HandDriverUPM/HandDriver/SDK/Android Bluetooth SDK/Sample/MotionTracker.cs

using System;
using System.Collections.Generic;
using TMPro;
using Unity.VisualScripting;
using Unity.XR.PXR;
using UnityEngine;

public class MotionTracker : MonoBehaviour
{
    public enum HandChoice
    {
        LeftHand,
        RightHand,
        Extra
    }

    public HandChoice handChoice;
    public Transform Target;
    private int ChoiceIndex => (int)handChoice;

    int DeviceCount = 1;
    private bool updateOT = true;
    List<long> trackerIds = new List<long>();

    public bool UseOldCalibrationVersion = true;

    public MotionTrackerNum motionTrackerNum;
    private void RequestMotionTrackerComplete(RequestMotionTrackerCompleteEventData obj)
    {
        DeviceCount = (int)obj.trackerCount;
        for (int i = 0; i < DeviceCount; i++)
        {
            trackerIds.Add(obj.trackerIds[i]);
        }

        updateOT = true;
        Debug.LogError("sss " + trackerIds.Count);
    }

    private readonly Quaternion[] TrackerCalibrationRot = new Quaternion[2]
    {
        Quaternion.Inverse(new Quaternion(0.30924f, 0.12111f, 0.35876f, 0.87235f)),
        Quaternion.Inverse(new Quaternion(0.31865f, -0.07844f, -0.28810f, 0.89962f))
    };

    private readonly Vector3[] TrackerCalibrationPos = new Vector3[2]
    {
        Vector3.zero,
        new Vector3(0.01f, 0.01f, -0.02f)
    };

    private readonly Quaternion[] TrackerCalibrationRot_FixVersion = new Quaternion[2]
    {
        new Quaternion(0.807f, 0.005f, 0.043f, 0.589f),
        new Quaternion(0.873f, 0.069f, -0.129f, 0.466f)
    };

    private readonly Vector3[] TrackerCalibrationPos_FixVersion = new Vector3[2]
    {
        new Vector3(-0.018f, 0.040f, -0.041f),
        new Vector3(0.036f, 0.043f, -0.049f)
    };

    void Start()
    {
        if (UseOldCalibrationVersion)
        {
            transform.GetChild(0).rotation *= TrackerCalibrationRot[ChoiceIndex];
            transform.GetChild(0).localPosition += TrackerCalibrationPos[ChoiceIndex];
        }
        else
        {
            transform.GetChild(0).localRotation = TrackerCalibrationRot_FixVersion[ChoiceIndex];
            transform.GetChild(0).localPosition = TrackerCalibrationPos_FixVersion[ChoiceIndex];
        }

        int res = -1;
        PXR_MotionTracking.RequestMotionTrackerCompleteAction += RequestMotionTrackerComplete;
        res = PXR_MotionTracking.CheckMotionTrackerNumber(motionTrackerNum);
    }


    void Update()
    {
#if UNITY_ANDROID
        if (updateOT && trackerIds.Count > 0)
        {
            MotionTrackerLocation location = new MotionTrackerLocation();
            bool isValidPose = false;
            int result = PXR_MotionTracking.GetMotionTrackerLocation(trackerIds[ChoiceIndex], ref location, ref isValidPose);
            if (result == 0)
            {
                transform.localPosition = location.pose.Position.ToVector3();
                transform.rotation = location.pose.Orientation.ToQuat();
            }
        }
#endif
    }

    private void LateUpdate()
    {
        Target.SetPositionAndRotation(transform.GetChild(0).position, transform.GetChild(0).rotation);
#if UNITY_EDITOR
        Target.SetPositionAndRotation(transform.GetChild(1).position, transform.GetChild(1).rotation);
#endif
    }

    public Transform GetControlledHand(bool specific = false)
    {
        if (specific)
        {
#if UNITY_EDITOR
            return transform.GetChild(1);
#else
            return transform.GetChild(0);
#endif
        }
        else
        {
            return transform.parent;
        }
    }

}