59 lines
1.6 KiB
C#
59 lines
1.6 KiB
C#
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//The following code can be used to receive pose data from udp_emitter.py and use it to track an object in unity
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using UnityEngine;
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using System;
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using System.Net;
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using System.Net.Sockets;
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using System.Threading;
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public class udp_tracked_object : MonoBehaviour {
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Thread receiveThread;
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UdpClient client;
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private Double[] float_array;
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private int port = 8051;
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// Use this for initialization
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void Start () {
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float_array = new Double[7];
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receiveThread = new Thread(new ThreadStart(ReceiveData));
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receiveThread.IsBackground = true;
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receiveThread.Start();
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}
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// Update is called once per frame
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void Update () {
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transform.position = new Vector3((float) float_array[0], (float)float_array[1], (float)float_array[2]);
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transform.rotation = new Quaternion((float)float_array[3], (float)float_array[4], (float)float_array[5], (float)float_array[6]);
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}
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void OnApplicationQuit()
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{
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if (receiveThread != null)
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receiveThread.Abort();
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client.Close();
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}
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// receive thread
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private void ReceiveData()
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{
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port = 8051;
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client = new UdpClient(port);
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print("Starting Server");
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while (true)
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{
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try
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{
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IPEndPoint anyIP = new IPEndPoint(IPAddress.Any, 0);
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byte[] data = client.Receive(ref anyIP);
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for (int i = 0; i < data.Length; i++)
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float_array[i] = BitConverter.ToDouble(data, i * 8);
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}
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catch (Exception err)
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{
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print(err.ToString());
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}
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}
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}
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}
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