internal void CalibrateFullBodyTrackingManual(SpawnedAvatar spawnedAvatar)
{
_logger.Info("Running manual full body tracking calibration");
CalibrationData.FullBodyCalibration fullBodyCalibration = _calibrationData.GetAvatarManualCalibration(spawnedAvatar.avatar.fileName);
if (TryGetUncalibratedPoseForAvatar(DeviceUse.Waist, spawnedAvatar, out Pose waist))
{
Vector3 positionOffset = Quaternion.Inverse(waist.rotation) * (spawnedAvatar.pelvis.position - waist.position);
Quaternion rotationOffset = Quaternion.Inverse(waist.rotation) * spawnedAvatar.pelvis.rotation;
fullBodyCalibration.waist = new Pose(positionOffset, rotationOffset);
_logger.Info("Set waist pose correction " + fullBodyCalibration.waist);
}
if (TryGetUncalibratedPoseForAvatar(DeviceUse.LeftFoot, spawnedAvatar, out Pose leftFoot))
{
Vector3 positionOffset = Quaternion.Inverse(leftFoot.rotation) * (spawnedAvatar.leftLeg.position - leftFoot.position);
Quaternion rotationOffset = Quaternion.Inverse(leftFoot.rotation) * spawnedAvatar.leftLeg.rotation;
fullBodyCalibration.leftFoot = new Pose(positionOffset, rotationOffset);
_logger.Info("Set left foot pose correction " + fullBodyCalibration.leftFoot);
}
if (TryGetUncalibratedPoseForAvatar(DeviceUse.RightFoot, spawnedAvatar, out Pose rightFoot))
{
Vector3 positionOffset = Quaternion.Inverse(rightFoot.rotation) * (spawnedAvatar.rightLeg.position - rightFoot.position);
Quaternion rotationOffset = Quaternion.Inverse(rightFoot.rotation) * spawnedAvatar.rightLeg.rotation;
fullBodyCalibration.rightFoot = new Pose(positionOffset, rotationOffset);
_logger.Info("Set right foot pose correction " + fullBodyCalibration.rightFoot);
}
inputChanged?.Invoke();
}
private void UpdateUI(LoadedAvatar avatar)
{
DisableCalibrationMode(false);
if (avatar == null)
{
_clearButton.interactable = false;
_calibrateButton.interactable = false;
_automaticCalibrationSetting.checkbox.interactable = false;
_automaticCalibrationHoverHint.text = "No avatar selected";
return;
}
_currentAvatarSettings = _settings.GetAvatarSettings(avatar.fileName);
_currentAvatarManualCalibration = _calibrationData.GetAvatarManualCalibration(avatar.fileName);
UpdateCalibrationButtons(avatar);
_ignoreExclusionsSetting.CheckboxValue = _currentAvatarSettings.ignoreExclusions;
_bypassCalibration.CheckboxValue = _currentAvatarSettings.bypassCalibration;
_bypassCalibration.checkbox.interactable = avatar.supportsFullBodyTracking;
_bypassCalibrationHoverHint.text = avatar.supportsFullBodyTracking ? "Disable the need for calibration before full body tracking is applied." : "Not supported by current avatar";
_automaticCalibrationSetting.CheckboxValue = _currentAvatarSettings.useAutomaticCalibration;
_automaticCalibrationSetting.checkbox.interactable = avatar.descriptor.supportsAutomaticCalibration;
_automaticCalibrationHoverHint.text = avatar.descriptor.supportsAutomaticCalibration ? "Use automatic calibration instead of manual calibration." : "Not supported by current avatar";
}
private void UpdateUI(LoadedAvatar avatar)
{
SetInteractableRecursively(avatar != null);
UpdateCalibrationButtons(avatar);
if (avatar == null)
{
_clearButton.interactable = false;
_calibrateButton.interactable = false;
_automaticCalibrationSetting.interactable = false;
_automaticCalibrationHoverHint.text = "No avatar selected";
return;
}
_currentAvatarSettings = _settings.GetAvatarSettings(avatar.fileName);
_currentAvatarManualCalibration = _calibrationData.GetAvatarManualCalibration(avatar.fileName);
_ignoreExclusionsSetting.Value = _currentAvatarSettings.ignoreExclusions;
_bypassCalibration.Value = _currentAvatarSettings.bypassCalibration;
_automaticCalibrationSetting.Value = _currentAvatarSettings.useAutomaticCalibration;
