Class: cRigidBodySettings

There is a known issue where default constructor for Rigidbody setting is not set. We will be addressing this issue in the next release. Until then, please create a Rigid Body in Motive and use the existing definitions.

cRigidBodySettings class contains all of setting variables for configuring Rigid Body asset properties.

RigidBodySolver::cRigidBodySettings

In the Motive API, you can use...

• TT_RigidBodySettings function to obtain and save configured Rigid Body settings in to a cRigidBodySettings instance.

• TT_SetRigidBodySettings function to assign a cRigidBodySettings instance to a Rigid Body asset in order to apply the settings.

• Refer to the below source code for Rigid Body properties available in the cRigidBodySettings class.

• For more information on each settings read through the Properties: Rigid Body page.

Declaration: RigidBodySetting.h

namespace RigidBodySolver
{
    const int kRigidBodyNameMaxLen = 32;
    const int kRigidBodyModelNameMaxLen = 256;

    class cRigidBodySettings
    {
    public:
        cRigidBodySettings();

        void  Save( Core::cIWriter *serial ) const;
        void  Load( Core::cIReader *serial );

        wchar_t  mName     [kRigidBodyNameMaxLen];
        wchar_t  mModelName[kRigidBodyModelNameMaxLen];

        int   UserData;
        float ColorR;
        float ColorG;
        float ColorB;

        float MaxFrameRotation;             //== deprecated
        float MaxFrameTranslation;          //== deprecated

        bool  DynamicRotationConstraint;    //== deprecated
        bool  DynamicTranslationConstraint; //== deprecated
        int   DynamicConstraintFrames;

        double Smoothing;                   // in the range [0,1]
        double PredictionTime;              // the amount of time to predict the solution forward, in fractional frames

        bool   Visible;
        bool   DisplayUntracked;
        bool   DisplayPivot;
        bool   DisplayUntrackedMarkers;
        bool   DisplayMarkerQuality;
        bool   DisplayQuality;
        bool   DisplayTracked;
        bool   DisplayLabel;
        bool   DisplayOrientation;
        bool   DisplayModelReplace;

        float  ModelYaw;
        float  ModelPitch;
        float  ModelRoll;
        float  ModelX;
        float  ModelY;
        float  ModelZ;
        float  ModelScale;

        bool   DisplayPositionHistory;
        bool   DisplayOrientationHistory;
        int    DisplayHistoryLength;
        int    DisplayOrientationSpread;
        int    DisplayOrientationSize;

        //== Static constraint ==--

        bool    StaticOrientationConstraint;
        double  StaticConstraintX;
        double  StaticConstraintY;
        double  StaticConstraintZ;
        double  StaticConstraintAngle;

        // Solver settings
        bool    Enabled;
        float   MaxMarkerDeflection;
        int     MinimumMarkerCount;
        int     MinimumHitCount;         //== deprecated
        float   Flexibility;
        bool    ShareMarkers;
        bool    Unique;
        double  MaxCalculationTime;
        int     AcquisitionFrames;

        bool    LocalizeSearch;

        enum eTrackingAlgorithms
        {
            Algorithm_Auto = 0,
            Algorithm_MarkerBased,
            Algorithm_RayBased,
            Algorithm_RayBasedPlus,
            Algorithm_RayBasedUltimate,
            Algorithm_Unspecified
        };

        eTrackingAlgorithms TrackingAlgorithmLevel;
    };
}

Rigid Body Properties

Most of the settings in the cRigidBodySettings class is described in the Properties: Rigid Body page.

cRigidBodySettings class contains all of setting variables for configuring Rigid Body asset properties.

RigidBodySolver::cRigidBodySettings

In the Motive API, you can use...

• TT_RigidBodySettings function to obtain and save configured Rigid Body settings in to a cRigidBodySettings instance.

• TT_SetRigidBodySettings function to assign a cRigidBodySettings instance to a Rigid Body asset in order to apply the settings.

• Refer to the below source code for Rigid Body properties available in the cRigidBodySettings class.

• For more information on each settings read through the Properties: Rigid Body page.

