/// <summary>
/// Calibrates VRIK to the specified trackers using the VRIKTrackerCalibrator.Settings.
/// </summary>
/// <param name="ik">Reference to the VRIK component.</param>
/// <param name="settings">Calibration settings.</param>
/// <param name="headTracker">The HMD.</param>
/// <param name="bodyTracker">(Optional) A tracker placed anywhere on the body of the player, preferrably close to the pelvis, on the belt area.</param>
/// <param name="leftHandTracker">(Optional) A tracker or hand controller device placed anywhere on or in the player's left hand.</param>
/// <param name="rightHandTracker">(Optional) A tracker or hand controller device placed anywhere on or in the player's right hand.</param>
/// <param name="leftFootTracker">(Optional) A tracker placed anywhere on the ankle or toes of the player's left leg.</param>
/// <param name="rightFootTracker">(Optional) A tracker placed anywhere on the ankle or toes of the player's right leg.</param>
public static CalibrationData Calibrate(VRIK ik, Settings settings, Transform headTracker, Transform bodyTracker = null, Transform leftHandTracker = null, Transform rightHandTracker = null, Transform leftFootTracker = null, Transform rightFootTracker = null)
{
if (!ik.solver.initiated)
{
Debug.LogError("Can not calibrate before VRIK has initiated.");
return(null);
}
if (headTracker == null)
{
Debug.LogError("Can not calibrate VRIK without the head tracker.");
return(null);
}
CalibrationData data = new CalibrationData();
ik.solver.FixTransforms();
// Root position and rotation
Vector3 headPos = headTracker.position + headTracker.rotation * Quaternion.LookRotation(settings.headTrackerForward, settings.headTrackerUp) * settings.headOffset;
ik.references.root.position = new Vector3(headPos.x, ik.references.root.position.y, headPos.z);
Vector3 headForward = headTracker.rotation * settings.headTrackerForward;
headForward.y = 0f;
ik.references.root.rotation = Quaternion.LookRotation(headForward);
// Head
Transform headTarget = ik.solver.spine.headTarget == null ? (new GameObject("Head Target")).transform : ik.solver.spine.headTarget;
headTarget.position = headPos;
headTarget.rotation = ik.references.head.rotation;
headTarget.parent = headTracker;
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)
{
Transform pelvisTarget = ik.solver.spine.pelvisTarget == null ? (new GameObject("Pelvis Target")).transform : ik.solver.spine.pelvisTarget;
pelvisTarget.position = ik.references.pelvis.position;
pelvisTarget.rotation = ik.references.pelvis.rotation;
pelvisTarget.parent = bodyTracker;
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)
{
Transform leftHandTarget = ik.solver.leftArm.target == null ? (new GameObject("Left Hand Target")).transform : ik.solver.leftArm.target;
leftHandTarget.position = leftHandTracker.position + leftHandTracker.rotation * Quaternion.LookRotation(settings.handTrackerForward, settings.handTrackerUp) * settings.handOffset;
Vector3 leftHandUp = Vector3.Cross(ik.solver.leftArm.wristToPalmAxis, ik.solver.leftArm.palmToThumbAxis);
leftHandTarget.rotation = QuaTools.MatchRotation(leftHandTracker.rotation * Quaternion.LookRotation(settings.handTrackerForward, settings.handTrackerUp), settings.handTrackerForward, settings.handTrackerUp, ik.solver.leftArm.wristToPalmAxis, leftHandUp);
leftHandTarget.parent = leftHandTracker;
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;
}
// Right Hand
if (rightHandTracker != null)
{
Transform rightHandTarget = ik.solver.rightArm.target == null ? (new GameObject("Right Hand Target")).transform : ik.solver.rightArm.target;
rightHandTarget.position = rightHandTracker.position + rightHandTracker.rotation * Quaternion.LookRotation(settings.handTrackerForward, settings.handTrackerUp) * settings.handOffset;
Vector3 rightHandUp = -Vector3.Cross(ik.solver.rightArm.wristToPalmAxis, ik.solver.rightArm.palmToThumbAxis);
