private readonly Stopwatch _dpadStopwatch = new Stopwatch(); //Basically a "debounce"
internal Hexapi(IkController ikController,
XboxController xboxController,
Navigator navigator,
SparkFunSerial16X2Lcd display,
Gps.Gps gps,
IoTClient ioTClient)
{
_ik = ikController;
_xboxController = xboxController;
_gps = gps;
_navigator = navigator;
_display = display;
_ioTClient = ioTClient;
_functionStopwatch.Start();
_dpadStopwatch.Start();
SetGaitOptions();
XboxController.LeftDirectionChanged += XboxController_LeftDirectionChanged;
XboxController.RightDirectionChanged += XboxController_RightDirectionChanged;
XboxController.DpadDirectionChanged += XboxController_DpadDirectionChanged;
XboxController.LeftTriggerChanged += XboxController_LeftTriggerChanged;
XboxController.RightTriggerChanged += XboxController_RightTriggerChanged;
XboxController.FunctionButtonChanged += XboxController_FunctionButtonChanged;
XboxController.BumperButtonChanged += XboxController_BumperButtonChanged;
XboxController.DisconnectedEvent += XboxController_DisconnectedEvent;;
}
private static void VrikInitPatch(VRCVrIkController __instance, Animator animator, VRCPlayer?__2)
{
if (__2 != null && __2.prop_Player_0?.prop_APIUser_0?.id == APIUser.CurrentUser?.id)
{
ourLastIkController = __instance.field_Private_IkController_0;
ourLastInitializedIk = __instance.field_Private_VRIK_0;
ourCachedSolver = new CachedSolver(ourLastInitializedIk.solver);
var handler = new HumanPoseHandler(animator.avatar, animator.transform);
var hips = animator.GetBoneTransform(HumanBodyBones.Hips);
ourAnimationsHandler = new AnimationsHandler(handler, hips, in ourCachedSolver);
ourCustomSpineSolver = new CustomSpineSolver(in ourCachedSolver);
ourWallFreezeFixer = new WallFreezeFixer(__instance);
HandOffsetsManager?.Dispose();
HandOffsetsManager = new HandOffsetsManager(__instance);
}
}
// Token: 0x060051E2 RID: 20962 RVA: 0x001C09CC File Offset: 0x001BEDCC
public static Transform GetTrackedTransform(VRC_PlayerApi player, VRC_PlayerApi.TrackingDataType tt)
{
if (player == null)
{
return(null);
}
Transform result = null;
if (tt != VRC_PlayerApi.TrackingDataType.Head)
{
if (tt != VRC_PlayerApi.TrackingDataType.LeftHand)
{
if (tt == VRC_PlayerApi.TrackingDataType.RightHand)
{
IkController componentInChildren = player.GetComponentInChildren <IkController>();
if (componentInChildren != null)
{
result = componentInChildren.RightEffector.transform;
}
}
}
else
{
IkController componentInChildren = player.GetComponentInChildren <IkController>();
if (componentInChildren != null)
{
result = componentInChildren.LeftEffector.transform;
}
}
}
else if (player.isLocal)
{
VRCTrackingManager vrctrackingManager = UnityEngine.Object.FindObjectOfType <VRCTrackingManager>();
if (vrctrackingManager != null)
{
Camera componentInChildren2 = vrctrackingManager.GetComponentInChildren <Camera>();
if (componentInChildren2 != null)
{
result = componentInChildren2.transform;
}
}
}
return(result);
}
public async void Run(IBackgroundTaskInstance taskInstance)
{
_deferral = taskInstance.GetDeferral();
_display = new SparkFunSerial16X2Lcd();
_xboxController = new XboxController(_display);
_ntripClient = new NtripClient("172.16.0.237", 8000, "", "", "", _display); //172.16.0.227
_ioTClient = new IoTClient(_display);
_gps = new Gps.Gps(_display, _ntripClient);
_inverseKinematics = new InverseKinematics(_display);
_ikController = new IkController(_inverseKinematics, _display, _ioTClient, _gps); //Range and yaw/pitch/roll data from Arduino and SparkFun Razor IMU
