public Vector3 TransformDirection(Vector3 directionInCharacterCoordinates)
{
Vector3 characterForward = Vector3.forward;
switch (characterPivotType)
{
case CharacterPivotType.KinectHead:
if (skeletonManager != null && skeletonManager.skeletons[kinectPlayerId] != null)
{
characterForward = skeletonManager.skeletons[kinectPlayerId].head.rotation * Vector3.forward;
}
else
{
characterForward = Vector3.forward;
}
break;
case CharacterPivotType.KinectTorso:
if (skeletonManager != null && skeletonManager.skeletons[kinectPlayerId] != null)
{
characterForward = skeletonManager.skeletons[kinectPlayerId].torso.rotation * Vector3.forward;
}
else
{
characterForward = Vector3.forward;
}
break;
case CharacterPivotType.MoveController:
{
RUISPSMoveWand psmove = inputManager.GetMoveWand(moveControllerId);
if (psmove != null)
{
characterForward = psmove.localRotation * Vector3.forward;
}
}
break;
}
if (ignorePitchAndRoll)
{
characterForward.y = 0;
characterForward.Normalize();
}
characterForward = transform.TransformDirection(characterForward);
return(Quaternion.LookRotation(characterForward, transform.up) * directionInCharacterCoordinates);
}
public Vector3 TransformDirection(Vector3 directionInCharacterCoordinates)
{
Vector3 characterForward = Vector3.forward;
if (skeletonController)
{
characterForward = skeletonController.transform.localRotation * Vector3.forward;
}
switch (characterPivotType)
{
case CharacterPivotType.KinectHead:
if ((bodyTrackingDeviceID == RUISSkeletonManager.kinect2SensorID && !inputManager.enableKinect2) ||
(bodyTrackingDeviceID == RUISSkeletonManager.kinect1SensorID && !inputManager.enableKinect))
{
break;
}
if (skeletonManager != null && skeletonManager.skeletons[bodyTrackingDeviceID, kinectPlayerId] != null)
{
characterForward = skeletonManager.skeletons[bodyTrackingDeviceID, kinectPlayerId].head.rotation * Vector3.forward;
}
else
{
characterForward = Vector3.forward;
}
break;
case CharacterPivotType.KinectTorso:
if ((bodyTrackingDeviceID == RUISSkeletonManager.kinect2SensorID && !inputManager.enableKinect2) ||
(bodyTrackingDeviceID == RUISSkeletonManager.kinect1SensorID && !inputManager.enableKinect))
{
break;
}
if (skeletonManager != null && skeletonManager.skeletons[bodyTrackingDeviceID, kinectPlayerId] != null)
{
characterForward = skeletonManager.skeletons[bodyTrackingDeviceID, kinectPlayerId].torso.rotation * Vector3.forward;
}
else
{
characterForward = Vector3.forward;
}
break;
case CharacterPivotType.MoveController:
{
if (!inputManager.enablePSMove || !headPointsWalkingDirection)
{
break;
}
RUISPSMoveWand psmove = inputManager.GetMoveWand(moveControllerId);
if (psmove != null)
{
characterForward = psmove.localRotation * Vector3.forward;
}
}
break;
}
if (skeletonManager != null && (skeletonController.followOculusController || skeletonController.followMoveController) && headPointsWalkingDirection)
{
characterForward = skeletonController.trackedDeviceYawRotation * Vector3.forward;
}
if (ignorePitchAndRoll)
{
characterForward.y = 0;
characterForward.Normalize();
}
characterForward = transform.TransformDirection(characterForward);
return(Quaternion.LookRotation(characterForward, transform.up) * directionInCharacterCoordinates);
}
private void doYawFiltering(float deltaT)
{
switch (driftingSensor)
{
case DriftingRotation.OculusRift:
if (OVRDevice.IsSensorPresent(oculusID))
{
OVRDevice.GetOrientation(oculusID, ref driftingRot);
if (oculusCamController)
{
// In the future OVR SDK oculusCamController will have oculusID?
