public static void Calibrate(
IKTargetRepositoryInterface repository,
VRIK ik,
VRIKCalibrator.Settings settings,
Transform headTracker,
Transform bodyTracker = null,
Transform leftHandTracker = null,
Transform leftElbowTracker = null,
Transform rightHandTracker = null,
Transform rightElbowTracker = null,
Transform leftKneeTracker = null,
Transform leftFootTracker = null,
Transform rightKneeTracker = null,
Transform rightFootTracker = null)
{
if (!ik.solver.initiated)
{
Debug.LogError("Can not calibrate before VRIK has initiated.");
return;
}
if (headTracker == null)
{
Debug.LogError("Can not calibrate VRIK without the head tracker.");
return;
}
ik.solver.FixTransforms();
// Root position and rotation
var rootSetting = CalibrateRoot(ik.references.root.position, settings.headTrackerForward, settings.headTrackerUp, settings.headOffset, headTracker);
ik.references.root.position = rootSetting.position;
ik.references.root.rotation = rootSetting.rotation;
// Head
var headSetting = CalibrateHead(ik.references.head.rotation, settings.headTrackerForward, settings.headTrackerUp, settings.headOffset, headTracker);
var headTarget = repository.getHead();
headTarget.parent = headSetting.parent;
headTarget.position = headSetting.position;
headTarget.rotation = headSetting.rotation;
ik.solver.spine.headTarget = headTarget;
// Size
float sizeF = (headTarget.position.y - ik.references.root.position.y) / (ik.references.head.position.y - ik.references.root.position.y);
ik.references.root.localScale *= sizeF * settings.scaleMlp;
// Body
if (bodyTracker != null)
{
var pelvisSetting = CalibratePelvis(ik.references.pelvis.position, ik.references.pelvis.rotation, bodyTracker);
Transform pelvisTarget = repository.getPelvis();
pelvisTarget.parent = pelvisSetting.parent;
pelvisTarget.position = pelvisSetting.position;
pelvisTarget.rotation = pelvisSetting.rotation;
ik.solver.spine.pelvisTarget = pelvisTarget;
ik.solver.spine.pelvisPositionWeight = settings.pelvisPositionWeight;
ik.solver.spine.pelvisRotationWeight = settings.pelvisRotationWeight;
ik.solver.plantFeet = false;
ik.solver.spine.maxRootAngle = 180f;
}
else if (leftFootTracker != null && rightFootTracker != null)
{
ik.solver.spine.maxRootAngle = 0f;
}
// Left Hand
if (leftHandTracker != null)
{
var leftHandSetting = CalibrateLeftHand(
ik.solver.leftArm.wristToPalmAxis,
ik.solver.leftArm.palmToThumbAxis,
settings.handTrackerForward,
settings.handTrackerUp,
settings.handOffset,
leftHandTracker
);
Transform leftHandTarget = repository.getLeftHand();
leftHandTarget.parent = leftHandSetting.parent;
leftHandTarget.position = leftHandSetting.position;
leftHandTarget.rotation = leftHandSetting.rotation;
ik.solver.leftArm.target = leftHandTarget;
ik.solver.leftArm.positionWeight = 1f;
ik.solver.leftArm.rotationWeight = 1f;
}
else
{
ik.solver.leftArm.positionWeight = 0f;
ik.solver.leftArm.rotationWeight = 0f;
}
// Left Elbow
if (leftElbowTracker != null)
{
var leftElbowSetting = CalibrateElbow(
ik.solver.leftArm.wristToPalmAxis,
ik.solver.leftArm.palmToThumbAxis,
settings.handTrackerForward,
settings.handTrackerUp,
settings.handOffset,
leftElbowTracker
);
Transform leftElbowTarget = repository.getLeftElbow();
leftElbowTarget.parent = leftElbowSetting.parent;
leftElbowTarget.position = leftElbowSetting.position;
leftElbowTarget.rotation = leftElbowSetting.rotation;
ik.solver.leftArm.bendGoal = leftElbowTarget;
ik.solver.leftArm.bendGoalWeight = 1.0f;
}
else
{
ik.solver.leftArm.bendGoalWeight = 0.0f;
}
// Right Hand
if (rightHandTracker != null)
{
var rightHandSetting = CalibrateRightHand(
ik.solver.rightArm.wristToPalmAxis,
ik.solver.rightArm.palmToThumbAxis,
settings.handTrackerForward,
settings.handTrackerUp,
settings.handOffset,
rightHandTracker
);
Transform rightHandTarget = repository.getRightHand();
rightHandTarget.parent = rightHandSetting.parent;
rightHandTarget.position = rightHandSetting.position;