rightHandTarget.rotation = QuaTools.MatchRotation(rightHandTracker.rotation * Quaternion.LookRotation(settings.handTrackerForward, settings.handTrackerUp), settings.handTrackerForward, settings.handTrackerUp, ik.solver.rightArm.wristToPalmAxis, rightHandUp);
rightHandTarget.parent = rightHandTracker;
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;
}
// Legs
if (leftFootTracker != null)
{
CalibrateLeg(settings, leftFootTracker, ik.solver.leftLeg, (ik.references.leftToes != null ? ik.references.leftToes : ik.references.leftFoot), ik.references.root.forward, true);
}
if (rightFootTracker != null)
{
CalibrateLeg(settings, rightFootTracker, ik.solver.rightLeg, (ik.references.rightToes != null ? ik.references.rightToes : ik.references.rightFoot), ik.references.root.forward, false);
}
// 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;
// Fill in Calibration Data
data.scale = ik.references.root.localScale.y;
data.head = new CalibrationData.Target(ik.solver.spine.headTarget);
data.pelvis = new CalibrationData.Target(ik.solver.spine.pelvisTarget);
data.leftHand = new CalibrationData.Target(ik.solver.leftArm.target);
data.rightHand = new CalibrationData.Target(ik.solver.rightArm.target);
data.leftFoot = new CalibrationData.Target(ik.solver.leftLeg.target);
data.rightFoot = new CalibrationData.Target(ik.solver.rightLeg.target);
data.leftLegGoal = new CalibrationData.Target(ik.solver.leftLeg.bendGoal);
data.rightLegGoal = new CalibrationData.Target(ik.solver.rightLeg.bendGoal);
data.pelvisTargetRight = rootController.pelvisTargetRight;
data.pelvisPositionWeight = ik.solver.spine.pelvisPositionWeight;
data.pelvisRotationWeight = ik.solver.spine.pelvisRotationWeight;
return(data);
}
public static IEnumerator CalibrateScaled(Transform handTrackerRoot, Transform headTrackerRoot, Transform footTrackerRoot, VRIK ik, Settings settings, Vector3 LeftHandOffset, Vector3 RightHandOffset, Transform HMDTransform, Transform PelvisTransform = null, Transform LeftHandTransform = null, Transform RightHandTransform = null, Transform LeftFootTransform = null, Transform RightFootTransform = null)
{
if (!ik.solver.initiated)
{
Debug.LogError("Can not calibrate before VRIK has initiated.");
yield break;
}
if (HMDTransform == null)
{
Debug.LogError("Can not calibrate VRIK without the head tracker.");
yield break;
}
//トラッカーのルートスケールを初期値に戻す
handTrackerRoot.localScale = new Vector3(1.0f, 1.0f, 1.0f);
headTrackerRoot.localScale = new Vector3(1.0f, 1.0f, 1.0f);
footTrackerRoot.localScale = new Vector3(1.0f, 1.0f, 1.0f);
//それぞれのトラッカーを正しいルートに移動
if (HMDTransform != null)
{
HMDTransform.parent = headTrackerRoot;
}
if (LeftHandTransform != null)
{
LeftHandTransform.parent = handTrackerRoot;
}
if (RightHandTransform != null)
{
RightHandTransform.parent = handTrackerRoot;
}
if (PelvisTransform != null)
{
PelvisTransform.parent = footTrackerRoot;
}
if (LeftFootTransform != null)
{
LeftFootTransform.parent = footTrackerRoot;
}
if (RightFootTransform != null)
{
RightFootTransform.parent = footTrackerRoot;
}
//コントローラーの場合手首までのオフセットを追加
if (LeftHandOffset == Vector3.zero)
{
var offset = new GameObject("LeftWristOffset");
offset.transform.parent = LeftHandTransform;
offset.transform.localPosition = new Vector3(-0.04f, 0.04f, -0.15f);
offset.transform.localRotation = Quaternion.Euler(60, 0, 90);
offset.transform.localScale = Vector3.one;
LeftHandTransform = offset.transform;
}
if (RightHandOffset == Vector3.zero)
{
var offset = new GameObject("RightWristOffset");
offset.transform.parent = RightHandTransform;
offset.transform.localPosition = new Vector3(0.04f, 0.04f, -0.15f);
offset.transform.localRotation = Quaternion.Euler(60, 0, -90);
offset.transform.localScale = Vector3.one;
RightHandTransform = offset.transform;
}
// モデルのポジションを手と手の中心位置に移動
var centerposition = Vector3.Lerp(LeftHandTransform.position, RightHandTransform.position, 0.5f);
ik.references.root.position = new Vector3(centerposition.x, ik.references.root.position.y, centerposition.z);
