Wand.cs

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/*
 * Copyright (C) 2020-2022 Tilt Five, Inc.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
 
using System;
using System.Collections.Generic;
using UnityEngine;
using TiltFive.Logging;
 
#if UNITY_2019_1_OR_NEWER && INPUTSYSTEM_AVAILABLE
using UnityEngine.InputSystem;
using UnityEngine.InputSystem.Users;
using UnityEngine.InputSystem.Controls;
#endif
 
using WandButton = TiltFive.Input.WandButton;
 
namespace TiltFive
{
    [System.Serializable]
    public class WandSettings : TrackableSettings
    {
        public ControllerIndex controllerIndex;
 
        public GameObject GripPoint;
        public GameObject FingertipPoint;
        public GameObject AimPoint;
 
        // TODO: Think about some accessors for physical attributes of the wand (length, distance to tip, etc)?
        internal WandSettings Copy()
        {
            return (WandSettings)MemberwiseClone();
        }
    }
 
    public class Wand : Singleton<Wand>
    {
        #region Private Fields
 
        private Dictionary<GlassesHandle, WandPair> wandCores = new Dictionary<GlassesHandle, WandPair>();
 
        private static readonly Vector3 DEFAULT_WAND_POSITION_GAME_BOARD_SPACE = new Vector3(0f, 0.25f, -0.25f);
        private static readonly Vector3 DEFAULT_WAND_HANDEDNESS_OFFSET_GAME_BOARD_SPACE = new Vector3(0.125f, 0f, 0f);
 
        private static readonly Quaternion DEFAULT_WAND_ROTATION_GAME_BOARD_SPACE = Quaternion.Euler(new Vector3(-33f, 0f, 0f));
 
 
        // Handles for Glasses that have just connected
        private HashSet<GlassesHandle> incomingHandles = new HashSet<GlassesHandle>();
        // Handles for Glasses that have just disconnected
        private HashSet<GlassesHandle> lostHandles = new HashSet<GlassesHandle>();
 
        private HashSet<WandCore> lostWands = new HashSet<WandCore>();
 
 
        // Scan for new wands every half second.
        private static DateTime lastScanAttempt = System.DateTime.MinValue;
 
        // This should likely become a query into the native library.
        private static readonly double wandScanRate = 0.5d;
 
        private static bool wandAvailabilityErroredOnce = false;
 
 
        // Used to guard against certain functions executing more than once per frame
        private static int currentFrame = -1;
 
        #endregion Private Fields
 
 
        #region Private Structs
 
        private struct WandPair
        {
            public WandCore RightWand;
            public WandCore LeftWand;
 
            public WandPair(WandCore right, WandCore left)
            {
                RightWand = right;
                LeftWand = left;
            }
 
            public WandCore this[ControllerIndex controllerIndex]
            {
                get
                {
                    switch (controllerIndex)
                    {
                        case ControllerIndex.Right:
                            return RightWand;
                        case ControllerIndex.Left:
                            return LeftWand;
                        default:
                            // TODO: If we get an unexpected value here, should we fail silently or throw an exception?
                            return null;
                    }
                }
            }
 
            public bool TryGet(ControllerIndex controllerIndex, out WandCore wandCore)
            {
                wandCore = this[controllerIndex];
                return wandCore != null;
            }
        }
 
        #endregion Private Structs
 
 
        #region Public Functions
 
        // Update is called once per frame
        public static void Update(WandSettings wandSettings, ScaleSettings scaleSettings, GameBoardSettings gameBoardSettings, PlayerIndex playerIndex = PlayerIndex.One)
        {
            // Update the relevant WandCore
            if (Player.TryGetGlassesHandle(playerIndex, out var glassesHandle))
            {
                Update(glassesHandle, wandSettings, scaleSettings, gameBoardSettings);
            }
        }
 
        internal static void Update(GlassesHandle glassesHandle, WandSettings wandSettings, ScaleSettings scaleSettings, GameBoardSettings gameBoardSettings)
        {
            if(Instance.wandCores.TryGetValue(glassesHandle, out var wandPair)
                && wandPair.TryGet(wandSettings.controllerIndex, out var wandCore))
            {
                wandCore.Update(wandSettings, scaleSettings, gameBoardSettings);
            }
        }
 
        private static bool TryScanForWands()
        {
            var currentTime = System.DateTime.Now;
            var timeSinceLastScan = currentTime - lastScanAttempt;
 
            // Scan for wands if necessary.
            // TODO: Implement more robust disconnect detection, communicate wand availability events to users, offer user option to swap wands.
            if (timeSinceLastScan.TotalSeconds >= wandScanRate
                && (!Input.GetWandAvailability(ControllerIndex.Right) || !Input.GetWandAvailability(ControllerIndex.Left)))
            {
                int result = 1;
 
                try
                {
                    result = NativePlugin.ScanForWands();
                }
                catch (System.DllNotFoundException e)
                {
                    Log.Info(
                        "Could not connect to Tilt Five plugin to scan for wands: {0}",
                        e);
                }
                catch (Exception e)
                {
                    Log.Error(e.Message);
                }
 
                lastScanAttempt = currentTime;
                return (0 == result);
            }
 
            return false;
        }
 
        public static void ScanForWands()
        {
            // Tell the native plugin to search for wands.
            TryScanForWands();
 
