void FixedUpdate()
{
DerivedBodyInformation info = null;
if (OrientationMode == BodyOrientationMode.HMD_Only)
{
info = DeriveBodyInfoFromHMD();
transform.position = Vector3.Lerp(transform.position, info.IntendedPosition, updateRate);
transform.LookAt(transform.position + info.AssumedForward * 5, Vector3.up);
}
else if (OrientationMode == BodyOrientationMode.ChestIMU_Only)
{
info = DeriveBodyInfoFromChestIMU();
}
else if (OrientationMode == BodyOrientationMode.Blend)
{
info = DeriveBodyInfoFromBlend();
//This back/down projects based on the headset's view position
transform.position = Vector3.Lerp(transform.position, info.IntendedPosition, updateRate);
DerivedBodyInformation imuInfo = DeriveBodyInfoFromChestIMU();
//This orients the body according to the chest censor.
transform.LookAt(transform.position + imuInfo.AssumedForward * 5, Vector3.up);
//Next change - handle the swivel rotations.
}
}
private DerivedBodyInformation DeriveBodyInfoFromBlend()
{
DerivedBodyInformation hmdInfo = DeriveBodyInfoFromHMD();
DerivedBodyInformation chestInfo = DeriveBodyInfoFromChestIMU();
DerivedBodyInformation info = new DerivedBodyInformation();
info.DerivationType = BodyOrientationMode.Blend;
info.IntendedPosition = hmdInfo.IntendedPosition;
info.AssumedForward = SimulatedIMU.transform.forward;
return(info);
}
private DerivedBodyInformation DeriveBodyInfoFromChestIMU()
{
DerivedBodyInformation info = new DerivedBodyInformation();
info.DerivationType = BodyOrientationMode.ChestIMU_Only;
SimulatedIMU.transform.localPosition = Vector3.zero;
//trackingBody.calibrator.GetOrientation(Imu.Chest);
SimulatedIMU.transform.rotation = trackingBody.calibrator.GetOrientation(Imu.Chest);
info.AssumedForward = SimulatedIMU.transform.forward;
//SimulatedIMU.transform.localRotation = Quaternion.Lerp(trackingBody.calibrator.GetOrientation(Imu.Chest), SimulatedIMU.transform.rotation, 0.3f);
return(info);
}
private DerivedBodyInformation DeriveBodyInfoFromHMD()
{
DerivedBodyInformation info = new DerivedBodyInformation();
info.DerivationType = BodyOrientationMode.HMD_Only;
Vector3 hmdNoUp = hmd.transform.forward;
hmdNoUp.y = 0;
Vector3 hmdUpNoY = hmd.transform.up;
hmdUpNoY.y = 0;
if (Vector3.Distance(hmd.transform.position, LastUpdatedPosition) > SnapUpdateDist)
{
ImmediateUpdate();
}
else
{
LastRelativePosition = transform.position - hmd.transform.position;
}
float angleFromDown = Vector3.Angle(hmd.transform.forward, Vector3.down);
PureHMDPitch = angleFromDown;
UpdateDebugDisplay(angleFromDown);
//We want to use the HMD's Up to find which way we should actually look to solve the overtilting problem
float mirrorAngleAmt = Vector3.Angle(hmd.transform.forward, Vector3.up);
//Check if we need to do a mirror operation
if (mirrorAngleAmt < 5 || mirrorAngleAmt > 175)
{
hmdNoUp = -hmdNoUp;
}
UpdateCounter += Time.deltaTime * updateRate;
if (UpdateCounter >= UpdateDuration)
{
UpdateCounter = 0;
LastUpdatedPosition = hmd.transform.position;
updateRate = .05f;
}
float prog = UpdateDuration - UpdateCounter;
LastUpdatedPosition = Vector3.Lerp(LastUpdatedPosition, hmd.transform.position, Mathf.Clamp(prog / UpdateDuration, 0, 1));
Vector3 flatRight = hmd.transform.right;
flatRight.y = 0;
Vector3 rep = Vector3.Cross(flatRight, Vector3.up);
assumedForward = rep.normalized;
//Debug.DrawLine(hmd.transform.position + Vector3.up * 5.5f, hmd.transform.position + rep + Vector3.up * 5.5f, Color.grey, .08f);
float dist = hmd.transform.position.y + .75f;
//Debug.Log(dist + " away " + dist * beltHeightPercentage + " \n" + hmd.transform.position);
Vector3 hmdDown = Vector3.down * dist * (UseDevTranslationAmt ? devDownTranslationAmt : downTranslationAmt);
targetPosition = assumedForward * backTranslationAmt + hmd.transform.position + hmdDown;
//Debug.Log("Target Position: " + targetPosition + " \t\t" + hmd.transform.position + "\n" + hmdDown.ToString() + "\t\t" + hmdDown.magnitude + "\t\t");
info.AssumedForward = assumedForward;
info.IntendedPosition = targetPosition;
return(info);
}