yield return(new WaitForEndOfFrame());
//それぞれのトラッカーに手のオフセットを適用
//トラッカーの角度は 0,-90,-90 が正位置(手の甲に付けてLED部を外側に向けたとき)
//トラッカー zをマイナス方向に動かすとトラッカーの底面に向かって進む
//角度補正LookAt(左手なら右のトラッカーに向けた)後 zを＋方向は体中心(左手なら右手の方向)に向かって進む
//xを－方向は体の正面に向かって進む
//先にトラッカー底面に向かってのオフセットを両手に適用する
var leftWrist = new GameObject("LeftWristOffset").transform;
leftWrist.parent = LeftHandTransform;
leftWrist.localPosition = new Vector3(0, 0, -LeftHandOffset.y);
leftWrist.localRotation = Quaternion.Euler(Vector3.zero);
var rightWrist = new GameObject("RightWristOffset").transform;
rightWrist.parent = RightHandTransform;
rightWrist.localPosition = new Vector3(0, 0, -RightHandOffset.y);
rightWrist.localRotation = Quaternion.Euler(Vector3.zero);
//お互いのトラッカー同士を向き合わせてオフセットを適用する
leftWrist.LookAt(rightWrist ?? RightHandTransform);
leftWrist.localPosition += leftWrist.localRotation * new Vector3(0, 0, LeftHandOffset.z);
rightWrist.LookAt(leftWrist ?? LeftHandTransform);
rightWrist.localPosition += rightWrist.localRotation * new Vector3(0, 0, RightHandOffset.z);
//両手のxをマイナス方向が正面なので体を回転させる
Vector3 hmdForwardAngle = leftWrist.rotation * new Vector3(-1, 0, 0);
hmdForwardAngle.y = 0f;
ik.references.root.rotation = Quaternion.LookRotation(hmdForwardAngle);
//回転した分トラッカーも回転させる
if (LeftHandOffset != Vector3.zero) // Vector3 (IsEnable, ToTrackerBottom, ToBodySide)
{
leftWrist.eulerAngles = new Vector3(0, -90, 90); //トラッカー補正後の角度
leftWrist.RotateAround(leftWrist.position, Vector3.up, ik.references.root.rotation.eulerAngles.y); //体の回転分を引く
LeftHandTransform = leftWrist;
}
if (RightHandOffset != Vector3.zero) // Vector3 (IsEnable, ToTrackerBottom, ToBodySide)
{
rightWrist.eulerAngles = new Vector3(180, -90, 90); //トラッカー補正後の角度
rightWrist.RotateAround(rightWrist.position, Vector3.up, ik.references.root.rotation.eulerAngles.y); //体の回転分を引く
RightHandTransform = rightWrist;
}
yield return(new WaitForEndOfFrame());
//モデルを手の高さで比較してスケールアップさせる
//なるべく現実の身長に近づけて現実のコントローラー座標とのずれをなくす
//ずれが大きいとexternalcamera.cfgとの合成時に手がずれすぎておかしくなる
var modelHandHeight = (ik.references.leftHand.position.y + ik.references.rightHand.position.y) / 2f;
var realHandHeight = (LeftHandTransform.position.y + RightHandTransform.position.y) / 2f;
var hscale = realHandHeight / modelHandHeight;
ik.references.root.localScale = new Vector3(hscale, hscale, hscale);
//VRMモデルのコライダーがスケールについてこないため、すべて再設定
var springBoneColiderGroups = ik.references.root.GetComponentsInChildren <VRM.VRMSpringBoneColliderGroup>();
foreach (var springBoneColiderGroup in springBoneColiderGroups)
{
foreach (var colider in springBoneColiderGroup.Colliders)
{
colider.Offset *= hscale;
colider.Radius *= hscale;
}
}
// 手のトラッカー全体のスケールを手の位置に合わせる
var modelHandDistance = Vector3.Distance(ik.references.leftHand.position, ik.references.rightHand.position);
var realHandDistance = Vector3.Distance(LeftHandTransform.position, RightHandTransform.position);
var wscale = modelHandDistance / realHandDistance;
modelHandHeight = (ik.references.leftHand.position.y + ik.references.rightHand.position.y) / 2f;
realHandHeight = (LeftHandTransform.position.y + RightHandTransform.position.y) / 2f;
hscale = modelHandHeight / realHandHeight;
handTrackerRoot.localScale = new Vector3(wscale, hscale, wscale);
// モデルのポジションを再度手と手の中心位置に移動
centerposition = Vector3.Lerp(LeftHandTransform.position, RightHandTransform.position, 0.5f);
ik.references.root.position = new Vector3(centerposition.x, ik.references.root.position.y, centerposition.z);
//hmdForwardAngle = HMDTransform.rotation * settings.headTrackerForward;
//hmdForwardAngle.y = 0f;
ik.references.root.rotation = Quaternion.LookRotation(hmdForwardAngle);
// 頭のトラッカー全体のスケールを頭の位置に合わせる
var modelHeadHeight = ik.references.head.position.y;
var realHeadHeight = HMDTransform.position.y;
var headHscale = modelHeadHeight / realHeadHeight;
headTrackerRoot.localScale = new Vector3(wscale, hscale, wscale);
// 腰のトラッカー全体のスケールを腰の位置に合わせる
if (PelvisTransform != null)
{
var modelPelvisHeight = ik.references.pelvis.position.y;
