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 UMWBotSensorComponent::UpdateRotation(float DeltaSeconds)
{
// desRot is DesiredRotation with optionally added random angle
const FRotator curRot = GetRelativeTransform().Rotator();
FRotator desRot = bEnableSensorWander ? ApplyRandomAngle(DesiredRotation) : DesiredRotation;
// clamp the aiming angle (desired rotation)
const FVector defAim = DefaultRotation.Vector();
const FVector desAim = desRot.Vector();
const float maxAngRad = PI * ViewingAngle / 180.f;
const float curCos = defAim | desAim;
const float minCos = FMath::Cos(maxAngRad);
if (curCos < minCos) // out of range
{
// Find quaternion which rotates the eye in the aimDef-aimDir plane
const FVector axis = defAim ^ desAim;
const FQuat quat(axis, maxAngRad);
desRot = quat.RotateVector(defAim).Rotation();
}
// smoothly change the sensor aiming
const float interpSpeed = bCrazy ? CrazyReaction : bAlarm ? AlarmReaction : Reaction;
FRotator newRot = FMath::RInterpTo(curRot, desRot, DeltaSeconds, interpSpeed);
SetRelativeRotation(newRot);
}
void UTankTurret::Rotate(float RelativeSpeed)
{
RelativeSpeed = FMath::Clamp<float>(RelativeSpeed, -1, +1);
auto RotationChange = RelativeSpeed * MaxDegreesPerSecond * GetWorld()->DeltaTimeSeconds;
auto Rotation = RelativeRotation.Yaw + RotationChange;
SetRelativeRotation(FRotator(0, Rotation, 0));
}
void UTankBarrel::Elevate(float RelativeSpeed)
{
RelativeSpeed = FMath::Clamp<float>(RelativeSpeed, -1, +1);
auto ElevationChange = RelativeSpeed * MaxDegreesPerSecond * GetWorld()->DeltaTimeSeconds;
auto RawNewElevation = RelativeRotation.Pitch + ElevationChange;
auto Elevation = FMath::Clamp<float>(RawNewElevation, MinElevationDegrees, MaxElevationDegrees);
SetRelativeRotation(FRotator(Elevation, 0, 0));
}
void UTankBarrel::Elevate(float RelativeSpeed)
{
RelativeSpeed = FMath::Clamp<float>(RelativeSpeed, -1,1);
// UE_LOG(LogTemp, Warning, TEXT("Barrel elevates: %f"), RelativeSpeed);
auto ElevationChange = RelativeSpeed *MaxDegreesPerSecond * GetWorld()->DeltaTimeSeconds;
auto RawNewElevation = RelativeRotation.Pitch + ElevationChange;
auto Elevation = FMath::Clamp(RawNewElevation, MinElevationDegrees, MaxElevationDegrees);
SetRelativeRotation(FRotator(Elevation, 0, 0));
}
void UTankTurret::Rotate(float RelativeSpeed)
{
//Move Barrell the right amount this frame
//Given a max elevation speed. and the frame time.
RelativeSpeed = FMath::Clamp<float>(RelativeSpeed, -1, 1);
auto RotationChange = RelativeSpeed * MaxDegreesPerSecond * GetWorld()->DeltaTimeSeconds;
auto Rotation = RelativeRotation.Yaw + RotationChange;
SetRelativeRotation(FRotator(0., Rotation, 0.));
}
void UTankBarrel::Elevate(float RelativeSpeed)
{
RelativeSpeed = FMath::Clamp<float>(RelativeSpeed, -1, 1); // Clamp the relative space, protection
auto ElevationChange = RelativeSpeed * MaxDegreesPerSecond * GetWorld()->DeltaTimeSeconds; // Elevation change this frame
auto RawNewElevation = RelativeRotation.Pitch + ElevationChange; // Calculating the new elevation
RawNewElevation = FMath::Clamp(RawNewElevation, MinDegreesElevation, MaxDegreesElevation); // Clamp the new elevation
SetRelativeRotation(FRotator(RawNewElevation, 0, 0)); // Set the new rotation/elevation
}
void UDebugSkelMeshComponent::TickComponent(float DeltaTime, enum ELevelTick TickType, FActorComponentTickFunction *ThisTickFunction)
{
if (TurnTableMode == EPersonaTurnTableMode::Playing)
{
FRotator Rotation = GetRelativeTransform().Rotator();
// Take into account PlaybackSpeedScaling, so it doesn't affect turn table turn rate.
Rotation.Yaw += 36.f * TurnTableSpeedScaling * DeltaTime / FMath::Max(PlaybackSpeedScaling, KINDA_SMALL_NUMBER);
SetRelativeRotation(Rotation);
}
Super::TickComponent(DeltaTime, TickType, ThisTickFunction);
}
void UTankBarrel::Elevate(float RelativeSpeed)
{
// Move the barrel the right amount this frame
// Given max elevation speed and the frame time
RelativeSpeed = FMath::Clamp<float>(RelativeSpeed, -1, 1);
auto ElevationChange = RelativeSpeed * MaxDegreesPerSecond * GetWorld()->DeltaTimeSeconds;
auto RawNewElevation = RelativeRotation.Pitch + ElevationChange;
auto Elevation = FMath::Clamp<float>(RawNewElevation, MinElevationDegrees, MaxElevationDegrees);
SetRelativeRotation(FRotator(Elevation, 0, 0));
}
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 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);
}
}
void UAimPredictionSC::smoothRotation()
{
//FRotator tempRot = FMath::RInterpTo(currentRotation, nextRotation, GetWorld()->GetDeltaSeconds(), 3);
FRotator tempRot = FMath::RInterpTo(RelativeRotation, nextRotation, GetWorld()->GetDeltaSeconds(), 10);
SetRelativeRotation(FQuat(tempRot));
}
void UAimPredictionSC::CLIENT_sendCorrection_Implementation(FRotator correctedRotation)
{
///apply Rotation correction
SetRelativeRotation(FQuat(correctedRotation));
}