_navigator = new Navigator(_ikController, _display, _gps);
_hexapi = new Hexapi(_ikController, _xboxController, _navigator, _display, _gps, _ioTClient);
_initializeTasks.Add(_display.InitializeAsync());
_initializeTasks.Add(_xboxController.InitializeAsync());
_initializeTasks.Add(_ikController.InitializeAsync());
_initializeTasks.Add(_ntripClient.InitializeAsync());
_initializeTasks.Add(_gps.InitializeAsync());
_initializeTasks.Add(_inverseKinematics.InitializeAsync());
_initializeTasks.Add(_ioTClient.InitializeAsync());
_startTasks.Add(_ntripClient.StartAsync());
_startTasks.Add(_ikController.StartAsync());
_startTasks.Add(_gps.StartAsync());
_startTasks.Add(_inverseKinematics.StartAsync());
//_startTasks.Add(_ioTClient.StartAsync());//only needed if expecting messages from the server
//foreach (var d in await SerialDeviceHelper.ListAvailablePorts())
//{
// await _ioTClient.SendEvent(d);
//}
await Task.WhenAll(_initializeTasks.ToArray());
await Task.WhenAll(_startTasks.ToArray());
}
// Token: 0x0600577A RID: 22394 RVA: 0x001E20CC File Offset: 0x001E04CC
public void MeasureHumanAvatar(Animator A)
{
this.headTransform = A.GetBoneTransform(HumanBodyBones.Head);
Transform transform = base.transform;
A.transform.localPosition = Vector3.zero;
transform.localPosition = Vector3.zero;
VRC_AnimationController vrc_AnimationController = null;
if (this._vrcPlayer != null)
{
vrc_AnimationController = this._vrcPlayer.GetComponentInChildren <VRC_AnimationController>();
}
float a = 0f;
float b = 0f;
Transform boneTransform = A.GetBoneTransform(HumanBodyBones.LeftHand);
Transform boneTransform2 = A.GetBoneTransform(HumanBodyBones.RightHand);
if (boneTransform)
{
a = (this.headTransform.position - boneTransform.position).magnitude;
}
if (boneTransform2)
{
b = (this.headTransform.position - boneTransform2.position).magnitude;
}
float num = Mathf.Max(a, b);
if (num > 0f)
{
this.currentAvatarArmLength = num;
}
else
{
this.currentAvatarArmLength = VRCTracking.DefaultArmLength;
}
Vector3 viewPosition = this.currentAvatarDescriptor.ViewPosition;
this.currentAvatarEyeHeight = viewPosition.y;
Vector3 headToViewPointOffset = viewPosition - transform.InverseTransformPoint(this.headTransform.position);
headToViewPointOffset.z = -headToViewPointOffset.z;
if (this.localPlayer)
{
VRCTrackingManager.SetAvatarViewPoint(viewPosition, headToViewPointOffset);
}
this.headScale = this.headTransform.localScale;
GameObject gameObject = new GameObject("HmdPivot");
gameObject.transform.position = transform.TransformPoint(new Vector3(viewPosition.x, viewPosition.y, viewPosition.z));
gameObject.transform.SetParent(this.headTransform, true);
gameObject.transform.rotation = transform.rotation;
if (vrc_AnimationController != null)
{
this.maxHeadRadius = 0.5f * this.currentAvatarArmLength / VRCTracking.DefaultArmLength;
IkController component = vrc_AnimationController.HeadAndHandsIkController.GetComponent <IkController>();
component.InitHeadEffector(A, this.localPlayer);
}
this.WasMeasured = true;
if (this.localPlayer)
{
VRCTrackingManager.AdjustViewPositionToAvatar();
Vector3 neckToEyeOffset = base.transform.InverseTransformVector(gameObject.transform.position - this.headTransform.position);
VRCVrCamera.GetInstance().SetNeckToEyeOffset(neckToEyeOffset);
}
}
internal Navigator(IkController ikController, SparkFunSerial16X2Lcd display, Gps.Gps gps)
{
_ikController = ikController;
_gps = gps;
_display = display;
}