var realPelvisHeight = PelvisTransform.position.y;
var pelvisHscale = modelPelvisHeight / realPelvisHeight;
footTrackerRoot.localScale = new Vector3(wscale, pelvisHscale, wscale);
}
//腰の子に膝のBendGoal設定用
var bendGoalTarget = new GameObject("BendGoalTarget");
bendGoalTarget.transform.parent = ik.references.pelvis;
bendGoalTarget.transform.localScale = Vector3.one;
bendGoalTarget.transform.localPosition = new Vector3(0, 0, 1); //正面1m
bendGoalTarget.transform.localRotation = Quaternion.Euler(Vector3.zero);
yield return(new WaitForEndOfFrame());
//yield break;
// Head
Transform hmdAdjusterTransform = ik.solver.spine.headTarget == null ? (new GameObject("hmdAdjuster")).transform : ik.solver.spine.headTarget;
hmdAdjusterTransform.parent = HMDTransform;
hmdAdjusterTransform.position = ik.references.head.position; //HMDTransform.position + HMDTransform.rotation * Quaternion.LookRotation(settings.headTrackerForward, settings.headTrackerUp) * settings.headOffset;
//hmdAdjusterTransform.localPosition = new Vector3(0, hmdAdjusterTransform.localPosition.y, -0.15f);
hmdAdjusterTransform.rotation = ik.references.head.rotation;
ik.solver.spine.headTarget = hmdAdjusterTransform;
ik.solver.spine.headClampWeight = 0.38f;
// Body
if (PelvisTransform != null)
{
Transform pelvisAdjusterTransform = ik.solver.spine.pelvisTarget == null ? (new GameObject("pelvisAdjuster")).transform : ik.solver.spine.pelvisTarget;
pelvisAdjusterTransform.parent = PelvisTransform;
pelvisAdjusterTransform.position = ik.references.pelvis.position;
pelvisAdjusterTransform.rotation = ik.references.pelvis.rotation;
ik.solver.spine.pelvisTarget = pelvisAdjusterTransform;
ik.solver.spine.pelvisPositionWeight = 1f;
ik.solver.spine.pelvisRotationWeight = 1f;
ik.solver.plantFeet = false;
ik.solver.spine.neckStiffness = 0f;
ik.solver.spine.maxRootAngle = 180f;
}
else if (LeftFootTransform != null && RightFootTransform != null)
{
ik.solver.spine.maxRootAngle = 0f;
}
yield return(new WaitForEndOfFrame());
// Left Hand
if (LeftHandTransform != null)
{
Transform leftHandAdjusterTransform = ik.solver.leftArm.target == null ? (new GameObject("leftHandAdjuster")).transform : ik.solver.leftArm.target;
leftHandAdjusterTransform.parent = LeftHandTransform;
leftHandAdjusterTransform.position = LeftHandTransform.position + LeftHandTransform.rotation * Quaternion.LookRotation(settings.handTrackerForward, settings.handTrackerUp) * settings.handOffset;
Vector3 leftHandUp = Vector3.Cross(ik.solver.leftArm.wristToPalmAxis, ik.solver.leftArm.palmToThumbAxis);
leftHandAdjusterTransform.rotation = QuaTools.MatchRotation(LeftHandTransform.rotation * Quaternion.LookRotation(settings.handTrackerForward, settings.handTrackerUp), settings.handTrackerForward, settings.handTrackerUp, ik.solver.leftArm.wristToPalmAxis, leftHandUp);
ik.solver.leftArm.target = leftHandAdjusterTransform;
}
else
{
ik.solver.leftArm.positionWeight = 0f;
ik.solver.leftArm.rotationWeight = 0f;
}
// Right Hand
if (RightHandTransform != null)
{
Transform rightHandAdjusterTransform = ik.solver.rightArm.target == null ? (new GameObject("rightHandAdjuster")).transform : ik.solver.rightArm.target;
rightHandAdjusterTransform.parent = RightHandTransform;
rightHandAdjusterTransform.position = RightHandTransform.position + RightHandTransform.rotation * Quaternion.LookRotation(settings.handTrackerForward, settings.handTrackerUp) * settings.handOffset;
Vector3 rightHandUp = -Vector3.Cross(ik.solver.rightArm.wristToPalmAxis, ik.solver.rightArm.palmToThumbAxis);
rightHandAdjusterTransform.rotation = QuaTools.MatchRotation(RightHandTransform.rotation * Quaternion.LookRotation(settings.handTrackerForward, settings.handTrackerUp), settings.handTrackerForward, settings.handTrackerUp, ik.solver.rightArm.wristToPalmAxis, rightHandUp);
ik.solver.rightArm.target = rightHandAdjusterTransform;
}
else
{
ik.solver.rightArm.positionWeight = 0f;
