主要思想是采用投票箱机制，把物体移动的方向从360归一到8个方向：

用到的主要代码如下：

以相机为坐标原点，把移动的小码变换到大码坐标下：

坐标变换

Matrix4x4 extinsic_obj1 = image1.transform.localToWorldMatrix;//image1 相对于camera的 transform metric
Matrix4x4 extinsic_obj2 = imageTarget.transform.localToWorldMatrix;//imageTarget 相对于camera的 transform metric
Matrix4x4 relat = extinsic_obj2.inverse * extinsic_obj1  ;//Vector4 controlPoint = new Vector4 (image1.transform.position.x, image1.transform.position.y, image1.transform.position.z, 1.0f);
Vector4 controlPoint = new Vector4 (0,0, 0, 1.0f);
Vector4 new_controlPoint = relat * controlPoint;

如果坐标原点在大码上，则不需要变换了。（当然也没错，但没有必要了）

using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using System.IO;
using System;
using System.Threading;
using System.IO.Ports;
using System.Diagnostics;
using System.Runtime.InteropServices;
using System.Text;public class Guidance: MonoBehaviour {public GameObject imageTarget;//public GameObject arrow;public GameObject image1;public GameObject cyl;public GameObject startpoint;public GameObject thispoint;GameObject arrow1;GameObject arrow2;GameObject arrow3;GameObject arrow4;GameObject arrow5;GameObject arrow6;GameObject arrow7;GameObject arrow8;GameObject point1;GameObject point2;GameObject point3;GameObject point4;GameObject point5;public List<GameObject> pointList;public int signal=0;public int i;public int feedback;int n=0;public bool start=false;public float x0=0.0f;float y0=0.0f;public float z0=0.0f;public float x1=0.0f;public float z1=-0.1f;public float d=0.0f;public float alpha;public float beta;public float theta;// Use this for initializationvoid Start () {pointList=new List<GameObject>();GameObject point1=GameObject.Find("point0");point1.SetActive (false);GameObject point2=GameObject.Find("point1");point2.SetActive (false);GameObject point3=GameObject.Find("point2");point3.SetActive (false);GameObject point4=GameObject.Find("point3");point4.SetActive (false);GameObject point5=GameObject.Find("point4");point5.SetActive (false);pointList.Add(point1);pointList.Add(point2);pointList.Add(point3);pointList.Add(point4);pointList.Add(point5);arrow1=GameObject.Find("arrow1");arrow1.SetActive (false);arrow2=GameObject.Find("arrow2");arrow2.SetActive (false);arrow3=GameObject.Find("arrow3");arrow3.SetActive (false);arrow4=GameObject.Find("arrow4");arrow4.SetActive (false);arrow5=GameObject.Find("arrow5");arrow5.SetActive (false);arrow6=GameObject.Find("arrow6");arrow6.SetActive (false);arrow7=GameObject.Find("arrow7");arrow7.SetActive (false);arrow8=GameObject.Find("arrow8");arrow8.SetActive (false);i = 0;feedback = 1;thispoint = pointList[0];//arrow.SetActive (false);}// Update is called once per framevoid Update () {if (start) {Matrix4x4 extinsic_obj1 = image1.transform.localToWorldMatrix;//image1 相对于camera的 transform metric Matrix4x4 extinsic_obj2 = imageTarget.transform.localToWorldMatrix;//imageTarget 相对于camera的 transform metricMatrix4x4 relat = extinsic_obj2.inverse * extinsic_obj1  ;//Vector4 controlPoint = new Vector4 (image1.transform.position.x, image1.transform.position.y, image1.transform.position.z, 1.0f);Vector4 controlPoint = new Vector4 (0,0, 0, 1.0f);Vector4 new_controlPoint = relat * controlPoint;//            //相对于小码的局部坐标
//          thispoint.transform.localPosition = new Vector3(new_controlPoint.x , new_controlPoint.y , new_controlPoint.z );//image 相对于 imageTarget 的 local positionx0 = new_controlPoint.x;y0 = new_controlPoint.y;z0 = new_controlPoint.z;//imageTarget 上的点 相对于 imageTarget 的 local positionx1 = thispoint.transform.localPosition.x;z1 = thispoint.transform.localPosition.z;
//          x1 = thispoint.transform.position.x;