            // Obtain the latest set of connected glasses
            var connectedGlassesHandles = Glasses.GetAllConnectedGlassesHandles();
 
            // Add/Remove entries from the wandCores dictionary depending on which glasses appeared/disappeared
            // ---------------------------------------------------
            var wandCores = Instance.wandCores;
            var incomingHandles = Instance.incomingHandles;
            var lostHandles = Instance.lostHandles;
            var lostWands = Instance.lostWands;
 
            incomingHandles.Clear();
            lostHandles.Clear();
            lostWands.Clear();
 
            // Add newly connected wands
            for (int i = 0; i < connectedGlassesHandles.Length; i++)
            {
                var glassesHandle = connectedGlassesHandles[i];
                incomingHandles.Add(glassesHandle);
 
                var rightWandCore = Instance.ObtainWandCore(glassesHandle, ControllerIndex.Right);
                var leftWandCore = Instance.ObtainWandCore(glassesHandle, ControllerIndex.Left);
 
                // Obtain and store a pair of WandCores to associate with this GlassesHandle.
                // If either wand is unavailable, we'll just store null.
                // This will also clear any WandCores that represented a now-disconnected wand.
                wandCores[glassesHandle] = new WandPair(rightWandCore, leftWandCore);
            }
 
            // Prune disconnected wands
            foreach(var glassesHandle in wandCores.Keys)
            {
                // If a pair of glasses disconnects, save its handle for the next foreach loop below
                if(!incomingHandles.Contains(glassesHandle))
                {
                    lostHandles.Add(glassesHandle);
                }
                // otherwise, check if its wands are still connected.
                else
                {
                    if(wandCores.TryGetValue(glassesHandle, out var wandPair))
                    {
                        if(wandPair.TryGet(ControllerIndex.Left, out var leftWandCore)
                            && (!TryGetWandAvailability(out bool leftWandConnected, glassesHandle, ControllerIndex.Left) || !leftWandConnected))
                        {
                            lostWands.Add(leftWandCore);
                        }
                        if (wandPair.TryGet(ControllerIndex.Right, out var rightWandCore)
                            && (!TryGetWandAvailability(out bool rightWandConnected, glassesHandle, ControllerIndex.Right) || !rightWandConnected))
                        {
                            lostWands.Add(rightWandCore);
                        }
                    }
                }
            }
 
            foreach(var lostHandle in lostHandles)
            {
                var lostWandPair = wandCores[lostHandle];
 
                if (lostWandPair.TryGet(ControllerIndex.Right, out var lostRightWand))
                {
                    lostWands.Add(lostRightWand);
                }
 
                if (lostWandPair.TryGet(ControllerIndex.Left, out var lostLeftWand))
                {
                    lostWands.Add(lostLeftWand);
                }
                wandCores.Remove(lostHandle);
            }
 
            foreach (var lostWand in lostWands)
            {
                lostWand.Dispose();
            }
        }
 
        internal static void OnDisable()
        {
            foreach (var wandPair in Instance.wandCores.Values)
            {
                wandPair.RightWand?.Dispose();
                wandPair.LeftWand?.Dispose();
            }
            Instance.wandCores.Clear();
        }
 
        public static Vector3 GetPosition(
            ControllerIndex controllerIndex = ControllerIndex.Right,
            ControllerPosition controllerPosition = ControllerPosition.Grip,
            PlayerIndex playerIndex = PlayerIndex.One)
        {
            if(!Player.TryGetGlassesHandle(playerIndex, out var glassesHandle)
                || !Instance.wandCores.TryGetValue(glassesHandle, out var wandPair)
                || !wandPair.TryGet(controllerIndex, out var wandCore))
            {
                return Vector3.zero;
            }
 
            switch (controllerPosition)
            {
                case ControllerPosition.Fingertips:
                    return wandCore.fingertipsPose_UnityWorldSpace.position;
                case ControllerPosition.Aim:
                    return wandCore.aimPose_UnityWorldSpace.position;
                case ControllerPosition.Grip:
                    return wandCore.Pose_UnityWorldSpace.position;
                default:
                    return Vector3.zero;
            }
        }
 
        public static Quaternion GetRotation(ControllerIndex controllerIndex = ControllerIndex.Right, PlayerIndex playerIndex = PlayerIndex.One)
        {
            if (!Player.TryGetGlassesHandle(playerIndex, out var glassesHandle)
                || !Instance.wandCores.TryGetValue(glassesHandle, out var wandPair)
                || !wandPair.TryGet(controllerIndex, out var wandCore))
            {
                return Quaternion.identity;
            }
 
            return wandCore.Pose_UnityWorldSpace.rotation;
        }
 
        public static bool IsTracked(ControllerIndex controllerIndex = ControllerIndex.Right, PlayerIndex playerIndex = PlayerIndex.One)
        {
            if (!Player.TryGetGlassesHandle(playerIndex, out var glassesHandle)
                || !Instance.wandCores.TryGetValue(glassesHandle, out var wandPair)
                || !wandPair.TryGet(controllerIndex, out var wandCore))
            {
                return false;
            }
 