ik.solver.rightArm.rotationWeight = 0f;
}
// Legs
if (LeftFootTransform != null)
{
CalibrateLeg(settings, LeftFootTransform, ik.solver.leftLeg, (ik.references.leftToes != null ? ik.references.leftToes : ik.references.leftFoot), hmdForwardAngle, ik.references.root.forward, true);
}
if (RightFootTransform != null)
{
CalibrateLeg(settings, RightFootTransform, ik.solver.rightLeg, (ik.references.rightToes != null ? ik.references.rightToes : ik.references.rightFoot), hmdForwardAngle, ik.references.root.forward, false);
}
ik.solver.leftLeg.bendGoal = bendGoalTarget.transform;
ik.solver.leftLeg.bendGoalWeight = 1.0f;
ik.solver.rightLeg.bendGoal = bendGoalTarget.transform;
ik.solver.rightLeg.bendGoalWeight = 1.0f;
// Root controller
bool addRootController = PelvisTransform != null || (LeftFootTransform != null && RightFootTransform != null);
var rootController = ik.references.root.GetComponent <VRIKRootController>();
if (addRootController)
{
if (rootController == null)
{
rootController = ik.references.root.gameObject.AddComponent <VRIKRootController>();
}
rootController.pelvisTarget = ik.solver.spine.pelvisTarget;
rootController.leftFootTarget = ik.solver.leftLeg.target;
rootController.rightFootTarget = ik.solver.rightLeg.target;
rootController.Calibrate();
}
else
{
if (rootController != null)
{
GameObject.Destroy(rootController);
}
}
// Additional solver settings
ik.solver.spine.minHeadHeight = 0f;
ik.solver.locomotion.weight = PelvisTransform == null && LeftFootTransform == null && RightFootTransform == null ? 1f : 0f;
}
/// <summary>
/// Calibrates VRIK to the specified trackers using the VRIKTrackerCalibrator.Settings.
/// </summary>
/// <param name="ik">Reference to the VRIK component.</param>
/// <param name="settings">Calibration settings.</param>
/// <param name="HMDTransform">The HMD.</param>
/// <param name="PelvisTransform">(Optional) A tracker placed anywhere on the body of the player, preferrably close to the pelvis, on the belt area.</param>
/// <param name="LeftHandTransform">(Optional) A tracker or hand controller device placed anywhere on or in the player's left hand.</param>
/// <param name="RightHandTransform">(Optional) A tracker or hand controller device placed anywhere on or in the player's right hand.</param>
/// <param name="LeftFootTransform">(Optional) A tracker placed anywhere on the ankle or toes of the player's left leg.</param>
/// <param name="RightFootTransform">(Optional) A tracker placed anywhere on the ankle or toes of the player's right leg.</param>
public static void Calibrate(VRIK ik, Settings settings, Transform HMDTransform, Transform PelvisTransform = null, Transform LeftHandTransform = null, Transform RightHandTransform = null, Transform LeftFootTransform = null, Transform RightFootTransform = null)
{
if (!ik.solver.initiated)
{
Debug.LogError("Can not calibrate before VRIK has initiated.");
return;
}
if (HMDTransform == null)
{
Debug.LogError("Can not calibrate VRIK without the head tracker.");
return;
}
// Head
Transform hmdAdjusterTransform = ik.solver.spine.headTarget == null ? (new GameObject("hmdAdjuster")).transform : ik.solver.spine.headTarget;
hmdAdjusterTransform.parent = HMDTransform;
hmdAdjusterTransform.position = HMDTransform.position + HMDTransform.rotation * Quaternion.LookRotation(settings.headTrackerForward, settings.headTrackerUp) * settings.headOffset;
hmdAdjusterTransform.rotation = ik.references.head.rotation;
ik.solver.spine.headTarget = hmdAdjusterTransform;
// Size
float sizeF = hmdAdjusterTransform.position.y / ik.references.head.position.y;
ik.references.root.localScale = Vector3.one * sizeF;
// Root position and rotation
ik.references.root.position = new Vector3(hmdAdjusterTransform.position.x, ik.references.root.position.y, hmdAdjusterTransform.position.z);
Vector3 hmdForwardAngle = HMDTransform.rotation * settings.headTrackerForward;
hmdForwardAngle.y = 0f;
ik.references.root.rotation = Quaternion.LookRotation(hmdForwardAngle);
