// </param>
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/// <returns>
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/// - `0`: success
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/// - `1`: failure
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/// </returns>
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public static int StartBodyTracking(BodyJointSet JointSet, BodyTrackingBoneLength boneLength)
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{
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if (!isEnable)
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{
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return 1;
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}
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BodyTrackingStartInfo startInfo = new BodyTrackingStartInfo();
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startInfo.jointSet = JointSet;
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startInfo.BoneLength = boneLength;
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return Pxr_StartBodyTracking(ref startInfo);
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}
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/// <summary>Launches the PICO Motion Tracker app to perform calibration.
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/// - For PICO Motion Tracker (Beta), the user needs to follow the instructions on the home of the PICO Motion Tracker app to complete calibration.
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/// - For PICO Motion Tracker (Official), "single-glance calibration" will be performed. When a user has a glance at the PICO Motion Tracker on their lower legs, calibration is completed.
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/// </summary>
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/// <returns>
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/// - `0`: success
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/// - `1`: failure
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/// </returns>
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public static int StartMotionTrackerCalibApp()
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{
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if (!isEnable)
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{
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return 1;
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}
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return Pxr_StartBodyTrackingCalibApp();
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}
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public static bool IsBodyTrackingSupported()
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{
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if (!isEnable)
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{
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return false;
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}
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bool supported=false;
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Pxr_GetBodyTrackingSupported(ref supported);
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return supported;
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}
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/// <summary>
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/// Gets the data about the poses of body joints.
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/// </summary>
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/// <param name="predictTime">Reserved parameter, pass `0`.</param>
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/// <param name="bodyTrackerResult">Contains the data about the poses of body joints, including position, action, and more.</param>
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[Obsolete("Please use GetBodyTrackingData")]
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public static bool GetBodyTrackingPose(ref BodyTrackerResult bodyTrackerResult)
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{
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if (!isEnable)
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{
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return false;
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}
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BodyTrackingGetDataInfo getInfo = new BodyTrackingGetDataInfo();
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getInfo.displayTime = 0;
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BodyTrackingData data = new BodyTrackingData();
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bool state = GetBodyTrackingData(ref getInfo, ref data)==0;
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for (int i = 0; i < XR_BODY_JOINT_COUNT_BD; i++)
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{
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bodyTrackerResult.trackingdata[i].pose.PosX =data.roleDatas[i].localPose.PosX ;
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bodyTrackerResult.trackingdata[i].pose.PosY = -data.roleDatas[i].localPose.PosZ;
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bodyTrackerResult.trackingdata[i].pose.PosZ = -data.roleDatas[i].localPose.PosZ;
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bodyTrackerResult.trackingdata[i].pose.RotQx = -data.roleDatas[i].localPose.RotQz;
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bodyTrackerResult.trackingdata[i].pose.RotQy = -data.roleDatas[i].localPose.RotQw;
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bodyTrackerResult.trackingdata[i].pose.RotQz = -data.roleDatas[i].localPose.RotQz;
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bodyTrackerResult.trackingdata[i].pose.RotQw = -data.roleDatas[i].localPose.RotQw;
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}
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return state;
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}
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/// <summary>Stops body tracking.</summary>
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/// <returns>
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/// - `0`: success
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/// - `1`: failure
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/// </returns>
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public static int StopBodyTracking()
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{
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return Pxr_StopBodyTracking();
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}
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[Obsolete("Please use StopBodyTracking")]
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private void OnDestroy()
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{
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if (!isExtensionEnabled())
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{
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return;
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}
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StopBodyTracking();
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}
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[Obsolete("Please use StartMotionTrackerCalibApp")]
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public static void OpenFitnessBandCalibrationAPP()
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{
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StartMotionTrackerCalibApp();
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}
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/// <summary>Gets body tracking data.</summary>
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/// <param name="getInfo"> Specifies the display time and the data filtering flags.
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/// For the display time, for example, when it is set to 0.1 second, it means predicting the pose of the tracked node 0.1 seconds ahead.