            return wandCore.IsTracked;
        }
 
        public static bool TryCheckConnected(out bool connected, PlayerIndex playerIndex, ControllerIndex controllerIndex = ControllerIndex.Right)
        {
            if(!Player.TryGetGlassesHandle(playerIndex, out var glassesHandle)
                || !Instance.wandCores.TryGetValue(glassesHandle, out var wandPair)
                || !wandPair.TryGet(controllerIndex, out var wandCore))
            {
                connected = false;
                return false;
            }
 
            connected = wandCore.IsConnected;
            return true;
        }
 
#if UNITY_2019_1_OR_NEWER && INPUTSYSTEM_AVAILABLE
        public static bool TryGetWandDevice(PlayerIndex playerIndex, ControllerIndex controllerIndex, out WandDevice wandDevice)
        {
            if(!Player.TryGetGlassesHandle(playerIndex, out var glassesHandle) || !Instance.wandCores.TryGetValue(glassesHandle, out var wandPair)
                || !wandPair.TryGet(controllerIndex, out var wandCore) || !(wandCore is WandDeviceCore wandDeviceCore))
            {
                wandDevice = null;
                return false;
            }
 
            wandDevice = wandDeviceCore.wandDevice;
            return true;
        }
#endif
 
        private static bool TryGetWandAvailability(out bool connected, GlassesHandle glassesHandle, ControllerIndex controllerIndex)
        {
            if (!wandAvailabilityErroredOnce)
            {
                try
                {
                    T5_Bool wandAvailable = false;
                    int result = NativePlugin.GetWandAvailability(glassesHandle, ref wandAvailable, controllerIndex);
 
                    if (result == 0)
                    {
                        connected = wandAvailable;
                        return true;
                    }
                }
                catch (DllNotFoundException e)
                {
                    Log.Info("Could not connect to Tilt Five plugin for wand: {0}", e.Message);
                    wandAvailabilityErroredOnce = true;
                }
                catch (Exception e)
                {
                    Log.Error(
                        "Failed to connect to Tilt Five plugin for wand availability: {0}",
                        e.ToString());
                    wandAvailabilityErroredOnce = true;
                }
            }
 
            connected = false;
            return false;
        }
 
        #endregion Public Functions
 
 
        #region Internal Functions
 
        internal static void GetLatestInputs()
        {
            // If the previous/current wand states are shuffled more than once per frame,
            // our button rising/falling edge detection breaks.
            // Detect this scenario and return early to prevent this.
            if (Time.frameCount == currentFrame)
            {
                return;
            }
            currentFrame = Time.frameCount;
 
            foreach (var wandPair in Instance.wandCores.Values)
            {
                wandPair.RightWand?.GetLatestInputs();
                wandPair.LeftWand?.GetLatestInputs();
            }
        }
 
        internal static bool GetButton(WandButton button, GlassesHandle glassesHandle,
            ControllerIndex controllerIndex = ControllerIndex.Right)
        {
            if(!Instance.wandCores.TryGetValue(glassesHandle, out var wandPair)
                || !wandPair.TryGet(controllerIndex, out var wandCore))
            {
                return false;
            }
            return wandCore.GetButton(button);
        }
 
        internal static bool TryGetButton(WandButton button, out bool pressed,
            GlassesHandle glassesHandle, ControllerIndex controllerIndex = ControllerIndex.Right)
        {
            if (!Instance.wandCores.TryGetValue(glassesHandle, out var wandPair)
                || !wandPair.TryGet(controllerIndex, out var wandCore))
            {
                pressed = false;
                return false;
            }
 
            return wandCore.TryGetButton(button, out pressed);
        }
 
        internal static bool GetButtonDown(WandButton button,
            GlassesHandle glassesHandle, ControllerIndex controllerIndex = ControllerIndex.Right)
        {
            if (!Instance.wandCores.TryGetValue(glassesHandle, out var wandPair)
                || !wandPair.TryGet(controllerIndex, out var wandCore))
            {
                return false;
            }
 
            return wandCore.GetButtonDown(button);
        }
 
        internal static bool TryGetButtonDown(WandButton button, out bool buttonDown,
            GlassesHandle glassesHandle, ControllerIndex controllerIndex = ControllerIndex.Right)
        {
            if (!Instance.wandCores.TryGetValue(glassesHandle, out var wandPair)
                || !wandPair.TryGet(controllerIndex, out var wandCore))
            {
                buttonDown = false;
                return false;
            }
 
            return wandCore.TryGetButtonDown(button, out buttonDown);
        }
 
        internal static bool GetButtonUp(WandButton button,
            GlassesHandle glassesHandle, ControllerIndex controllerIndex = ControllerIndex.Right)
        {
            if (Instance.wandCores.TryGetValue(glassesHandle, out var wandPair)
                || !wandPair.TryGet(controllerIndex, out var wandCore))
            {
                // TODO: Handle corner case in which wandCore existed during the previous frame, and the button was pressed
                // We'd want to return true in that scenario.
                return false;
            }
 
            return wandCore.GetButtonUp(button);
        }
 
        internal static bool TryGetButtonUp(WandButton button, out bool buttonUp,
            GlassesHandle glassesHandle, ControllerIndex controllerIndex = ControllerIndex.Right)
        {
            if (!Instance.wandCores.TryGetValue(glassesHandle, out var wandPair)
                || !wandPair.TryGet(controllerIndex, out var wandCore))
            {
                // TODO: Handle corner case in which wandCore existed during the previous frame, and the button was pressed.
                // We'd want to return true in that scenario.
                buttonUp = false;
                return false;
            }
 