// Body
if (PelvisTransform != null)
{
Transform pelvisAdjusterTransform = ik.solver.spine.pelvisTarget == null ? (new GameObject("pelvisAdjuster")).transform : ik.solver.spine.pelvisTarget;
pelvisAdjusterTransform.parent = PelvisTransform;
pelvisAdjusterTransform.position = ik.references.pelvis.position;
pelvisAdjusterTransform.rotation = ik.references.pelvis.rotation;
ik.solver.spine.pelvisTarget = pelvisAdjusterTransform;
ik.solver.spine.pelvisPositionWeight = 1f;
ik.solver.spine.pelvisRotationWeight = 1f;
ik.solver.plantFeet = false;
ik.solver.spine.neckStiffness = 0f;
ik.solver.spine.maxRootAngle = 180f;
}
else if (LeftFootTransform != null && RightFootTransform != null)
{
ik.solver.spine.maxRootAngle = 0f;
}
// Left Hand
if (LeftHandTransform != null)
{
Transform leftHandAdjusterTransform = ik.solver.leftArm.target == null ? (new GameObject("leftHandAdjuster")).transform : ik.solver.leftArm.target;
leftHandAdjusterTransform.parent = LeftHandTransform;
leftHandAdjusterTransform.position = LeftHandTransform.position + LeftHandTransform.rotation * Quaternion.LookRotation(settings.handTrackerForward, settings.handTrackerUp) * settings.handOffset;
Vector3 leftHandUp = Vector3.Cross(ik.solver.leftArm.wristToPalmAxis, ik.solver.leftArm.palmToThumbAxis);
leftHandAdjusterTransform.rotation = QuaTools.MatchRotation(LeftHandTransform.rotation * Quaternion.LookRotation(settings.handTrackerForward, settings.handTrackerUp), settings.handTrackerForward, settings.handTrackerUp, ik.solver.leftArm.wristToPalmAxis, leftHandUp);
ik.solver.leftArm.target = leftHandAdjusterTransform;
}
else
{
ik.solver.leftArm.positionWeight = 0f;
ik.solver.leftArm.rotationWeight = 0f;
}
// Right Hand
if (RightHandTransform != null)
{
Transform rightHandAdjusterTransform = ik.solver.rightArm.target == null ? (new GameObject("rightHandAdjuster")).transform : ik.solver.rightArm.target;
rightHandAdjusterTransform.parent = RightHandTransform;
rightHandAdjusterTransform.position = RightHandTransform.position + RightHandTransform.rotation * Quaternion.LookRotation(settings.handTrackerForward, settings.handTrackerUp) * settings.handOffset;
Vector3 rightHandUp = -Vector3.Cross(ik.solver.rightArm.wristToPalmAxis, ik.solver.rightArm.palmToThumbAxis);
rightHandAdjusterTransform.rotation = QuaTools.MatchRotation(RightHandTransform.rotation * Quaternion.LookRotation(settings.handTrackerForward, settings.handTrackerUp), settings.handTrackerForward, settings.handTrackerUp, ik.solver.rightArm.wristToPalmAxis, rightHandUp);
ik.solver.rightArm.target = rightHandAdjusterTransform;
}
else
{
ik.solver.rightArm.positionWeight = 0f;
ik.solver.rightArm.rotationWeight = 0f;
}
// Legs
if (LeftFootTransform != null)
{
CalibrateLeg(settings, LeftFootTransform, ik.solver.leftLeg, (ik.references.leftToes != null ? ik.references.leftToes : ik.references.leftFoot), hmdForwardAngle, ik.references.root.forward, true);
}
if (RightFootTransform != null)
{
CalibrateLeg(settings, RightFootTransform, ik.solver.rightLeg, (ik.references.rightToes != null ? ik.references.rightToes : ik.references.rightFoot), hmdForwardAngle, ik.references.root.forward, false);
}
// Root controller
bool addRootController = PelvisTransform != null || (LeftFootTransform != null && RightFootTransform != null);
var rootController = ik.references.root.GetComponent <VRIKRootController>();
if (addRootController)
{
if (rootController == null)
{
rootController = ik.references.root.gameObject.AddComponent <VRIKRootController>();
}
rootController.pelvisTarget = ik.solver.spine.pelvisTarget;
rootController.leftFootTarget = ik.solver.leftLeg.target;
rootController.rightFootTarget = ik.solver.rightLeg.target;
rootController.Calibrate();
}
else
{
if (rootController != null)
{
GameObject.Destroy(rootController);
}
}
// Additional solver settings
ik.solver.spine.minHeadHeight = 0f;
ik.solver.locomotion.weight = PelvisTransform == null && LeftFootTransform == null && RightFootTransform == null ? 1f : 0f;
