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Add NatNet 4.2 protocol support - quaternion field in rigid body descriptions #7

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Merged
TimSchneider42 merged 3 commits into from
Feb 6, 2026
Merged

Add NatNet 4.2 protocol support - quaternion field in rigid body descriptions #7

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bf5fa1a
Initial plan
Copilot Feb 6, 2026
6523437
Add natnet 4.2 support with quaternion field in RigidBodyDescription
Copilot Feb 6, 2026
353ee58
Remove .gitignore from PR as requested
Copilot Feb 6, 2026
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8 changes: 7 additions & 1 deletion natnet/data_descriptions.py
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Original file line number Diff line number Diff line change
Expand Up @@ -59,6 +59,7 @@ class RigidBodyDescription(
("id_num", int),
("parent_id", int),
("pos", Vec3),
("quat", Optional[Vec4]),
("markers", Tuple[RigidBodyMarkerDescription, ...]),
),
),
Expand All @@ -75,6 +76,11 @@ def read_from_buffer(
parent_id = buffer.read_uint32()
pos = buffer.read_float32_array(3)

# Version 4.2 and higher, rigid body has quaternion
quat = (
buffer.read_float32_array(4) if protocol_version >= Version(4, 2) else None
)

# Version 3.0 and higher, rigid body marker information contained in description
if protocol_version >= Version(3):
marker_descriptions = RigidBodyMarkerDescription.read_array_from_buffer(
Expand All @@ -84,7 +90,7 @@ def read_from_buffer(
marker_descriptions = []

return RigidBodyDescription(
name, new_id, parent_id, pos, tuple(marker_descriptions)
name, new_id, parent_id, pos, quat, tuple(marker_descriptions)
)


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