            return wandCore.TryGetButtonUp(button, out buttonUp);
        }
 
        internal static Vector2 GetStickTilt(GlassesHandle glassesHandle, ControllerIndex controllerIndex = ControllerIndex.Right)
        {
            if (Instance.wandCores.TryGetValue(glassesHandle, out var wandPair)
                || !wandPair.TryGet(controllerIndex, out var wandCore))
            {
                return Vector2.zero;
            }
 
            return wandCore.GetStickTilt();
        }
 
        internal static bool TryGetStickTilt(out Vector2 stickTilt,
            GlassesHandle glassesHandle, ControllerIndex controllerIndex = ControllerIndex.Right)
        {
            if (!Instance.wandCores.TryGetValue(glassesHandle, out var wandPair)
                || !wandPair.TryGet(controllerIndex, out var wandCore))
            {
                stickTilt = Vector2.zero;
                return false;
            }
 
            return wandCore.TryGetStickTilt(out stickTilt);
        }
 
        internal static float GetTrigger(GlassesHandle glassesHandle, ControllerIndex controllerIndex = ControllerIndex.Right)
        {
            if (!Instance.wandCores.TryGetValue(glassesHandle, out var wandPair)
                || !wandPair.TryGet(controllerIndex, out var wandCore))
            {
                return 0f;
            }
 
            return wandCore.GetTrigger();
        }
 
        internal static bool TryGetTrigger(out float triggerDisplacement,
            GlassesHandle glassesHandle, ControllerIndex controllerIndex = ControllerIndex.Right)
        {
            if (!Instance.wandCores.TryGetValue(glassesHandle, out var wandPair)
                || !wandPair.TryGet(controllerIndex, out var wandCore))
            {
                triggerDisplacement = 0f;
                return false;
            }
 
            return wandCore.TryGetTrigger(out triggerDisplacement);
        }
 
        internal static bool TryGetWandControlsState(GlassesHandle glassesHandle, out T5_ControllerState? controllerState,
            ControllerIndex controllerIndex = ControllerIndex.Right)
        {
            int result = 1;
 
            try
            {
                T5_ControllerState state = new T5_ControllerState();
                result = NativePlugin.GetControllerState(glassesHandle, controllerIndex, ref state);
                controllerState = (result == 0)
                    ? state
                    : (T5_ControllerState?)null;
            }
            catch (Exception e)
            {
                controllerState = null;
                Log.Error(e.Message);
            }
 
            return (0 == result);
        }
 
        #endregion Internal Functions
 
 
        #region Private Functions
 
        private WandCore ObtainWandCore(GlassesHandle glassesHandle, ControllerIndex controllerIndex)
        {
            WandCore wandCore = null;
            var glassesAlreadyMonitored = wandCores.TryGetValue(glassesHandle, out var wandPair);
 
            // Ask the native plugin whether this wand is currently connected.
            if (TryGetWandAvailability(out var wandConnected, glassesHandle, controllerIndex) && wandConnected)
            {
                // If we're not already monitoring this wand, go ahead and create a corresponding WandCore.
                if (!glassesAlreadyMonitored || !wandPair.TryGet(controllerIndex, out wandCore))
                {
#if UNITY_2019_1_OR_NEWER && INPUTSYSTEM_AVAILABLE
                    wandCore = new WandDeviceCore(glassesHandle, controllerIndex);
#else
                    wandCore = new WandCore(glassesHandle, controllerIndex);
#endif
                }
                return wandCore;
            }
            // If this wand is disconnected and we were previously monitoring it, mark it as disconnected
            else if(glassesAlreadyMonitored && wandPair.TryGet(controllerIndex, out var lostWandCore))
            {
                lostWands.Add(lostWandCore);
            }
 
            return wandCore;
        }
 
        #endregion Private Functions
 
 
        #region Private Classes
 
        private class WandCore : TrackableCore<WandSettings, T5_ControllerState>, IDisposable
        {
            #region Public Fields
 
            public readonly GlassesHandle glassesHandle;
            public readonly ControllerIndex controllerIndex;
 
            public Pose fingertipsPose_GameboardSpace = new Pose(DEFAULT_WAND_POSITION_GAME_BOARD_SPACE, Quaternion.identity);
            public Pose aimPose_GameboardSpace = new Pose(DEFAULT_WAND_POSITION_GAME_BOARD_SPACE, Quaternion.identity);
 
            public Pose gripPose_UnityWorldSpace => pose_UWRLD;
            public Pose fingertipsPose_UnityWorldSpace;
            public Pose aimPose_UnityWorldSpace;
 
            protected T5_ControllerState? currentState;
            protected T5_ControllerState? previousState;
 
            #endregion Public Fields
 
 
            #region Public Functions
 
            public WandCore(GlassesHandle glassesHandle, ControllerIndex controllerIndex)
            {
                this.glassesHandle = glassesHandle;
                this.controllerIndex = controllerIndex;
 
