GunScript.cs

GunScript.cs

using UnityEngine;
using Vuforia;

public class GunScript : MonoBehaviour {
    public ITangoController TangoController;
    public GameObject LaserBeam;
    public CustomTrackingHandler trackingHandler;

    bool previousSelectButton = false;

    //Tracking
    bool isTracking = false;
    float startTrackingTime = 0f;
    const float START_CALIBRATION_TIME = 1f;
    const float CALIBRATE_TIME = 1f;

    private GameObject muzzle;

	void Start () {
        muzzle = transform.Find("Muzzle").gameObject;
        muzzle.transform.localPosition = new Vector3(0f, -0.1f, 0.2f);
        muzzle.transform.localRotation = Quaternion.Euler(5f, 0f, 0f);

        trackingHandler.OnTrackingStateChanged += OnTrackingStateChanged;
        trackingHandler.OnTracking += OnTracking;
	}

    private void OnTrackingStateChanged(TrackableBehaviour.Status previousStatus, TrackableBehaviour.Status newStatus)
    {
        if(newStatus == TrackableBehaviour.Status.TRACKED)
        {
            Debug.Log("tracking started");
            startTrackingTime = Time.time;
            isTracking = true;
        }
        else
        {
            isTracking = false;
        }
    }

    private void OnTracking(Transform obj)
    {
        if (isTracking)
        {
            var now = Time.time;
            if(now < startTrackingTime + START_CALIBRATION_TIME)
            {
                return;
            }
            if (now < startTrackingTime + START_CALIBRATION_TIME + CALIBRATE_TIME)
            {
                if(TangoController == null)
                {
                    return;
                }
                var originToMarker = Matrix4x4.TRS(obj.position, obj.rotation * Quaternion.Euler(90, 0, 0), Vector3.one);
                var tangoOriginToMarker = Matrix4x4.TRS(TangoController.transform.position, TangoController.transform.rotation, Vector3.one);

                var originToTangoOrigin = originToMarker * tangoOriginToMarker.inverse;
                var rot = GetRotationFromMatrix(originToTangoOrigin);

                transform.parent.SetPositionAndRotation(originToTangoOrigin.MultiplyPoint(Vector3.zero), rot);
            }
        }
    }

    Quaternion GetRotationFromMatrix(Matrix4x4 matrix)
    {
        return Quaternion.LookRotation(matrix.GetColumn(2), matrix.GetColumn(1));
    }

    void Update () {
        if(TangoController == null)
        {
            return;
        }

        var t = 0.8f;
        transform.localPosition = Vector3.Lerp(transform.localPosition, TangoController.transform.position, t);
        transform.localRotation = Quaternion.Lerp(transform.localRotation, TangoController.transform.rotation, t);

        // 発射
        if (previousSelectButton == false && TangoController.SelectButton)
        {
            var beam = Instantiate(LaserBeam, muzzle.transform.position, muzzle.transform.rotation);
        }
        previousSelectButton = TangoController.SelectButton;
    }
}