}
public static IEnumerator CalibrateScaled(Transform handTrackerRoot, Transform headTrackerRoot, Transform footTrackerRoot, VRIK ik, Settings settings, Transform HMDTransform, Transform PelvisTransform = null, Transform LeftHandTransform = null, Transform RightHandTransform = null, Transform LeftFootTransform = null, Transform RightFootTransform = null)
{
if (!ik.solver.initiated)
{
Debug.LogError("Can not calibrate before VRIK has initiated.");
yield break;
}
if (HMDTransform == null)
{
Debug.LogError("Can not calibrate VRIK without the head tracker.");
yield break;
}
//トラッカーのルートスケールを初期値に戻す
handTrackerRoot.localScale = new Vector3(1.0f, 1.0f, 1.0f);
headTrackerRoot.localScale = new Vector3(1.0f, 1.0f, 1.0f);
footTrackerRoot.localScale = new Vector3(1.0f, 1.0f, 1.0f);
// モデルのポジションを手と手の中心位置に移動
var centerposition = Vector3.Lerp(LeftHandTransform.position, RightHandTransform.position, 0.5f);
ik.references.root.position = new Vector3(centerposition.x, ik.references.root.position.y, centerposition.z);
Vector3 hmdForwardAngle = HMDTransform.rotation * settings.headTrackerForward;
hmdForwardAngle.y = 0f;
ik.references.root.rotation = Quaternion.LookRotation(hmdForwardAngle);
yield return(new WaitForEndOfFrame());
//モデルを手の高さで比較してスケールアップさせる
//なるべく現実の身長に近づけて現実のコントローラー座標とのずれをなくす
//ずれが大きいとexternalcamera.cfgとの合成時に手がずれすぎておかしくなる
var modelHandHeight = (ik.references.leftHand.position.y + ik.references.rightHand.position.y) / 2f;
var realHandHeight = (LeftHandTransform.position.y + RightHandTransform.position.y) / 2f;
var hscale = realHandHeight / modelHandHeight;
ik.references.root.localScale = new Vector3(hscale, hscale, hscale);
// 手のトラッカー全体のスケールを手の位置に合わせる
var modelHandDistance = Vector3.Distance(ik.references.leftHand.position, ik.references.rightHand.position);
var realHandDistance = Vector3.Distance(LeftHandTransform.position, RightHandTransform.position);
var wscale = modelHandDistance / realHandDistance;
modelHandHeight = (ik.references.leftHand.position.y + ik.references.rightHand.position.y) / 2f;
realHandHeight = (LeftHandTransform.position.y + RightHandTransform.position.y) / 2f;
hscale = modelHandHeight / realHandHeight;
handTrackerRoot.localScale = new Vector3(wscale, hscale, wscale);
// モデルのポジションを再度手と手の中心位置に移動
centerposition = Vector3.Lerp(LeftHandTransform.position, RightHandTransform.position, 0.5f);
ik.references.root.position = new Vector3(centerposition.x, ik.references.root.position.y, centerposition.z);
hmdForwardAngle = HMDTransform.rotation * settings.headTrackerForward;
hmdForwardAngle.y = 0f;
ik.references.root.rotation = Quaternion.LookRotation(hmdForwardAngle);
// 頭のトラッカー全体のスケールを頭の位置に合わせる
var modelHeadHeight = ik.references.head.position.y;
var realHeadHeight = HMDTransform.position.y;
var headHscale = modelHeadHeight / realHeadHeight;
headTrackerRoot.localScale = new Vector3(wscale, hscale, wscale);
// 腰のトラッカー全体のスケールを腰の位置に合わせる
if (PelvisTransform != null)
{
var modelPelvisHeight = ik.references.pelvis.position.y;
var realPelvisHeight = PelvisTransform.position.y;
var pelvisHscale = modelPelvisHeight / realPelvisHeight;
footTrackerRoot.localScale = new Vector3(wscale, pelvisHscale, wscale);
}
yield return(new WaitForEndOfFrame());
//yield break;
// Head
Transform hmdAdjusterTransform = ik.solver.spine.headTarget == null ? (new GameObject("hmdAdjuster")).transform : ik.solver.spine.headTarget;
hmdAdjusterTransform.parent = HMDTransform;
hmdAdjusterTransform.position = ik.references.head.position; //HMDTransform.position + HMDTransform.rotation * Quaternion.LookRotation(settings.headTrackerForward, settings.headTrackerUp) * settings.headOffset;
//hmdAdjusterTransform.localPosition = new Vector3(0, hmdAdjusterTransform.localPosition.y, -0.15f);
hmdAdjusterTransform.rotation = ik.references.head.rotation;
ik.solver.spine.headTarget = hmdAdjusterTransform;
ik.solver.spine.headClampWeight = 0.38f;
// Body
