private InverseKinematicsGoal MaybeContinueTracking(FrameUpdateParameters updateParameters)
{
if (!tracking)
{
return(null);
}
if (!stateTracker.NonMenuActive)
{
tracking = false;
return(null);
}
bool triggerPressed = stateTracker.IsPressed(EVRButtonId.k_EButton_SteamVR_Trigger);
if (!triggerPressed)
{
tracking = false;
return(null);
}
TrackedDevicePose_t gamePose = updateParameters.GamePoses[stateTracker.DeviceIdx];
Matrix controllerTransform = gamePose.mDeviceToAbsoluteTracking.Convert();
var controllerTransformDq = DualQuaternion.FromMatrix(controllerTransform);
var targetPosition = controllerTransformDq.Translation * 100;
var targetOrientation = controllerTransformDq.Rotation;
return(new InverseKinematicsGoal(sourceBone,
boneRelativeSourcePosition, boneRelativeSourceOrientation,
targetPosition, targetOrientation));
}
private void MaybeStartTracking(FrameUpdateParameters updateParameters, RigidBoneSystemInputs inputs, ControlVertexInfo[] previousFrameControlVertexInfos)
{
if (tracking == true)
{
//already tracking
return;
}
if (!stateTracker.NonMenuActive)
{
return;
}
bool triggerPressed = stateTracker.IsPressed(EVRButtonId.k_EButton_SteamVR_Trigger);
if (!triggerPressed)
{
return;
}
tracking = true;
TrackedDevicePose_t gamePose = updateParameters.GamePoses[stateTracker.DeviceIdx];
Matrix controllerTransform = gamePose.mDeviceToAbsoluteTracking.Convert();
DualQuaternion controllerTransformDq = DualQuaternion.FromMatrix(controllerTransform);
var worldSourcePosition = controllerTransformDq.Translation * 100;
var worldSourceOrientation = controllerTransformDq.Rotation;
sourceBone = parentInstance.MapPositionToBone(worldSourcePosition, previousFrameControlVertexInfos);
var inverseSourceBoneTotalTransform = sourceBone.GetChainedTransform(inputs).Invert();
boneRelativeSourcePosition = inverseSourceBoneTotalTransform.Transform(worldSourcePosition) - sourceBone.CenterPoint;
boneRelativeSourceOrientation = worldSourceOrientation.Chain(inverseSourceBoneTotalTransform.Rotation);
}
public PoseRecipe RecipizePose()
{
var rootTransform = DualQuaternion.FromMatrix(dragHandle.Transform);
Vector3 rootRotation = MathExtensions.RadiansToDegrees(model.MainDefinition.BoneSystem.RootBone.RotationOrder.ToEulerAngles(rootTransform.Rotation));
Vector3 rootTranslation = rootTransform.Translation;
Dictionary <string, float[]> boneRotations = new Dictionary <string, float[]>();
var poseDeltas = ikAnimator.PoseDeltas;
rootTranslation += Vector3.Transform(poseDeltas.RootTranslation / 100, rootTransform.Rotation);
foreach (var bone in model.MainDefinition.BoneSystem.Bones)
{
var twistSwing = poseDeltas.Rotations[bone.Index];
var angles = MathExtensions.RadiansToDegrees(bone.RotationOrder.ToTwistSwingAngles(twistSwing));
if (!angles.IsZero)
{
boneRotations.Add(bone.Name, angles.ToArray());
}
}
return(new PoseRecipe {
rotation = rootRotation.ToArray(),
translation = rootTranslation.ToArray(),
boneRotations = boneRotations
});
}
public void TestFromMatrix()
{
Quaternion rotation = Quaternion.RotationYawPitchRoll(1, 2, 3);
Vector3 translation = new Vector3(2, 3, 4);
Matrix matrix = Matrix.RotationQuaternion(rotation) * Matrix.Translation(translation);
DualQuaternion dq = DualQuaternion.FromMatrix(matrix);
Assert.AreEqual(0, Vector3.Distance(translation, dq.Translation), 1e-6);
Assert.IsTrue(dq.Rotation == rotation || dq.Rotation == -rotation);
}
public ChannelInputs Update(ChannelInputs shapeInputs, FrameUpdateParameters updateParameters, ControlVertexInfo[] previousFrameControlVertexInfos)
{
ChannelInputs inputs = new ChannelInputs(shapeInputs);
for (int idx = 0; idx < inputs.RawValues.Length; ++idx)
{
inputs.RawValues[idx] += model.Inputs.RawValues[idx];
}
dragHandle.Update(updateParameters);
DualQuaternion rootTransform = DualQuaternion.FromMatrix(dragHandle.Transform);
var blendedPose = GetBlendedPose(updateParameters.Time);
poser.Apply(inputs, blendedPose, rootTransform);
ikAnimator.Update(updateParameters, inputs, previousFrameControlVertexInfos);
proceduralAnimator.Update(updateParameters, inputs);
return(inputs);
}