//          z1 = thispoint.transform.position.z;d = Mathf.Sqrt ((x1 - x0) * (x1 - x0) + (z1 - z0) * (z1 - z0));//alpha=image1.transform.rotation.eulerAngles.y;alpha = image1.transform.localEulerAngles.y;//      if (alpha > 360)//           alpha = alpha - 360;if (alpha > 180)alpha = alpha - 360;beta = Mathf.Atan2 ((z1 - z0), (x1 - x0)) * 180 / Mathf.PI;theta = alpha + beta;//haptic feedbackif (feedback == 0) {//arrow.SetActive (false);arrow1.SetActive (false);arrow2.SetActive (false);arrow3.SetActive (false);arrow4.SetActive (false);arrow5.SetActive (false);arrow6.SetActive (false);arrow7.SetActive (false);arrow8.SetActive (false);if (d > 0.02) {if (theta >= -22.5 && theta < 22.5) {signal = 1;}if (theta >= 22.5 && theta < 67.5) {signal = 8;}if (theta >= 67.5 && theta < 112.5) {signal = 7;}if (theta >= 112.5 && theta < 157.5) {signal = 6;}if (theta >= 157.5 && theta <= 180 || theta >= -180 && theta < -157.5) {signal = 5;}if (theta >= -157.5 && theta < -112.5) {signal = 4;} if (theta >= -112.5 && theta < -67.5) {signal = 3;} if (theta >= -67.5 && theta < -22.5) {signal = 2;} } else {signal = 0;
//                  WriteData ("0");if (i == 4) {start = false;}n = 1;}if (n == 1 && d > 0.02) {i++;if (i >= 5)i = 0;thispoint = pointList [i];n = 0;}}//visual feedbackif (feedback == 1) {//arrow.SetActive (true);//arrow.transform.localPosition = new Vector3(x0,y0,z0);if (d > 0.02) {if (theta >= -22.5 && theta < 22.5) {arrow1.SetActive (true);arrow2.SetActive (false);arrow3.SetActive (false);arrow4.SetActive (false);arrow5.SetActive (false);arrow6.SetActive (false);arrow7.SetActive (false);arrow8.SetActive (false);//                     arrow.transform.localRotation = Quaternion.Euler (0, -90, 0);}if (theta >= 22.5 && theta < 67.5) {arrow1.SetActive (false);arrow2.SetActive (false);arrow3.SetActive (false);arrow4.SetActive (false);arrow5.SetActive (false);arrow6.SetActive (false);arrow7.SetActive (false);arrow8.SetActive (true);//                     arrow.transform.localRotation = Quaternion.Euler (0, -135, 0);}if (theta >= 67.5 && theta < 112.5) {arrow1.SetActive (false);arrow2.SetActive (false);arrow3.SetActive (false);arrow4.SetActive (false);arrow5.SetActive (false);arrow6.SetActive (false);arrow7.SetActive (true);arrow8.SetActive (false);//                       arrow.transform.localRotation = Quaternion.Euler (0, -180, 0);}if (theta >= 112.5 && theta < 157.5) {arrow1.SetActive (false);arrow2.SetActive (false);arrow3.SetActive (false);arrow4.SetActive (false);arrow5.SetActive (false);arrow6.SetActive (true);arrow7.SetActive (false);arrow8.SetActive (false);//                      arrow.transform.localRotation = Quaternion.Euler (0, 135, 0);}if (theta >= 157.5 && theta <= 180 || theta >= -180 && theta < -157.5) {arrow1.SetActive (false);arrow2.SetActive (false);arrow3.SetActive (false);arrow4.SetActive (false);arrow5.SetActive (true);arrow6.SetActive (false);arrow7.SetActive (false);arrow8.SetActive (false);//                     arrow.transform.localRotation = Quaternion.Euler (0, 90, 0);}if (theta >= -157.5 && theta < -112.5) {arrow1.SetActive (false);arrow2.SetActive (false);arrow3.SetActive (false);arrow4.SetActive (true);arrow5.SetActive (false);arrow6.SetActive (false);arrow7.SetActive (false);arrow8.SetActive (false);//                      arrow.transform.localRotation = Quaternion.Euler (0, 45, 0);} if (theta >= -112.5 && theta < -67.5) {arrow1.SetActive (false);arrow2.SetActive (false);arrow3.SetActive (true);arrow4.SetActive (false);arrow5.SetActive (false);arrow6.SetActive (false);arrow7.SetActive (false);arrow8.SetActive (false);//                      arrow.transform.localRotation = Quaternion.Euler (0, 0, 0);} if (theta >= -67.5 && theta < -22.5) {arrow1.SetActive (false);arrow2.SetActive (true);arrow3.SetActive (false);arrow4.SetActive (false);arrow5.SetActive (false);arrow6.SetActive (false);arrow7.SetActive (false);arrow8.SetActive (false);//                        arrow.transform.localRotation = Quaternion.Euler (0, -45, 0);}
//                  if (theta >= -22.5 && theta < 22.5) {
//                      arrow.transform.localRotation = Quaternion.Euler (0, -90, 0);
//                  }
//                  if (theta >= 22.5 && theta < 67.5) {
//                      arrow.transform.localRotation = Quaternion.Euler (0, -135, 0);
//                  }
//                  if (theta >= 67.5 && theta < 112.5) {
//                      arrow.transform.localRotation = Quaternion.Euler (0, -180, 0);