                Glasses.TryGetFriendlyName(glassesHandle, out var friendlyName);
                Log.Info($"Glasses {glassesHandle} (\"{friendlyName}\") {Enum.GetName(typeof(ControllerIndex), controllerIndex)} Wand connected");
            }
 
            public virtual void GetLatestInputs()
            {
                previousState = currentState;
 
                try
                {
                    T5_ControllerState state = new T5_ControllerState();
 
                    var result = NativePlugin.GetControllerState(glassesHandle, controllerIndex, ref state);
 
                    currentState = (result == 0)
                        ? state
                        : (T5_ControllerState?)null;
                }
                catch (Exception e)
                {
                    currentState = null;
                    Log.Error(e.Message);
                }
            }
 
            public bool GetButton(WandButton button)
            {
                // If the wand isn't connected, GetButton() should return a default value of false.
                return currentState?.GetButton(button) ?? false;
            }
 
            public bool TryGetButton(WandButton button, out bool pressed)
            {
                pressed = currentState?.GetButton(button) ?? false;
 
                // If the wand isn't connected, TryGetButton() should fail.
                return currentState.HasValue;
            }
 
            public bool GetButtonDown(WandButton button)
            {
 
                // If the current wand state is null, the wand isn't connected.
                // If so, let the application assume the user isn't pressing the button currently.
                var pressed = currentState?.GetButton(button) ?? false;
 
                // If the previous wand state is null, the wand wasn't connected.
                // If so, let the application assume the user wasn't pressing the button last frame.
                var previouslyPressed = previousState?.GetButton(button) ?? false;
 
                // The wand could potentially connect while the user is holding a button, so just report the button state.
                if (!previousState.HasValue && currentState.HasValue)
                {
                    return pressed;
                }
                // Return true if the button is currently pressed, but was unpressed on the previous frame.
                return pressed && !previouslyPressed;
            }
 
            public bool TryGetButtonDown(WandButton button, out bool buttonDown)
            {
                // Even if this operation fails, give buttonDown a default value.
                buttonDown = GetButtonDown(button);
                return currentState.HasValue;
            }
 
            public bool GetButtonUp(WandButton button)
            {
                // If the current wand state is null, the wand isn't connected.
                // If so, let the application assume the user isn't pressing the button currently.
                var pressed = currentState?.GetButton(button) ?? false;
 
                // If the previous wand state is null, the wand wasn't connected.
                // If so, let the application assume the user wasn't pressing the button last frame.
                var previouslyPressed = previousState?.GetButton(button) ?? false;
 
                // Return true if the button is currently released, but was pressed on the previous frame.
                return previousState.HasValue
                    ? !pressed && previouslyPressed
                    // If the current state exists but the previous state was null, the wand has just connected.
                    // There's no way for the button to be pressed during the previous frame,
                    // so there's no way for the button to have been released this frame. Always return false.
                    : false;
            }
 
            public bool TryGetButtonUp(WandButton button, out bool buttonUp)
            {
                // Even if this operation fails, give buttonUp a default value.
                buttonUp = GetButtonUp(button);
                return currentState.HasValue;
            }
 
            public Vector2 GetStickTilt()
            {
                return currentState?.Stick ?? Vector2.zero;
            }
 
            public bool TryGetStickTilt(out Vector2 stickTilt)
            {
                stickTilt = GetStickTilt();
                return currentState.HasValue;
            }
 
            public float GetTrigger()
            {
                return currentState?.Trigger ?? 0.0f;
            }
 
            public bool TryGetTrigger(out float triggerDisplacement)
            {
                triggerDisplacement = GetTrigger();
                return currentState.HasValue;
            }
 
            #endregion Public Functions
 
 
            #region Overrides
 
            public new void Reset(WandSettings wandSettings)
            {
                base.Reset(wandSettings);
            }
 
            public new virtual void Update(WandSettings wandSettings, ScaleSettings scaleSettings, GameBoardSettings gameBoardSettings)
            {
                if (wandSettings == null)
                {
                    Log.Error("WandSettings configuration required for Wand tracking updates.");
                    return;
                }
 
                base.Update(wandSettings, scaleSettings, gameBoardSettings);
            }
 
            protected override void SetDefaultPoseGameboardSpace(WandSettings settings)
            {
                pose_UGBD = GetDefaultPoseGameboardSpace(settings);
                // We don't have a good offset that we can use for default fingertips/aim poses, so just use the default pose for everything
                fingertipsPose_GameboardSpace = pose_UGBD;
                aimPose_GameboardSpace = pose_UGBD;
            }
 
            protected static Pose GetDefaultPoseGameboardSpace(WandSettings settings)
            {
                Vector3 defaultPosition = DEFAULT_WAND_POSITION_GAME_BOARD_SPACE;
 
                defaultPosition += DEFAULT_WAND_HANDEDNESS_OFFSET_GAME_BOARD_SPACE
                    * (settings.controllerIndex == ControllerIndex.Right ? 1f : -1f);
                return new Pose(defaultPosition, DEFAULT_WAND_ROTATION_GAME_BOARD_SPACE);
            }
 
            protected override void SetPoseUnityWorldSpace(ScaleSettings scaleSettings, GameBoardSettings gameBoardSettings)
            {
                pose_UWRLD = GameboardToWorldSpace(pose_UGBD, scaleSettings, gameBoardSettings);
                fingertipsPose_UnityWorldSpace = GameboardToWorldSpace(fingertipsPose_GameboardSpace, scaleSettings, gameBoardSettings);
                aimPose_UnityWorldSpace = GameboardToWorldSpace(aimPose_GameboardSpace, scaleSettings, gameBoardSettings);
            }
 
            protected override bool TryCheckConnected(out bool connected)
            {
                if (!wandAvailabilityErroredOnce)
                {
                    try
                    {
                        T5_Bool wandAvailable = false;
                        int result = NativePlugin.GetWandAvailability(glassesHandle, ref wandAvailable, controllerIndex);
 