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/// </param>
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/// <param name="data">Returns the array of data for all tracked nodes.</param>
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/// <returns>
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/// - `0`: success
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/// - `1`: failure
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/// </returns>
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public unsafe static int GetBodyTrackingData(ref BodyTrackingGetDataInfo getInfo, ref BodyTrackingData data)
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{
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if (!isEnable)
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{
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return 1;
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}
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int val = -1;
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{
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val = Pxr_GetBodyTrackingData(ref getInfo, ref data);
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for (int i = 0; i < (int)BodyTrackerRole.ROLE_NUM; i++)
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{
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data.roleDatas[i].localPose.PosZ = -data.roleDatas[i].localPose.PosZ;
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data.roleDatas[i].localPose.RotQz = -data.roleDatas[i].localPose.RotQz;
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data.roleDatas[i].localPose.RotQw = -data.roleDatas[i].localPose.RotQw;
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data.roleDatas[i].velo[3] = -data.roleDatas[i].velo[3];
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data.roleDatas[i].acce[3] = -data.roleDatas[i].acce[3];
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data.roleDatas[i].wvelo[3] = -data.roleDatas[i].wvelo[3];
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data.roleDatas[i].wacce[3] = -data.roleDatas[i].wacce[3];
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}
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}
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return val;
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}
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/// <summary>Gets the state of PICO Motion Tracker and, if any, the reason for an exception.</summary>
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/// <param name="isTracking">Indicates whether the PICO Motion Tracker is tracking normally:
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/// - `true`: is tracking
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/// - `false`: tracking lost
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/// </param>
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||||
/// <param name="state">Returns the information about body tracking state.</param>
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/// <returns>
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/// - `0`: success
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||||
/// - `1`: failure
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/// </returns>
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||||
public static int GetBodyTrackingState(ref bool isTracking, ref BodyTrackingStatus state)
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{
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int val = -1;
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{
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val = Pxr_GetBodyTrackingState(ref isTracking, ref state);
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||||
}
|
||||
return val;
|
||||
}
|
||||
|
||||
#if AR_FOUNDATION_5||AR_FOUNDATION_6
|
||||
public bool isBodyTracking=false;
|
||||
static List<XRHumanBodySubsystemDescriptor> s_HumanBodyDescriptors = new List<XRHumanBodySubsystemDescriptor>();
|
||||
protected override void OnSubsystemCreate()
|
||||
{
|
||||
base.OnSubsystemCreate();
|
||||
if (isBodyTracking)
|
||||
{
|
||||
CreateSubsystem<XRHumanBodySubsystemDescriptor, XRHumanBodySubsystem>(
|
||||
s_HumanBodyDescriptors,
|
||||
PXR_HumanBodySubsystem.k_SubsystemId);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
protected override void OnSubsystemStart()
|
||||
{
|
||||
if (isBodyTracking)
|
||||
{
|
||||
StartSubsystem<XRHumanBodySubsystem>();
|
||||
}
|
||||
}
|
||||
protected override void OnSubsystemStop()
|
||||
{
|
||||
if (isBodyTracking)
|
||||
{
|
||||
StopSubsystem<XRHumanBodySubsystem>();
|
||||
}
|
||||
}
|
||||
protected override void OnSubsystemDestroy()
|
||||
{
|
||||
if (isBodyTracking)
|
||||
{
|
||||
DestroySubsystem<XRHumanBodySubsystem>();
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
private const string ExtLib = "openxr_pico";
|
||||
[DllImport(ExtLib, CallingConvention = CallingConvention.Cdecl)]
|
||||
private static extern void Pxr_BodyTrackingEnable(bool enable);
|
||||
|
||||
[DllImport(ExtLib, CallingConvention = CallingConvention.Cdecl)]
|
||||
private static extern int Pxr_StartBodyTrackingCalibApp();
|
||||
[DllImport(ExtLib, CallingConvention = CallingConvention.Cdecl)]
|
||||
private static extern int Pxr_GetBodyTrackingSupported(ref bool supported);
|
||||
[DllImport(ExtLib, CallingConvention = CallingConvention.Cdecl)]
|
||||
private static extern int Pxr_StartBodyTracking(ref BodyTrackingStartInfo startInfo);
|
||||
[DllImport(ExtLib, CallingConvention = CallingConvention.Cdecl)]
|
||||
private static extern int Pxr_StopBodyTracking();
|
||||
[DllImport(ExtLib, CallingConvention = CallingConvention.Cdecl)]
|
||||
private static extern int Pxr_GetBodyTrackingState(ref bool isTracking, ref BodyTrackingStatus state);
|
||||
[DllImport(ExtLib, CallingConvention = CallingConvention.Cdecl)]
|
||||
private static extern int Pxr_GetBodyTrackingData(ref BodyTrackingGetDataInfo getInfo, ref BodyTrackingData data);
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user