将结构(或类)从C ++ dll传递到C#(Unity 3D)

我正在编写包装程序以从传感器获取一些数据.虽然我在传递int，float和它们的数组时没有问题，但是我很难掌握如何传递结构.

I am writing a wrapper to get some data from a sensor. While I have no problems with passing int, float and arrays of them, I have difficulties to grasp how to pass a structure.

代码摘要

C ++方面

结构如下:

struct HandInfo
{
    int id;
    float x, y, z;
};

在某个时候，一个静态的，全局可见的HandInfo leftHand填充了可通过以下包装函数检索的值:

At some point one static, globally visible HandInfo leftHand is filled with values which are retrievable through the following wrapper function:

extern EXPORT_API HandInfo MyWrapper_getLeftHand()
{
    return handtracker.getLeftHand();
}

其中 handtracker 只是包装类的一个实例.

where handtracker is just an instance of the wrapped class.

C#端

一旦声明了extern函数

Once declared the extern function

[DllImport("MyWrapper")]
private static extern HandInfo MyWrapper_getLeftHand();

在C#端，理想情况下，我将具有相同的结构类型

On the C# side, ideally, I would have the same struct type

public struct HandInfo
{
    public int id;
    public float x, y, z;
}

并分配一个变量

HandInfo hi = MyWrapper_getLeftHand(); // NAIVELY WRONG CODE

可以理解，这是行不通的.

which, understandably, doesn't work.

要实现这一目标的方式是什么?

What's the way to achieve this?

我将不胜感激. 谢谢大家的时间.

I'd appreciate any help. Thank you all for your time.