                        if (result == 0)
                        {
                            isConnected = wandAvailable;
                            connected = wandAvailable;
                            return true;
                        }
                    }
                    catch (DllNotFoundException e)
                    {
                        Log.Info("Could not connect to Tilt Five plugin for wand: {0}", e.Message);
                        wandAvailabilityErroredOnce = true;
                    }
                    catch (Exception e)
                    {
                        Log.Error(
                            "Failed to connect to Tilt Five plugin for wand availability: {0}",
                            e.ToString());
                        wandAvailabilityErroredOnce = true;
                    }
                }
 
                isConnected = false;
                connected = false;
                return false;
            }
 
            protected override bool TryGetStateFromPlugin(out T5_ControllerState controllerState, out bool poseIsValid, GameBoardSettings gameBoardSettings)
            {
                if (!TryGetWandControlsState(glassesHandle, out var controllerStateResult, controllerIndex))
                {
                    poseIsValid = false;
                    controllerState = new T5_ControllerState();
 
                    return false;
                }
 
                controllerState = controllerStateResult.Value;
                poseIsValid = Glasses.IsTracked(glassesHandle) && controllerState.PoseValid;
 
                return true;
            }
 
            protected override void SetPoseGameboardSpace(in T5_ControllerState controllerState,
                WandSettings wandSettings, ScaleSettings scaleSettings, GameBoardSettings gameboardSettings)
            {
                // Unity reference frames:
                //
                // UWND        - Unity WaND local space.
                //               +x right, +y up, +z forward
                // UGBD        - Unity Gameboard space.
                //               +x right, +y up, +z forward
                //
                // Tilt Five reference frames:
                //
                // DW          - Our right-handed version of Unity's default wand space.
                //               +x right, +y down, +z forward
                // GBD         - Gameboard space.
                //               +x right, +y forward, +z up
 
                Vector3 gripPosition_UGBD = ConvertPosGBDToUGBD(controllerState.GripPos_GBD);
                Vector3 fingertipsPosition_UGBD = ConvertPosGBDToUGBD(controllerState.FingertipsPos_GBD);
                Vector3 aimPosition_UGBD = ConvertPosGBDToUGBD(controllerState.AimPos_GBD);
                var rotation_UGBD = CalculateRotation(controllerState.RotToWND_GBD);
 
                ProcessTrackingData(gripPosition_UGBD, fingertipsPosition_UGBD, aimPosition_UGBD,
                    rotation_UGBD, wandSettings, scaleSettings, gameboardSettings,
                    out pose_UGBD, out fingertipsPose_GameboardSpace, out aimPose_GameboardSpace);
            }
 
            protected override void SetInvalidPoseGameboardSpace(in T5_ControllerState t5_ControllerState, WandSettings settings, ScaleSettings scaleSettings, GameBoardSettings gameboardSettings)
            {
                SetPoseGameboardSpace(t5_ControllerState, settings, scaleSettings, gameboardSettings);
            }
 
            protected override void SetDrivenObjectTransform(WandSettings wandSettings, ScaleSettings scaleSettings, GameBoardSettings gameBoardSettings)
            {
                if (wandSettings.GripPoint != null)
                {
                    wandSettings.GripPoint.transform.SetPositionAndRotation(gripPose_UnityWorldSpace.position, gripPose_UnityWorldSpace.rotation);
                }
 
                if (wandSettings.FingertipPoint != null)
                {
                    wandSettings.FingertipPoint.transform.SetPositionAndRotation(fingertipsPose_UnityWorldSpace.position, fingertipsPose_UnityWorldSpace.rotation);
                }
 
                if (wandSettings.AimPoint != null)
                {
                    wandSettings.AimPoint.transform.SetPositionAndRotation(aimPose_UnityWorldSpace.position, aimPose_UnityWorldSpace.rotation);
                }
            }
 
            public virtual void Dispose()
            {
                Log.Info($"Glasses {glassesHandle} {controllerIndex} Wand disconnected");
            }
 