_automaticCalibrationSetting.interactable = avatar.descriptor.supportsAutomaticCalibration;
_automaticCalibrationHoverHint.text = avatar.descriptor.supportsAutomaticCalibration ? "Use automatic calibration instead of manual calibration." : "Not supported by current avatar";
}
public void UpdateUI(SpawnedAvatar avatar)
{
if (_currentAvatarSettings != null)
{
_currentAvatarSettings.useAutomaticCalibration.changed -= OnUseAutomaticCalibrationChanged;
}
UpdateCalibrationButtons(avatar);
if (!avatar)
{
_clearButton.interactable = false;
_calibrateButton.interactable = false;
_automaticCalibrationSetting.interactable = false;
_automaticCalibrationHoverHint.text = "No avatar selected";
return;
}
_currentAvatarSettings = _settings.GetAvatarSettings(avatar.prefab.fileName);
_currentAvatarManualCalibration = _calibrationData.GetAvatarManualCalibration(avatar.prefab.fileName);
_currentAvatarSettings.useAutomaticCalibration.changed += OnUseAutomaticCalibrationChanged;
_ignoreExclusionsSetting.Value = _currentAvatarSettings.ignoreExclusions;
_bypassCalibration.Value = _currentAvatarSettings.bypassCalibration;
_automaticCalibrationSetting.Value = _currentAvatarSettings.useAutomaticCalibration;
_automaticCalibrationSetting.interactable = avatar.prefab.descriptor.supportsAutomaticCalibration;
_automaticCalibrationHoverHint.text = avatar.prefab.descriptor.supportsAutomaticCalibration ? "Use automatic calibration instead of manual calibration." : "Not supported by current avatar";
}
public void ClearAutomaticFullBodyTrackingData()
{
CalibrationData.FullBodyCalibration fullBodyCalibration = _calibrationData.automaticCalibration;
fullBodyCalibration.leftFoot = Pose.identity;
fullBodyCalibration.rightFoot = Pose.identity;
fullBodyCalibration.waist = Pose.identity;
}
public void ClearManualFullBodyTrackingData(SpawnedAvatar spawnedAvatar)
{
CalibrationData.FullBodyCalibration fullBodyCalibration = _calibrationData.GetAvatarManualCalibration(spawnedAvatar.avatar.fileName);
fullBodyCalibration.leftFoot = Pose.identity;
fullBodyCalibration.rightFoot = Pose.identity;
fullBodyCalibration.waist = Pose.identity;
}
internal void ClearAutomaticFullBodyTrackingData()
{
CalibrationData.FullBodyCalibration fullBodyCalibration = _calibrationData.automaticCalibration;
fullBodyCalibration.leftFoot = Pose.identity;
fullBodyCalibration.rightFoot = Pose.identity;
fullBodyCalibration.waist = Pose.identity;
inputChanged?.Invoke();
}
internal void ClearManualFullBodyTrackingData(SpawnedAvatar spawnedAvatar)
{
CalibrationData.FullBodyCalibration fullBodyCalibration = _calibrationData.GetAvatarManualCalibration(spawnedAvatar.avatar.fileName);
fullBodyCalibration.leftFoot = Pose.identity;
fullBodyCalibration.rightFoot = Pose.identity;
fullBodyCalibration.waist = Pose.identity;
inputChanged?.Invoke();
}
public void CalibrateFullBodyTrackingAuto()
{
_logger.Info("Calibrating full body tracking");
CalibrationData.FullBodyCalibration fullBodyCalibration = _calibrationData.automaticCalibration;
Vector3 floorNormal = Vector3.up;
float floorPosition = _settings.moveFloorWithRoomAdjust ? _roomCenter.y : 0;
if (_trackedDeviceManager.leftFoot.tracked)
{
TrackedDeviceState leftFoot = _trackedDeviceManager.leftFoot;
Vector3 leftFootForward = leftFoot.rotation * Vector3.up; // forward on feet trackers is y (up)
Vector3 leftFootStraightForward = Vector3.ProjectOnPlane(leftFootForward, floorNormal); // get projection of forward vector on xz plane (floor)
Quaternion leftRotationCorrection = Quaternion.Inverse(leftFoot.rotation) * Quaternion.LookRotation(Vector3.up, leftFootStraightForward); // get difference between world rotation and flat forward rotation
fullBodyCalibration.leftFoot = new Pose((leftFoot.position.y - floorPosition) * Vector3.back, leftRotationCorrection);
