void UTangoARCamera::TickComponent(float DeltaTime, enum ELevelTick TickType, FActorComponentTickFunction *ThisTickFunction)
{
if (UTangoDevice::Get().GetCurrentConfig().AreaDescription.UUID.Len() > 0)
{
FrameOfReference = FTangoCoordinateFramePair(ETangoCoordinateFrameType::AREA_DESCRIPTION, ETangoCoordinateFrameType::CAMERA_COLOR);
}
else
{
FrameOfReference = FTangoCoordinateFramePair(ETangoCoordinateFrameType::START_OF_SERVICE, ETangoCoordinateFrameType::CAMERA_COLOR);
}
if (ARScreen == nullptr && TangoARHelpers::DataIsReady())
{
ARScreen = NewObject<UTangoARScreenComponent>(this, TEXT("TangoCameraARScreen"));
if (ARScreen)
{
ARScreen->RegisterComponent();
ARScreen->AttachToComponent(this, FAttachmentTransformRules::KeepWorldTransform, NAME_None);
FVector2D LowerLeft, UpperRight, NearFar;
TangoARHelpers::GetNearPlane(LowerLeft, UpperRight, NearFar);
FVector2D UVShift = TangoARHelpers::GetARUVShift();
NearFar.Y *= 0.99f;
FVector LL = FVector(NearFar.Y, LowerLeft.X*(NearFar.Y / NearFar.X), LowerLeft.Y*(NearFar.Y / NearFar.X));
FVector UR = FVector(NearFar.Y, UpperRight.X*(NearFar.Y / NearFar.X), UpperRight.Y*(NearFar.Y / NearFar.X));
ARScreen->SetRelativeLocation((LL + UR)*0.5f);
ARScreen->SetRelativeRotation(FQuat::Identity);
ARScreen->SetRelativeScale3D(FVector(1, FMath::Abs(UR.Y - LL.Y) / (100.0f*(1.0f - 2.0f*UVShift.X)), FMath::Abs(LL.Z - UR.Z) / (100.0f*(1.0f - 2.0f*UVShift.Y))));
}
else
{
UE_LOG(ProjectTangoPlugin, Error, TEXT("UTangoARCamera::TickComponent: Could not instantiate TangoARScreen for TangoARCamera. There will be no camera passthrough."));
}
}
Super::TickComponent(DeltaTime, TickType, ThisTickFunction);
if (UTangoDevice::Get().getTangoDeviceMotionPointer())
{
FTangoPoseData LatestPose = UTangoDevice::Get().getTangoDeviceMotionPointer()->GetPoseAtTime(FrameOfReference, 0);
//Only move the component if the pose status is valid.
if (LatestPose.StatusCode == ETangoPoseStatus::VALID)
{
SetRelativeLocation(LatestPose.Position);
SetRelativeRotation(FRotator(LatestPose.QuatRotation));
}
}
else
{
UE_LOG(ProjectTangoPlugin, Warning, TEXT("UTangoARCamera::TickComponent: Could not update transfrom because Tango Service is not connect or has motion tracking disabled!"));
}
if (!ViewExtension.IsValid() && GEngine)
{
TSharedPtr< FTangoViewExtension, ESPMode::ThreadSafe > NewViewExtension(new FTangoViewExtension(Cast<ITangoARInterface>(this)));
ViewExtension = NewViewExtension;
GEngine->ViewExtensions.Add(ViewExtension);
}
}
void UTangoMotionComponent::LateUpdate()
{
if (UTangoDevice::Get().getTangoDeviceMotionPointer())
{
//Only move the component if the pose status is valid.
FTangoPoseData LatestPose = UTangoDevice::Get().getTangoDeviceMotionPointer()->GetPoseAtTime(MotionComponentFrameOfReference, ARImage == nullptr ? 0 : ARImage->GetLatestImageTimeStamp());
if (LatestPose.StatusCode == ETangoPoseStatus::VALID)
{
SetRelativeLocation(LatestPose.Position);
SetRelativeRotation(FRotator(LatestPose.QuatRotation));
}
}
else
{
UE_LOG(ProjectTangoPlugin, Warning, TEXT("UTangoMotionComponent::LateUpdate: Could not update transfrom because Tango Service is not connect or has motion tracking disabled!"));
}
}
void UDebugSkelMeshComponent::ConsumeRootMotion(const FVector& FloorMin, const FVector& FloorMax)
{
//Extract root motion regardless of where we use it so that we don't hit
//problems with it building up in the instance
FRootMotionMovementParams ExtractedRootMotion;
if (UAnimInstance* AnimInst = GetAnimInstance())
{
ExtractedRootMotion = AnimInst->ConsumeExtractedRootMotion(1.f);
}
if (bPreviewRootMotion)
{
if (ExtractedRootMotion.bHasRootMotion)
{
AddLocalTransform(ExtractedRootMotion.RootMotionTransform);
//Handle moving component so that it stays within the editor floor
FTransform CurrentTransform = GetRelativeTransform();
FVector Trans = CurrentTransform.GetTranslation();
Trans.X = WrapInRange(Trans.X, FloorMin.X, FloorMax.X);
Trans.Y = WrapInRange(Trans.Y, FloorMin.Y, FloorMax.Y);
CurrentTransform.SetTranslation(Trans);
SetRelativeTransform(CurrentTransform);
}
}
else
{
if (TurnTableMode == EPersonaTurnTableMode::Stopped)
{
SetWorldTransform(FTransform());
}
else
{
SetRelativeLocation(FVector::ZeroVector);
}
}
}
void ARobotCharacter::ConfigureMeshAndAnimation()
{
// Configure the skeletal mesh and animation blueprints
static auto SkeletalMeshName = TEXT("SkeletalMesh'/Game/Characters/Mannequin/Mesh/SK_Mannequin.SK_Mannequin'");
static auto SkeletalMeshFinder = ConstructorHelpers::FObjectFinder<USkeletalMesh>(SkeletalMeshName);
if (SkeletalMeshFinder.Succeeded())
{
auto MeshComponent = GetMesh();
MeshComponent->SetSkeletalMesh(SkeletalMeshFinder.Object);
MeshComponent->SetRelativeLocation(FVector(0.f, 0.f, -95.f));
MeshComponent->SetRelativeRotation(FRotator(0.f, 270.f, 0.f));
ConfigureMeshCollision();
}
static auto AnimBlueprintName = TEXT("AnimBlueprint'/Game/Characters/Mannequin/Animations/ThirdPerson_AnimBP.ThirdPerson_AnimBP_C'");
static auto AnimBlueprintFinder = ConstructorHelpers::FObjectFinder<UAnimBlueprintGeneratedClass>(AnimBlueprintName);
if (AnimBlueprintFinder.Succeeded())
{
GetMesh()->SetAnimInstanceClass(AnimBlueprintFinder.Object);
}
}