Declaration: RigidBodySetting.h

namespace RigidBodySolver
{
    const int kRigidBodyNameMaxLen = 32;
    const int kRigidBodyModelNameMaxLen = 256;

    class cRigidBodySettings
    {
    public:
        cRigidBodySettings();

        void  Save( Core::cIWriter *serial ) const;
        void  Load( Core::cIReader *serial );

        wchar_t  mName     [kRigidBodyNameMaxLen];
        wchar_t  mModelName[kRigidBodyModelNameMaxLen];

        int   UserData;
        float ColorR;
        float ColorG;
        float ColorB;

        float MaxFrameRotation;             //== deprecated
        float MaxFrameTranslation;          //== deprecated

        bool  DynamicRotationConstraint;    //== deprecated
        bool  DynamicTranslationConstraint; //== deprecated
        int   DynamicConstraintFrames;

        double Smoothing;                   // in the range [0,1]
        double PredictionTime;              // the amount of time to predict the solution forward, in fractional frames

        bool   Visible;
        bool   DisplayUntracked;
        bool   DisplayPivot;
        bool   DisplayUntrackedMarkers;
        bool   DisplayMarkerQuality;
        bool   DisplayQuality;
        bool   DisplayTracked;
        bool   DisplayLabel;
        bool   DisplayOrientation;
        bool   DisplayModelReplace;

        float  ModelYaw;
        float  ModelPitch;
        float  ModelRoll;
        float  ModelX;
        float  ModelY;
        float  ModelZ;
        float  ModelScale;

        bool   DisplayPositionHistory;
        bool   DisplayOrientationHistory;
        int    DisplayHistoryLength;
        int    DisplayOrientationSpread;
        int    DisplayOrientationSize;

        //== Static constraint ==--

        bool    StaticOrientationConstraint;
        double  StaticConstraintX;
        double  StaticConstraintY;
        double  StaticConstraintZ;
        double  StaticConstraintAngle;

        // Solver settings
        bool    Enabled;
        float   MaxMarkerDeflection;
        int     MinimumMarkerCount;
        int     MinimumHitCount;         //== deprecated
        float   Flexibility;
        bool    ShareMarkers;
        bool    Unique;
        double  MaxCalculationTime;
        int     AcquisitionFrames;

        bool    LocalizeSearch;

        enum eTrackingAlgorithms
        {
            Algorithm_Auto = 0,
            Algorithm_MarkerBased,
            Algorithm_RayBased,
            Algorithm_RayBasedPlus,
            Algorithm_RayBasedUltimate,
            Algorithm_Unspecified
        };

        eTrackingAlgorithms TrackingAlgorithmLevel;
    };
}

Rigid Body Properties

Most of the settings in the cRigidBodySettings class is described in the Properties: Rigid Body page.

General

Name

Allows a custom name to be assigned to the Rigid Body. Default is "Rigid Body X" where x is the Rigid Body ID.

Enable

Enables/Disables tracking of the selected Rigid Body. Disabled Rigid Bodies will not be tracked, and its data will not be included in the exported or streamed tracking data.

Streaming ID

User definable ID for the selected Rigid Body. When working with capture data in the external pipeline, this value can be used to address specific Rigid Bodies in the scene.

Minimum Markers to Boot

The minimum number of markers that must be tracked and labeled in order for a Rigid Body asset, or each Skeleton bone, to be booted or first tracked.

Minimum Markers to Continue

The minimum number of markers that must be tracked and labeled in order for a Rigid Body asset, or each Skeleton bone, to continue to be tracked after the initial boot.

Rotation Order

_[Advanced]_The order of the Euler axis used for calculating the orientation of the Rigid Body and Skeleton bones. Motive computes orientations in Quaternion and converts them into an Euler representation as needed. For exporting specific Euler angles, it's recommended to configure it from the Exporter settings, or for streaming, convert Quaternion into Euler angles on the client-side.

Rigid body properties listed under the Properties pane.

Visuals

Label

Selects whether or not to display the Rigid Body name in the 3D Perspective View. If selected, a small label in the same color as the Rigid Body will appear over the centroid in the 3D Perspective View.

Visual

Show the corresponding Rigid Body in the 3D viewport when it is tracked by the camera system.