_logger.Info("Set left foot pose correction " + fullBodyCalibration.leftFoot);
}
if (_trackedDeviceManager.rightFoot.tracked)
{
TrackedDeviceState rightFoot = _trackedDeviceManager.rightFoot;
Vector3 rightFootForward = rightFoot.rotation * Vector3.up;
Vector3 rightFootStraightForward = Vector3.ProjectOnPlane(rightFootForward, floorNormal);
Quaternion rightRotationCorrection = Quaternion.Inverse(rightFoot.rotation) * Quaternion.LookRotation(Vector3.up, rightFootStraightForward);
fullBodyCalibration.rightFoot = new Pose((rightFoot.position.y - floorPosition) * Vector3.back, rightRotationCorrection);
_logger.Info("Set right foot pose correction " + fullBodyCalibration.rightFoot);
}
if (_trackedDeviceManager.head.tracked && _trackedDeviceManager.waist.tracked)
{
TrackedDeviceState head = _trackedDeviceManager.head;
TrackedDeviceState pelvis = _trackedDeviceManager.waist;
// using "standard" 8 head high body proportions w/ eyes at 1/2 head height
// reference: https://miro.medium.com/max/3200/1*cqTRyEGl26l4CImEmWz68Q.jpeg
float eyeHeight = head.position.y - floorPosition;
Vector3 wantedPelvisPosition = new Vector3(0, eyeHeight / 22.5f * 14f, 0);
Vector3 pelvisPositionCorrection = wantedPelvisPosition - Vector3.up * (pelvis.position.y - floorPosition);
Vector3 pelvisForward = pelvis.rotation * Vector3.forward;
Vector3 pelvisStraightForward = Vector3.ProjectOnPlane(pelvisForward, floorNormal);
Quaternion pelvisRotationCorrection = Quaternion.Inverse(pelvis.rotation) * Quaternion.LookRotation(pelvisStraightForward, Vector3.up);
fullBodyCalibration.waist = new Pose(pelvisPositionCorrection, pelvisRotationCorrection);
_logger.Info("Set waist pose correction " + fullBodyCalibration.waist);
}
}
internal VRPlayerInput(TrackedDeviceManager trackedDeviceManager, LoadedAvatar avatar, Settings settings, CalibrationData calibrationData)
{
_deviceManager = trackedDeviceManager;
_settings = settings;
_avatarSettings = settings.GetAvatarSettings(avatar.fileName);
_calibrationData = calibrationData;
_manualCalibration = calibrationData.GetAvatarManualCalibration(avatar.fileName);
_deviceManager.deviceAdded += OnDevicesUpdated;
_deviceManager.deviceRemoved += OnDevicesUpdated;
_deviceManager.deviceTrackingAcquired += OnDevicesUpdated;
_deviceManager.deviceTrackingLost += OnDevicesUpdated;
_leftHandAnimAction = new SkeletalInput("/actions/customavatars/in/lefthandanim");
_rightHandAnimAction = new SkeletalInput("/actions/customavatars/in/righthandanim");
}
internal void CalibrateFullBodyTrackingAuto()
{
_logger.Info("Running automatic full body tracking calibration");
CalibrationData.FullBodyCalibration fullBodyCalibration = _calibrationData.automaticCalibration;
Vector3 floorNormal = Vector3.up;
if (TryGetUncalibratedPose(DeviceUse.LeftFoot, out Pose leftFoot))
{
Vector3 leftFootForward = leftFoot.rotation * Vector3.up; // forward on feet trackers is y (up)
Vector3 leftFootStraightForward = Vector3.ProjectOnPlane(leftFootForward, floorNormal); // get projection of forward vector on xz plane (floor)
Quaternion leftRotationCorrection = Quaternion.Inverse(leftFoot.rotation) * Quaternion.LookRotation(Vector3.up, leftFootStraightForward); // get difference between world rotation and flat forward rotation
fullBodyCalibration.leftFoot = new Pose(leftFoot.position.y * Vector3.back, leftRotationCorrection);
_logger.Info("Set left foot pose correction " + fullBodyCalibration.leftFoot);
}
if (TryGetUncalibratedPose(DeviceUse.RightFoot, out Pose rightFoot))
{
Vector3 rightFootForward = rightFoot.rotation * Vector3.up;
Vector3 rightFootStraightForward = Vector3.ProjectOnPlane(rightFootForward, floorNormal);