oculusCamController.SetYRotation(-finalYawDifference.eulerAngles.y);
}
}
break;
case DriftingRotation.RazerHydra:
// TODO
//driftingRot = hydraRotation;
break;
case DriftingRotation.InputTransform:
if (driftingTransform)
{
driftingRot = driftingTransform.rotation;
}
break;
}
if (driftingDirectionVisualizer != null)
{
driftingDirectionVisualizer.transform.rotation = driftingRot;
}
driftingEuler = driftingRot.eulerAngles;
switch (compass)
{
case CompassSource.Kinect:
if (!skeletonManager || !skeletonManager.skeletons[kinectPlayerID].isTracking)
{
break;
}
else
{
compassData = skeletonManager.GetJointData(compassJoint, kinectPlayerID);
// First check for high confidence value
if (compassData != null && compassData.rotationConfidence >= 1.0f)
{
updateDifferenceKalman(compassData.rotation.eulerAngles,
driftingEuler, deltaT);
}
}
break;
case CompassSource.PSMove:
if (inputManager)
{
compassMove = inputManager.GetMoveWand(PSMoveID);
if (compassMove)
{
updateDifferenceKalman(compassMove.localRotation.eulerAngles,
driftingEuler, deltaT);
}
}
break;
case CompassSource.InputTransform:
if (compassTransform != null)
{
updateDifferenceKalman(compassTransform.rotation.eulerAngles,
driftingEuler, deltaT);
}
break;
}
float normalizedT = Mathf.Clamp01(deltaT * driftCorrectionRate);
if (normalizedT != 0)
{
finalYawDifference = Quaternion.Lerp(finalYawDifference, filteredYawDifference,
normalizedT);
}
if (correctedDirectionVisualizer != null)
{
correctedDirectionVisualizer.transform.rotation = Quaternion.Euler(
new Vector3(driftingEuler.x,
(360 + driftingEuler.y
- finalYawDifference.eulerAngles.y) % 360,
driftingEuler.z));
}
//driftingRotation*Quaternion.Inverse(finalDifference);
if (correctedDirectionVisualizer != null && driftVisualizerPosition != null)
{
correctedDirectionVisualizer.transform.position = driftVisualizerPosition.position;
}
}
void LateUpdate()
{
if (skeletonManager != null && skeletonManager.skeletons[playerId] != null && skeletonManager.skeletons[playerId].isTracking)
{
UpdateSkeletonPosition();
UpdateTransform(ref head, skeletonManager.skeletons[playerId].head);
UpdateTransform(ref torso, skeletonManager.skeletons[playerId].torso);
UpdateTransform(ref leftShoulder, skeletonManager.skeletons[playerId].leftShoulder);
UpdateTransform(ref leftElbow, skeletonManager.skeletons[playerId].leftElbow);
UpdateTransform(ref leftHand, skeletonManager.skeletons[playerId].leftHand);
UpdateTransform(ref rightShoulder, skeletonManager.skeletons[playerId].rightShoulder);
UpdateTransform(ref rightElbow, skeletonManager.skeletons[playerId].rightElbow);
UpdateTransform(ref rightHand, skeletonManager.skeletons[playerId].rightHand);
UpdateTransform(ref leftHip, skeletonManager.skeletons[playerId].leftHip);
UpdateTransform(ref leftKnee, skeletonManager.skeletons[playerId].leftKnee);
UpdateTransform(ref leftFoot, skeletonManager.skeletons[playerId].leftFoot);
UpdateTransform(ref rightHip, skeletonManager.skeletons[playerId].rightHip);
UpdateTransform(ref rightKnee, skeletonManager.skeletons[playerId].rightKnee);
UpdateTransform(ref rightFoot, skeletonManager.skeletons[playerId].rightFoot);
if (!useHierarchicalModel)
{
if (leftHand != null)
{
leftHand.localRotation = leftElbow.localRotation;
}
if (rightHand != null)
{
rightHand.localRotation = rightElbow.localRotation;
}
}
else
{
if (scaleHierarchicalModelBones)
{
UpdateBoneScalings();
Vector3 torsoDirection = skeletonManager.skeletons[playerId].torso.rotation * Vector3.down;
torso.position = transform.TransformPoint(skeletonManager.skeletons[playerId].torso.position - skeletonPosition - torsoDirection * torsoOffset * torsoScale);
ForceUpdatePosition(ref rightShoulder, skeletonManager.skeletons[playerId].rightShoulder);
ForceUpdatePosition(ref leftShoulder, skeletonManager.skeletons[playerId].leftShoulder);
ForceUpdatePosition(ref rightHip, skeletonManager.skeletons[playerId].rightHip);
ForceUpdatePosition(ref leftHip, skeletonManager.skeletons[playerId].leftHip);
}
}
if (updateRootPosition)
{
Vector3 newRootPosition = skeletonManager.skeletons[playerId].root.position;
measuredPos[0] = newRootPosition.x;
measuredPos[1] = newRootPosition.y;
measuredPos[2] = newRootPosition.z;
positionKalman.setR(Time.deltaTime * positionNoiseCovariance);
positionKalman.predict();
positionKalman.update(measuredPos);
pos = positionKalman.getState();
transform.localPosition = new Vector3((float)pos[0], (float)pos[1], (float)pos[2]); //newRootPosition;
}
}
else // TUUKKA
if (followMoveController && characterController && inputManager)
{
psmove = inputManager.GetMoveWand(followMoveID);
if (psmove)
{
Quaternion moveYaw = Quaternion.Euler(0, psmove.localRotation.eulerAngles.y, 0);
skeletonPosition = psmove.localPosition - moveYaw * characterController.psmoveOffset;
skeletonPosition.y = 0;
if (updateRootPosition)
{
transform.localPosition = skeletonPosition;
}
UpdateTransformWithPSMove(ref head, moveYaw);
UpdateTransformWithPSMove(ref torso, moveYaw);
UpdateTransformWithPSMove(ref leftShoulder, moveYaw);
UpdateTransformWithPSMove(ref leftElbow, moveYaw);
UpdateTransformWithPSMove(ref leftHand, moveYaw);
UpdateTransformWithPSMove(ref rightShoulder, moveYaw);
UpdateTransformWithPSMove(ref rightElbow, moveYaw);
UpdateTransformWithPSMove(ref rightHand, moveYaw);
UpdateTransformWithPSMove(ref leftHip, moveYaw);
UpdateTransformWithPSMove(ref leftKnee, moveYaw);
UpdateTransformWithPSMove(ref leftFoot, moveYaw);
UpdateTransformWithPSMove(ref rightHip, moveYaw);
UpdateTransformWithPSMove(ref rightKnee, moveYaw);
UpdateTransformWithPSMove(ref rightFoot, moveYaw);
}
}
TweakNeckHeight();
}