//                  }
//                  if (theta >= 112.5 && theta < 157.5) {
//                      arrow.transform.localRotation = Quaternion.Euler (0, 135, 0);
//                  }
//                  if (theta >= 157.5 && theta <= 180 || theta >= -180 && theta < -157.5) {
//                      arrow.transform.localRotation = Quaternion.Euler (0, 90, 0);
//                  }
//                  if (theta >= -157.5 && theta < -112.5) {
//                      arrow.transform.localRotation = Quaternion.Euler (0, 45, 0);
//                  }
//                  if (theta >= -112.5 && theta < -67.5) {
//                      arrow.transform.localRotation = Quaternion.Euler (0, 0, 0);
//                  }
//                  if (theta >= -67.5 && theta < -22.5) {
//                      arrow.transform.localRotation = Quaternion.Euler (0, -45, 0);
//                  } } else {cyl.GetComponent<MeshRenderer> ().material.color = Color.green;//pointList [i].SetActive (true);//arrow.SetActive (false);arrow1.SetActive (false);arrow2.SetActive (false);arrow3.SetActive (false);arrow4.SetActive (false);arrow5.SetActive (false);arrow6.SetActive (false);arrow7.SetActive (false);arrow8.SetActive (false);if (i == 4) {start = false;} n = 1;}if (n == 1 && d > 0.02) {//arrow.SetActive (true);cyl.GetComponent<MeshRenderer> ().material.color = Color.red;//pointList [i].SetActive (false);i++;if (i >= 5)i = 0;thispoint = pointList [i];n = 0;}}//visual+haptic feedbackif (feedback == 2) {//arrow.SetActive (true);//arrow.transform.localPosition = new Vector3(x0,y0,z0);if (d > 0.02) {//arrow.transform.localRotation = Quaternion.Euler (0,-beta,90);//if (theta >= -22.5 && theta < 22.5) {signal = 1;//WriteData ("1");arrow1.SetActive (true);arrow2.SetActive (false);arrow3.SetActive (false);arrow4.SetActive (false);arrow5.SetActive (false);arrow6.SetActive (false);arrow7.SetActive (false);arrow8.SetActive (false);//arrow.transform.localRotation = Quaternion.Euler (0, 0, 90);//arrow.transform.localRotation = Quaternion.Euler (0, -90, 0);//Debug.Log ("1");}if (theta >= 22.5 && theta < 67.5) {signal = 8;//WriteData ("8");arrow1.SetActive (false);arrow2.SetActive (false);arrow3.SetActive (false);arrow4.SetActive (false);arrow5.SetActive (false);arrow6.SetActive (false);arrow7.SetActive (false);arrow8.SetActive (true);//arrow.transform.localRotation = Quaternion.Euler (0, -45, 90);//arrow.transform.localRotation = Quaternion.Euler (0, -135, 0);//Debug.Log ("8");}if (theta >= 67.5 && theta < 112.5) {signal = 7;//WriteData ("7");arrow1.SetActive (false);arrow2.SetActive (false);arrow3.SetActive (false);arrow4.SetActive (false);arrow5.SetActive (false);arrow6.SetActive (false);arrow7.SetActive (true);arrow8.SetActive (false);//                     arrow.transform.localRotation = Quaternion.Euler (0, -90, 90);//arrow.transform.localRotation = Quaternion.Euler (0, -180, 0);//Debug.Log ("7");}if (theta >= 112.5 && theta < 157.5) {signal = 6;//WriteData ("6");arrow1.SetActive (false);arrow2.SetActive (false);arrow3.SetActive (false);arrow4.SetActive (false);arrow5.SetActive (false);arrow6.SetActive (true);arrow7.SetActive (false);arrow8.SetActive (false);//                     arrow.transform.localRotation = Quaternion.Euler (0, -135, 90);//arrow.transform.localRotation = Quaternion.Euler (0, 135, 0);//Debug.Log ("6");}if (theta >= 157.5 && theta <= 180 || theta >= -180 && theta < -157.5) {signal = 5;//WriteData ("5");arrow1.SetActive (false);arrow2.SetActive (false);arrow3.SetActive (false);arrow4.SetActive (false);arrow5.SetActive (true);arrow6.SetActive (false);arrow7.SetActive (false);arrow8.SetActive (false);//                       arrow.transform.localRotation = Quaternion.Euler (0, -180, 90);//arrow.transform.localRotation = Quaternion.Euler (0, 90, 0);//Debug.Log ("5");}if (theta >= -157.5 && theta < -112.5) {signal = 4;//WriteData ("4");arrow1.SetActive (false);arrow2.SetActive (false);arrow3.SetActive (false);arrow4.SetActive (true);arrow5.SetActive (false);arrow6.SetActive (false);arrow7.SetActive (false);arrow8.SetActive (false);//                        arrow.transform.localRotation = Quaternion.Euler (0, 135, 90);//arrow.transform.localRotation = Quaternion.Euler (0, 45, 0);//Debug.Log ("4");} if (theta >= -112.5 && theta < -67.5) {signal = 3;//WriteData ("3");arrow1.SetActive (false);arrow2.SetActive (false);arrow3.SetActive (true);arrow4.SetActive (false);arrow5.SetActive (false);arrow6.SetActive (false);arrow7.SetActive (false);arrow8.SetActive (false);//                     arrow.transform.localRotation = Quaternion.Euler (0, 90, 90);//arrow.transform.localRotation = Quaternion.Euler (0, 0, 0);//Debug.Log ("3");} if (theta >= -67.5 && theta < -22.5) {signal = 2;//WriteData ("2");arrow1.SetActive (false);arrow1.SetActive (false);arrow2.SetActive (true);arrow3.SetActive (false);arrow4.SetActive (false);arrow5.SetActive (false);arrow6.SetActive (false);arrow7.SetActive (false);arrow8.SetActive (false);//                       arrow.transform.localRotation = Quaternion.Euler (0, 45, 90);//arrow.transform.localRotation = Quaternion.Euler (0, -45, 0);//Debug.Log ("2");} } else {signal = 0;
//                  WriteData ("0");cyl.GetComponent<MeshRenderer> ().material.color = Color.green;
//                  pointList [i].SetActive (true);//arrow.SetActive (false);arrow1.SetActive (false);arrow2.SetActive (false);arrow3.SetActive (false);arrow4.SetActive (false);arrow5.SetActive (false);arrow6.SetActive (false);arrow7.SetActive (false);arrow8.SetActive (false);if (i == 4) {start = false;}n = 1;}if (n == 1 && d > 0.02) {//arrow.SetActive (true);cyl.GetComponent<MeshRenderer> ().material.color = Color.red;
//                  pointList [i].SetActive (false);i++;if (i >= 5)i = 0;thispoint = pointList [i];n = 0;}}}}public void OnButtonClick_haptic (){feedback = 0;}public void OnButtonClick_visual (){feedback = 1;}public void OnButtonClick_vishaptic (){feedback = 2;}public void OnButtonClick_route1(){setPath (1);}public void OnButtonClick_route2(){setPath (2);}public void OnButtonClick_route3(){setPath (3);}public void OnButtonClick_start(){start = true;}public void OnButtonClick_end(){start = false;arrow1.SetActive (false);arrow2.SetActive (false);arrow3.SetActive (false);arrow4.SetActive (false);arrow5.SetActive (false);arrow6.SetActive (false);arrow7.SetActive (false);arrow8.SetActive (false);i = 0;thispoint = pointList [0];n = 0;}public void OnButtonClick_display(){pointList[0].SetActive (true);pointList[1].SetActive (true);pointList[2].SetActive (true);pointList[3].SetActive (true);pointList[4].SetActive (true);}public void OnButtonClick_nodisplay(){pointList[0].SetActive (false);pointList[1].SetActive (false);pointList[2].SetActive (false);pointList[3].SetActive (false);pointList[4].SetActive (false);}public void setPath(int path){if (path == 1) {startpoint.transform.localPosition=new Vector3(-0.4f,0,-0.4f);pointList[0].transform.localPosition = new Vector3 (-0.2f,0,0);pointList[1].transform.localPosition = new Vector3 (-0.4f,0,0.4f);pointList[2].transform.localPosition = new Vector3 (0,0,0.2f);pointList[3].transform.localPosition = new Vector3 (0.2f,0,-0.2f);pointList[4].transform.localPosition = new Vector3 (0.4f,0,0.2f);}if (path == 2) {startpoint.transform.localPosition=new Vector3(0.4f,0,-0.4f);pointList[0].transform.localPosition = new Vector3 (0,0,-0.2f);pointList[1].transform.localPosition = new Vector3 (-0.4f,0,-0.4f);pointList[2].transform.localPosition = new Vector3 (-0.2f,0,0);pointList[3].transform.localPosition = new Vector3 (0.2f,0,0.2f);pointList[4].transform.localPosition = new Vector3 (0,-0.2f,0.4f);}if (path == 3) {startpoint.transform.localPosition=new Vector3(0.4f,0,0.4f);pointList[0].transform.localPosition = new Vector3 (0.2f,0,0);pointList[1].transform.localPosition = new Vector3 (0.4f,0,-0.4f);pointList[2].transform.localPosition = new Vector3 (0,0,-0.2f);pointList[3].transform.localPosition = new Vector3 (-0.2f,0,0.2f);pointList[4].transform.localPosition = new Vector3 (-0.4f,0,-0.2f);}}}

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