public VRIKSolverDataLeg(IKSolverVR.Leg leg)
{
positionWeight = leg.positionWeight;
rotationWeight = leg.rotationWeight;
bendGoalWeight = leg.bendGoalWeight;
swivelOffset = leg.swivelOffset;
bendToTargetWeight = leg.bendToTargetWeight;
legLengthMlp = leg.legLengthMlp;
}
public void ApplyTo(IKSolverVR.Leg leg)
{
leg.positionWeight = positionWeight;
leg.rotationWeight = rotationWeight;
leg.bendGoalWeight = bendGoalWeight;
leg.swivelOffset = swivelOffset;
leg.bendToTargetWeight = bendToTargetWeight;
leg.legLengthMlp = legLengthMlp;
}
public CachedSolver(IKSolverVR solver)
{
Solver = solver;
Spine = solver.spine;
LeftArm = solver.leftArm;
LeftLeg = solver.leftLeg;
RightArm = solver.rightArm;
RightLeg = solver.rightLeg;
Locomotion = solver.locomotion;
LeftLegBones = LeftLeg.bones;
RightLegBones = RightLeg.bones;
}
private static void CalibrateLeg(Settings settings, Transform FootTransform, IKSolverVR.Leg leg, Transform lastBone, Vector3 rootForward, bool isLeft)
{
Transform footAdjusterTransform = leg.target == null ? new GameObject(isLeft ? "leftFootAdjuster" : "rightFootAdjuster").transform : leg.target;
footAdjusterTransform.parent = FootTransform;
// Space of the tracker heading
Quaternion frontQuaternion = FootTransform.rotation * Quaternion.LookRotation(settings.footTrackerForward, settings.footTrackerUp);
Vector3 frontVector = frontQuaternion * Vector3.forward;
frontVector.y = 0f;
frontQuaternion = Quaternion.LookRotation(frontVector);
// Target position
float inwardOffset = isLeft ? settings.footInwardOffset : -settings.footInwardOffset;
footAdjusterTransform.position = FootTransform.position + frontQuaternion * new Vector3(inwardOffset, 0f, settings.footForwardOffset);
footAdjusterTransform.position = new Vector3(footAdjusterTransform.position.x, lastBone.position.y, footAdjusterTransform.position.z);
// Target rotation
footAdjusterTransform.rotation = lastBone.rotation;
// Rotate target forward towards tracker forward
Vector3 footForward = AxisTools.GetAxisVectorToDirection(lastBone, rootForward);
if (Vector3.Dot(lastBone.rotation * footForward, rootForward) < 0f)
{
footForward = -footForward;
}
Vector3 fLocal = Quaternion.Inverse(Quaternion.LookRotation(footAdjusterTransform.rotation * footForward)) * frontVector;
float angle = Mathf.Atan2(fLocal.x, fLocal.z) * Mathf.Rad2Deg;
float headingOffset = isLeft ? settings.footHeadingOffset : -settings.footHeadingOffset;
footAdjusterTransform.rotation = Quaternion.AngleAxis(angle + headingOffset, Vector3.up) * footAdjusterTransform.rotation;
leg.target = footAdjusterTransform;
leg.positionWeight = 1f;
leg.rotationWeight = 1f;
// Bend goal
/*
* Transform bendGoal = leg.bendGoal == null ? (new GameObject(name + " Leg Bend Goal")).transform : leg.bendGoal;
* bendGoal.position = lastBone.position + frontQuaternion * Vector3.forward + frontQuaternion * Vector3.up;// * 0.5f;
* bendGoal.parent = FootTransform;
* leg.bendGoal = bendGoal;
* leg.bendGoalWeight = 1f;
*/
leg.bendGoal = null;
leg.bendGoalWeight = 0f;
}
