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Allow local transform for RT Objects #26

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Allow local transform for RT Objects #26

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17 changes: 13 additions & 4 deletions Qualisys/QTM-Unity-Realtime-Streaming/Streaming/RTObject.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -9,17 +9,26 @@ class RTObject : MonoBehaviour
public string ObjectName = "Put QTM 6DOF object name here";
public Vector3 PositionOffset = new Vector3(0, 0, 0);
public Vector3 RotationOffset = new Vector3(0, 0, 0);
public bool IsLocalTransform = false;

protected RTClient rtClient;

protected virtual void applyBodyTransform(SixDOFBody body)
{
if (!float.IsNaN(body.Position.sqrMagnitude)) //just to avoid error when position is NaN
{
transform.position = body.Position + PositionOffset;
if (transform.parent) transform.position += transform.parent.position;
transform.rotation = body.Rotation * Quaternion.Euler(RotationOffset);
if (transform.parent) transform.rotation *= transform.parent.rotation;
if (IsLocalTransform)
{
transform.localPosition = body.Position + PositionOffset;
transform.localRotation = body.Rotation + PositionOffset;
}
else
{
transform.position = body.Position + PositionOffset;
if (transform.parent) transform.position += transform.parent.position;
transform.rotation = body.Rotation * Quaternion.Euler(RotationOffset);
if (transform.parent) transform.rotation *= transform.parent.rotation;
}
}
}

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