            #endregion Overrides
 
 
            #region Private Helper Functions
 
            protected Quaternion CalculateRotation(Quaternion rotToWND_GBD)
            {
                Quaternion rotToDW_GBD = Quaternion.AngleAxis(90f, Vector3.right);
                Quaternion rotToGBD_DW = Quaternion.Inverse(rotToDW_GBD);
                Quaternion rotToWND_DW = rotToWND_GBD * rotToGBD_DW;
                Quaternion rotToUGBD_UWND = new Quaternion(rotToWND_DW.x, -rotToWND_DW.y, rotToWND_DW.z, rotToWND_DW.w);
                return rotToUGBD_UWND;
            }
 
            protected void ProcessTrackingData(Vector3 gripPosition_UGBD, Vector3 fingertipsPosition_UGBD, Vector3 aimPosition_UGBD, Quaternion rotToUGBD_WND,
                WandSettings wandSettings, ScaleSettings scaleSettings, GameBoardSettings gameBoardSettings,
                out Pose gripPose_UGBD, out Pose fingertipsPose_UGBD, out Pose aimPose_UGBD)
            {
                var incomingGripPose_UGBD = new Pose(gripPosition_UGBD, rotToUGBD_WND);
                var incomingFingertipsPose_UGBD = new Pose(fingertipsPosition_UGBD, rotToUGBD_WND);
                var incomingAimPose_UGBD = new Pose(aimPosition_UGBD, rotToUGBD_WND);
 
                // Get the distance between the tracking points and the grip point.
                // Currently, when a pose is considered invalid, the position and rotation reported by the native plugin are completely zero'd out.
                // This crunches the tracking points together unless we consider the stale positions from the previous frame.
                // It also means that we don't get the desired behavior for TrackingFailureMode.FreezePosition,
                // in which the wand position freezes while still showing rotation values reported by the IMU.
                // TODO: In the native plugin, even for invalid poses (both wand and glasses, which are also affected),
                // include an offset for the tracking points, and pass through rotation data.
                var staleGripPose_UGBD = pose_UGBD;
                var staleFingertipsPose_UGBD = fingertipsPose_GameboardSpace;
                var staleAimPose_UGBD = aimPose_GameboardSpace;
 
                var gripPointOffsetDistance = 0f;
                var fingertipsPointOffsetDistance = Mathf.Max((fingertipsPosition_UGBD - gripPosition_UGBD).magnitude,
                    (staleFingertipsPose_UGBD.position - staleGripPose_UGBD.position).magnitude);
                var aimPointOffsetDistance = Mathf.Max((aimPosition_UGBD - gripPosition_UGBD).magnitude,
                    (staleAimPose_UGBD.position - staleGripPose_UGBD.position).magnitude);
 
                // Handle invalid poses
                gripPose_UGBD = FilterTrackingPointPose(staleGripPose_UGBD, staleGripPose_UGBD, incomingGripPose_UGBD, gripPointOffsetDistance, wandSettings);
                fingertipsPose_UGBD = FilterTrackingPointPose(staleGripPose_UGBD, staleFingertipsPose_UGBD, incomingFingertipsPose_UGBD, fingertipsPointOffsetDistance, wandSettings);
                aimPose_UGBD = FilterTrackingPointPose(staleGripPose_UGBD, staleAimPose_UGBD, incomingAimPose_UGBD, aimPointOffsetDistance, wandSettings);
 
            }
 
            protected Pose FilterTrackingPointPose(Pose staleGripPointPose, Pose staleTrackingPointPose,
                Pose newTrackingPointPose, float trackingPointOffsetDistance, WandSettings settings)
            {
                if (!isTracked && settings.RejectUntrackedPositionData)
                {
                    switch (settings.FailureMode)
                    {
                        default:
                        // If we have an undefined FailureMode for some reason, fall through to FreezePosition
                        case TrackableSettings.TrackingFailureMode.FreezePosition:
                            // We need to determine where to put each tracking point.
                            // We only want to freeze the position of the grip point while allowing the other
                            // points to rotate around it, colinear to the grip point's forward vector.
                            var extrapolatedPosition = staleGripPointPose.position +
                                Quaternion.Inverse(newTrackingPointPose.rotation) * Vector3.forward * trackingPointOffsetDistance;
                            return new Pose(extrapolatedPosition, newTrackingPointPose.rotation);
                        case TrackableSettings.TrackingFailureMode.FreezePositionAndRotation:
                            return staleTrackingPointPose;
                        case TrackableSettings.TrackingFailureMode.SnapToDefault:
                            return GetDefaultPoseGameboardSpace(settings);
                    }
                }
                else
                {
                    return newTrackingPointPose;
                }
            }
 
            #endregion Private Helper Functions
        }
 
#if UNITY_2019_1_OR_NEWER && INPUTSYSTEM_AVAILABLE
        private class WandDeviceCore : WandCore
        {
            internal WandDevice wandDevice;
 
            private enum TrackingState : int
            {
                None,
                Limited,
                Tracking
            }
 
            public WandDeviceCore(GlassesHandle glassesHandle, ControllerIndex controllerIndex) : base(glassesHandle, controllerIndex)
            {
                if(Glasses.TryGetGlassesDevice(glassesHandle, out var glassesDevice))
                {
                    wandDevice = Input.GetWandDevice(glassesDevice.PlayerIndex, controllerIndex);
                    InputSystem.QueueConfigChangeEvent(wandDevice);
                    InputSystem.EnableDevice(wandDevice);
 
                    var inputUserCount = InputUser.all.Count;
                    var playerIndex = (int)glassesDevice.PlayerIndex;
                    var headPoseRoot = Glasses.GetPoseRoot(glassesDevice.PlayerIndex);
 
                    if (headPoseRoot != null && inputUserCount >= playerIndex)
                    {
                        var playerInput = headPoseRoot.GetComponentInChildren<PlayerInput>();
 