rightHandTarget.rotation = rightHandSetting.rotation;
ik.solver.rightArm.target = rightHandTarget;
ik.solver.rightArm.positionWeight = 1f;
ik.solver.rightArm.rotationWeight = 1f;
}
else
{
ik.solver.rightArm.positionWeight = 0f;
ik.solver.rightArm.rotationWeight = 0f;
}
// Right Elbow
if (rightElbowTracker != null)
{
var rightElbowSetting = CalibrateElbow(
ik.solver.rightArm.wristToPalmAxis,
ik.solver.rightArm.palmToThumbAxis,
settings.handTrackerForward,
settings.handTrackerUp,
settings.handOffset,
rightElbowTracker
);
Transform rightElbowTransform = repository.getRightElbow();
rightElbowTransform.parent = rightElbowSetting.parent;
rightElbowTransform.position = rightElbowSetting.position;
rightElbowTransform.rotation = rightElbowSetting.rotation;
ik.solver.rightArm.bendGoal = rightElbowTransform;
ik.solver.rightArm.bendGoalWeight = 1.0f;
}
else
{
ik.solver.rightArm.bendGoalWeight = 0.0f;
}
// Legs
if (leftFootTracker != null)
{
var lastBone = (ik.references.leftToes != null ? ik.references.leftToes : ik.references.leftFoot);
var legSetting = CalibrateLeg(
leftFootTracker,
lastBone,
ik.references.root.forward,
settings.footTrackerForward,
settings.footTrackerUp,
settings.footForwardOffset,
settings.footInwardOffset,
settings.footHeadingOffset
);
Transform target = repository.getLeftLeg();
target.parent = legSetting.parent;
target.position = legSetting.position;
target.rotation = legSetting.rotation;
var leg = ik.solver.leftLeg;
leg.target = target;
leg.positionWeight = 1f;
leg.rotationWeight = 1f;
}
if (leftKneeTracker != null)
{
CalibrateSetting leftKneeSetting = CalibrateLeftKnee(
ik.references.leftCalf.position,
ik.references.leftCalf.rotation,
leftKneeTracker
);
Transform leftKneeTransform = repository.getLeftKnee();
leftKneeTransform.parent = leftKneeSetting.parent;
leftKneeTransform.position = leftKneeSetting.position;
leftKneeTransform.rotation = leftKneeSetting.rotation;
leftKneeTransform.transform.localPosition += new Vector3(0, -0.3f, 1f);
ik.solver.leftLeg.bendGoal = leftKneeTransform;
ik.solver.leftLeg.bendGoalWeight = 1.0f;
}
if (rightFootTracker != null)
{
var lastBone = (ik.references.rightToes != null ? ik.references.rightToes : ik.references.rightFoot);
var legSetting = CalibrateLeg(
rightFootTracker,
lastBone,
ik.references.root.forward,
settings.footTrackerForward,
settings.footTrackerUp,
settings.footForwardOffset,
settings.footInwardOffset,
settings.footHeadingOffset
);
Transform target = repository.getRightLeg();
target.parent = legSetting.parent;
target.position = legSetting.position;
target.rotation = legSetting.rotation;
var leg = ik.solver.rightLeg;
leg.target = target;
leg.positionWeight = 1f;
leg.rotationWeight = 1f;
}
if (rightKneeTracker != null)
{
var rightKneeSetting = CalibrateRightKnee(
ik.references.rightCalf.position,
ik.references.rightCalf.rotation,
rightKneeTracker
);
Transform rightKneeTransform = repository.getRightKnee();
rightKneeTransform.parent = rightKneeSetting.parent;
rightKneeTransform.position = rightKneeSetting.position;
rightKneeTransform.rotation = rightKneeSetting.rotation;
rightKneeTransform.transform.localPosition += new Vector3(0, -0.3f, 1f);
ik.solver.rightLeg.bendGoal = rightKneeTransform;
ik.solver.rightLeg.bendGoalWeight = 1.0f;
}
// Root controller
bool addRootController = bodyTracker != null || (leftFootTracker != null && rightFootTracker != null);
var rootController = ik.references.root.GetComponent <VRIKRootController>();
if (addRootController)
{
if (rootController == null)
{
rootController = ik.references.root.gameObject.AddComponent <VRIKRootController>();
}
rootController.Calibrate();
}
else
{
if (rootController != null)
{
GameObject.Destroy(rootController);
}
}
// Additional solver settings
ik.solver.spine.minHeadHeight = 0f;
ik.solver.locomotion.weight = bodyTracker == null && leftFootTracker == null && rightFootTracker == null ? 1f : 0f;
}
void Start()
{
repository = new GameObjectIKTargetRepository();
}