public static Vector3 GetPosition(Matrix4x4 matrix)
{
// Convert from ARKit's right-handed coordinate
// system to Unity's left-handed
Vector3 position = matrix.GetColumn(3);
position.z = -position.z;
return position;
}
public static Quaternion GetRotation(Matrix4x4 matrix)
{
// Convert from ARKit's right-handed coordinate
// system to Unity's left-handed
Quaternion rotation = QuaternionFromMatrix(matrix);
rotation.z = -rotation.z;
rotation.w = -rotation.w;
return rotation;
}
static Quaternion QuaternionFromMatrix(Matrix4x4 m) {
// Adapted from: http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.htm
Quaternion q = new Quaternion();
q.w = Mathf.Sqrt( Mathf.Max( 0, 1 + m[0,0] + m[1,1] + m[2,2] ) ) / 2;
q.x = Mathf.Sqrt( Mathf.Max( 0, 1 + m[0,0] - m[1,1] - m[2,2] ) ) / 2;
q.y = Mathf.Sqrt( Mathf.Max( 0, 1 - m[0,0] + m[1,1] - m[2,2] ) ) / 2;
q.z = Mathf.Sqrt( Mathf.Max( 0, 1 - m[0,0] - m[1,1] + m[2,2] ) ) / 2;
q.x *= Mathf.Sign( q.x * ( m[2,1] - m[1,2] ) );
q.y *= Mathf.Sign( q.y * ( m[0,2] - m[2,0] ) );
q.z *= Mathf.Sign( q.z * ( m[1,0] - m[0,1] ) );
return q;
}
}
{
// Convert from ARKit's right-handed coordinate
// system to Unity's left-handed
Vector3 position = matrix.GetColumn(3);
position.z = -position.z;
return position;
}
public static Quaternion GetRotation(Matrix4x4 matrix)
{
// Convert from ARKit's right-handed coordinate
// system to Unity's left-handed
Quaternion rotation = QuaternionFromMatrix(matrix);
rotation.z = -rotation.z;
rotation.w = -rotation.w;
return rotation;
}
static Quaternion QuaternionFromMatrix(Matrix4x4 m) {
// Adapted from: http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.htm
Quaternion q = new Quaternion();
q.w = Mathf.Sqrt( Mathf.Max( 0, 1 + m[0,0] + m[1,1] + m[2,2] ) ) / 2;
q.x = Mathf.Sqrt( Mathf.Max( 0, 1 + m[0,0] - m[1,1] - m[2,2] ) ) / 2;
q.y = Mathf.Sqrt( Mathf.Max( 0, 1 - m[0,0] + m[1,1] - m[2,2] ) ) / 2;
q.z = Mathf.Sqrt( Mathf.Max( 0, 1 - m[0,0] - m[1,1] + m[2,2] ) ) / 2;
q.x *= Mathf.Sign( q.x * ( m[2,1] - m[1,2] ) );
q.y *= Mathf.Sign( q.y * ( m[0,2] - m[2,0] ) );
q.z *= Mathf.Sign( q.z * ( m[1,0] - m[0,1] ) );
return q;
}
}