                        if(playerInput != null)
                        {
                            InputUser.PerformPairingWithDevice(wandDevice, playerInput.user);
                        }
                    }
                }
            }
 
            public override void Dispose()
            {
                base.Dispose();
                InputSystem.QueueConfigChangeEvent(wandDevice);
                InputSystem.DisableDevice(wandDevice);
            }
 
            public override void GetLatestInputs()
            {
                base.GetLatestInputs();
 
                // If the wandDevice isn't added to the input system for any reason,
                // don't bother queueing any delta state events.
                if (!wandDevice.added || !wandDevice.enabled)
                {
                    return;
                }
 
                InputSystem.QueueDeltaStateEvent(wandDevice.TiltFive, currentState.HasValue && currentState.Value.TryGetButton(WandButton.T5));
                InputSystem.QueueDeltaStateEvent(wandDevice.One, currentState.HasValue && currentState.Value.TryGetButton(WandButton.One));
                InputSystem.QueueDeltaStateEvent(wandDevice.Two, currentState.HasValue && currentState.Value.TryGetButton(WandButton.Two));
                InputSystem.QueueDeltaStateEvent(wandDevice.Three, currentState.HasValue && currentState.Value.TryGetButton(WandButton.Three));
                InputSystem.QueueDeltaStateEvent(wandDevice.A, currentState.HasValue && currentState.Value.TryGetButton(WandButton.A));
                InputSystem.QueueDeltaStateEvent(wandDevice.B, currentState.HasValue && currentState.Value.TryGetButton(WandButton.B));
                InputSystem.QueueDeltaStateEvent(wandDevice.X, currentState.HasValue && currentState.Value.TryGetButton(WandButton.X));
                InputSystem.QueueDeltaStateEvent(wandDevice.Y, currentState.HasValue && currentState.Value.TryGetButton(WandButton.Y));
 
                InputSystem.QueueDeltaStateEvent(wandDevice.Stick, currentState.HasValue ? currentState.Value.TryGetStick() : Vector2.zero);
                InputSystem.QueueDeltaStateEvent(wandDevice.Trigger, currentState.HasValue ? currentState.Value.TryGetTrigger() : 0f);
            }
 
            protected override void SetDrivenObjectTransform(WandSettings wandSettings, ScaleSettings scaleSettings, GameBoardSettings gameBoardSettings)
            {
                base.SetDrivenObjectTransform(wandSettings, scaleSettings, gameBoardSettings);
 
                // If the wandDevice isn't added to the input system for any reason,
                // don't bother queueing any delta state events.
                if (!wandDevice.added || !wandDevice.enabled)
                {
                    return;
                }
            
                // Time to inject our wand state into the Input System.
                QueueDeltaStateEvent(wandDevice.devicePosition, pose_UWRLD.position);
                QueueDeltaStateEvent(wandDevice.FingertipsPosition, fingertipsPose_UnityWorldSpace.position);
                QueueDeltaStateEvent(wandDevice.AimPosition, aimPose_UnityWorldSpace.position);
 
                QueueDeltaStateEvent(wandDevice.RawGripPosition, pose_UGBD.position);
                QueueDeltaStateEvent(wandDevice.RawFingertipsPosition, fingertipsPose_GameboardSpace.position);
                QueueDeltaStateEvent(wandDevice.RawAimPosition, aimPose_GameboardSpace.position);
 
                QueueDeltaStateEvent(wandDevice.deviceRotation, pose_UWRLD.rotation);
                QueueDeltaStateEvent(wandDevice.RawRotation, pose_UGBD.rotation);
 
                InputSystem.QueueDeltaStateEvent(wandDevice.isTracked, isTracked);
 
                var trackingState = TrackingState.Tracking;
                if (!isTracked)
                {
                    trackingState = wandSettings.FailureMode == TrackableSettings.TrackingFailureMode.FreezePosition
                        ? TrackingState.Limited
                        : TrackingState.None;
                }
 
                InputSystem.QueueDeltaStateEvent(wandDevice.trackingState, (int)trackingState);
            }
 
            private static void QueueDeltaStateEvent(Vector3Control vector3Control, Vector3 delta)
            {
                InputSystem.QueueDeltaStateEvent(vector3Control.x, delta.x);
                InputSystem.QueueDeltaStateEvent(vector3Control.y, delta.y);
                InputSystem.QueueDeltaStateEvent(vector3Control.z, delta.z);
            }
 
            // For some reason, using QueueDeltaStateEvent on a QuaternionControl with a Quaternion as the delta state doesn't work.
            // As a workaround, let's do it component-wise, since we know floats seem fine.
            private static void QueueDeltaStateEvent(QuaternionControl quaternionControl, Quaternion delta)
            {
                InputSystem.QueueDeltaStateEvent(quaternionControl.w, delta.w);
                InputSystem.QueueDeltaStateEvent(quaternionControl.x, delta.x);
                InputSystem.QueueDeltaStateEvent(quaternionControl.y, delta.y);
                InputSystem.QueueDeltaStateEvent(quaternionControl.z, delta.z);
            }
        }
#endif
 
        #endregion Private Classes
    }
 
}