Color

Color of the selected Rigid Body in the 3D Perspective View. Clicking on the box will bring up the color picker for selecting the color.

Bones

For Rigid Bodies, this property shows, or hides, visuals of the Rigid Body pivot point.

Bone Orientation

[Advanced] Enables the display of a Rigid Body's local coordinate axes. This option can be useful in visualizing the orientation of the Rigid Body, and for setting orientation offsets.

Bone Position History

Shows a history of the Rigid Body’s position. When enabled, you can set the history length and the tracking history will be drawn in the Perspective view.

Asset Model Markers

Shows the Asset Model Markers as transparent spheres on the Rigid Body. Asset mode markers are the expected marker locations according to the Rigid Body solve.

Asset Model Lines

Draws lines between labeled Rigid Body or Skeleton markers and corresponding expected marker locations. This helps to visualize the offset distance between actual marker locations and the asset model markers.

Untracked Markers

[Advanced] When enabled, all markers that are part of the Rigid Body definition will be dimmed, but still visible, when not present in the point cloud.

Replace Geometry

When a valid geometric model is loaded in the Attached Geometry section, the model will be displayed instead of a Rigid Body when this entry is set to true.

Attached Geometry

Attached Geometry setting will be visible if the Replace Geometry setting is enabled. Here, you can load an OBJ file to replace the Rigid Body. Scale, positions, and orientations of the attached geometry can be configured under the following section also. When a OBJ file is loaded, properties configured in the corresponding MTL files alongside the OBJ file will be loaded as well.

Rigid body asset display properties.

Choosing color for a Rigid Body.

Position history setting enabled on a Rigid Body.

Attached Geometry Settings

When the Attached Geometry is enabled, you can attach a 3D model to a Rigid Body and the following setting will be available also.

• Pivot Scale: Adjusts the size of the Rigid Body pivot point.

• Scale: Rescales the size of attached object.

• Yaw (Y): Rotates the attached object in respect to the Y-axis of the Rigid Body coordinate axis.

• Pitch (X): Rotates the attached object in respect to the X-axis of the Rigid Body coordinate axis.

• Roll (Z): Rotates the attached object in respect to the Z-axis of the Rigid Body coordinate axis.

• X: Translate the position of attached object in x-axis in respect to the Rigid Body coordinate.

• Y: Translate the position of attached object in y-axis in respect to the Rigid Body coordinate.

• Z: Translate the position of attached object in z-axis in respect to the Rigid Body coordinate.

• Opacity: Sets the opacity of an attached object. An OBJ file typically comes with a corresponding MTL file which defines its properties, and the transparency of the object is defined within these MTL files. The Opacity value under the Rigid Body properties applies a factor between 0 ~ 1 in order to rescale the loaded property. In other words, you can set the transparency in the MTL file and rescale them using the Opacity property in Motive.

A OBJ file of a basketball attached to a Rigid Body.

IMU

IMU feature is not fully supported in Motive 3.x. Please use Motive 2.3 for using IMU active components.

IMU Active Tags/Pucks: IMU settings are applicable only to Active Tags and Pucks that are equipped with IMU sensors. This feature is not fully supported in Motive 3.x; please use Motive 2.3 version. Please refer to the Motive 2.3 wiki page for more details on how to set up the IMU active components

Uplink ID

Uplink ID assigned to the Tag or Puck using the Active Batch Programmer. This ID must match with the Uplink ID assigned to the Active Tag or Puck that was used to create the Rigid Body.

RF Channel

Radio frequency communication channel configured on the Active Tag, or Puck, that was used to define the corresponding Rigid Body. This must match the RF channel configured on the active component; otherwise, IMU data will not be received.

Smoothing and Damping

Smoothing

Applies double exponential smoothing to translation and rotation of the Rigid Body. Increasing this setting may help smooth out noise in the Rigid Body tracking, but excessive smoothing can introduce latency. Default is 0 (disabled).

Forward Prediction

Compensate for system latency when tracking of the corresponding Rigid Body by predicting its movement into the future. Please note that predicting further into the future may impact the tracking stability.

Damping

[Advanced] When needed, you can damp down translational and/or rotational tracking of a Rigid Body or a Skeleton bone on selected axis.