if (PelvisTransform != null)
{
Transform pelvisAdjusterTransform = ik.solver.spine.pelvisTarget == null ? (new GameObject("pelvisAdjuster")).transform : ik.solver.spine.pelvisTarget;
pelvisAdjusterTransform.parent = PelvisTransform;
pelvisAdjusterTransform.position = ik.references.pelvis.position;
pelvisAdjusterTransform.rotation = ik.references.pelvis.rotation;
ik.solver.spine.pelvisTarget = pelvisAdjusterTransform;
ik.solver.spine.pelvisPositionWeight = 1f;
ik.solver.spine.pelvisRotationWeight = 1f;
ik.solver.plantFeet = false;
ik.solver.spine.neckStiffness = 0f;
ik.solver.spine.maxRootAngle = 180f;
}
else if (LeftFootTransform != null && RightFootTransform != null)
{
ik.solver.spine.maxRootAngle = 0f;
}
// Left Hand
if (LeftHandTransform != null)
{
Transform leftHandAdjusterTransform = ik.solver.leftArm.target == null ? (new GameObject("leftHandAdjuster")).transform : ik.solver.leftArm.target;
leftHandAdjusterTransform.parent = LeftHandTransform;
leftHandAdjusterTransform.position = LeftHandTransform.position + LeftHandTransform.rotation * Quaternion.LookRotation(settings.handTrackerForward, settings.handTrackerUp) * settings.handOffset;
Vector3 leftHandUp = Vector3.Cross(ik.solver.leftArm.wristToPalmAxis, ik.solver.leftArm.palmToThumbAxis);
leftHandAdjusterTransform.rotation = QuaTools.MatchRotation(LeftHandTransform.rotation * Quaternion.LookRotation(settings.handTrackerForward, settings.handTrackerUp), settings.handTrackerForward, settings.handTrackerUp, ik.solver.leftArm.wristToPalmAxis, leftHandUp);
ik.solver.leftArm.target = leftHandAdjusterTransform;
}
else
{
ik.solver.leftArm.positionWeight = 0f;
ik.solver.leftArm.rotationWeight = 0f;
}
// Right Hand
if (RightHandTransform != null)
{
Transform rightHandAdjusterTransform = ik.solver.rightArm.target == null ? (new GameObject("rightHandAdjuster")).transform : ik.solver.rightArm.target;
rightHandAdjusterTransform.parent = RightHandTransform;
rightHandAdjusterTransform.position = RightHandTransform.position + RightHandTransform.rotation * Quaternion.LookRotation(settings.handTrackerForward, settings.handTrackerUp) * settings.handOffset;
Vector3 rightHandUp = -Vector3.Cross(ik.solver.rightArm.wristToPalmAxis, ik.solver.rightArm.palmToThumbAxis);
rightHandAdjusterTransform.rotation = QuaTools.MatchRotation(RightHandTransform.rotation * Quaternion.LookRotation(settings.handTrackerForward, settings.handTrackerUp), settings.handTrackerForward, settings.handTrackerUp, ik.solver.rightArm.wristToPalmAxis, rightHandUp);
ik.solver.rightArm.target = rightHandAdjusterTransform;
}
else
{
ik.solver.rightArm.positionWeight = 0f;
ik.solver.rightArm.rotationWeight = 0f;
}
// Legs
if (LeftFootTransform != null)
{
CalibrateLeg(settings, LeftFootTransform, ik.solver.leftLeg, (ik.references.leftToes != null ? ik.references.leftToes : ik.references.leftFoot), ik.references.root.forward, true);
}
if (RightFootTransform != null)
{
CalibrateLeg(settings, RightFootTransform, ik.solver.rightLeg, (ik.references.rightToes != null ? ik.references.rightToes : ik.references.rightFoot), ik.references.root.forward, false);
}
// Root controller
bool addRootController = PelvisTransform != null || (LeftFootTransform != null && RightFootTransform != null);
var rootController = ik.references.root.GetComponent <VRIKRootController>();
if (addRootController)
{
if (rootController == null)
{
rootController = ik.references.root.gameObject.AddComponent <VRIKRootController>();
}
rootController.pelvisTarget = ik.solver.spine.pelvisTarget;
rootController.leftFootTarget = ik.solver.leftLeg.target;
rootController.rightFootTarget = ik.solver.rightLeg.target;
rootController.Calibrate();
}
else
{
if (rootController != null)
{
GameObject.Destroy(rootController);
}
}
// Additional solver settings
ik.solver.spine.minHeadHeight = 0f;
ik.solver.locomotion.weight = PelvisTransform == null && LeftFootTransform == null && RightFootTransform == null ? 1f : 0f;
}