Quaternion rightRotationCorrection = Quaternion.Inverse(rightFoot.rotation) * Quaternion.LookRotation(Vector3.up, rightFootStraightForward);
fullBodyCalibration.rightFoot = new Pose(rightFoot.position.y * Vector3.back, rightRotationCorrection);
_logger.Info("Set right foot pose correction " + fullBodyCalibration.rightFoot);
}
if (TryGetUncalibratedPose(DeviceUse.Head, out Pose head) && TryGetUncalibratedPose(DeviceUse.Waist, out Pose waist))
{
// using "standard" 8 head high body proportions w/ eyes at 1/2 head height
// reference: https://miro.medium.com/max/3200/1*cqTRyEGl26l4CImEmWz68Q.jpeg
float eyeHeight = head.position.y;
Vector3 wantedWaistPosition = new Vector3(0, eyeHeight / 22.5f * 14f, 0);
Vector3 waistPositionCorrection = wantedWaistPosition - Vector3.up * waist.position.y;
Vector3 waistForward = waist.rotation * Vector3.forward;
Vector3 waistStraightForward = Vector3.ProjectOnPlane(waistForward, floorNormal);
Quaternion waistRotationCorrection = Quaternion.Inverse(waist.rotation) * Quaternion.LookRotation(waistStraightForward, Vector3.up);
fullBodyCalibration.waist = new Pose(waistPositionCorrection, waistRotationCorrection);
_logger.Info("Set waist pose correction " + fullBodyCalibration.waist);
_beatSaberUtilities.SetPlayerHeight(eyeHeight + MainSettingsModelSO.kHeadPosToPlayerHeightOffset);
}
inputChanged?.Invoke();
}
private void OnAvatarChanged(SpawnedAvatar spawnedAvatar)
{
if (_avatarSettings != null)
{
_avatarSettings.useAutomaticCalibration.changed -= OnUseAutomaticCalibrationChanged;
_avatarSettings.bypassCalibration.changed -= OnBypassCalibrationChanged;
}
if (!spawnedAvatar)
{
_avatarSettings = null;
_manualCalibration = null;
return;
}
_avatarSettings = _settings.GetAvatarSettings(spawnedAvatar.avatar.fileName);
_manualCalibration = _calibrationData.GetAvatarManualCalibration(spawnedAvatar.avatar.fileName);
_avatarSettings.useAutomaticCalibration.changed += OnUseAutomaticCalibrationChanged;
_avatarSettings.bypassCalibration.changed += OnBypassCalibrationChanged;
}
public void CalibrateFullBodyTrackingManual(SpawnedAvatar spawnedAvatar)
{
CalibrationData.FullBodyCalibration fullBodyCalibration = _calibrationData.GetAvatarManualCalibration(spawnedAvatar.avatar.fileName);
if (_trackedDeviceManager.waist.tracked)
{
TrackedDeviceState pelvis = _trackedDeviceManager.waist;
Vector3 positionOffset = Quaternion.Inverse(spawnedAvatar.pelvis.rotation) * (spawnedAvatar.pelvis.position - ApplyTrackedPointFloorOffset(spawnedAvatar, pelvis.position));
Quaternion rotationOffset = Quaternion.Inverse(pelvis.rotation) * spawnedAvatar.pelvis.rotation;
fullBodyCalibration.waist = new Pose(positionOffset, rotationOffset);
_logger.Info("Set waist pose correction " + fullBodyCalibration.waist);
}
if (_trackedDeviceManager.leftFoot.tracked)
{
TrackedDeviceState leftFoot = _trackedDeviceManager.leftFoot;
Vector3 positionOffset = Quaternion.Inverse(spawnedAvatar.leftLeg.rotation) * (spawnedAvatar.leftLeg.position - ApplyTrackedPointFloorOffset(spawnedAvatar, leftFoot.position));
Quaternion rotationOffset = Quaternion.Inverse(leftFoot.rotation) * spawnedAvatar.leftLeg.rotation;
fullBodyCalibration.leftFoot = new Pose(positionOffset, rotationOffset);
_logger.Info("Set left foot pose correction " + fullBodyCalibration.leftFoot);
}
if (_trackedDeviceManager.rightFoot.tracked)
{
TrackedDeviceState rightFoot = _trackedDeviceManager.rightFoot;
Vector3 positionOffset = Quaternion.Inverse(spawnedAvatar.rightLeg.rotation) * (spawnedAvatar.rightLeg.position - ApplyTrackedPointFloorOffset(spawnedAvatar, rightFoot.position));
Quaternion rotationOffset = Quaternion.Inverse(rightFoot.rotation) * spawnedAvatar.rightLeg.rotation;
fullBodyCalibration.rightFoot = new Pose(positionOffset, rotationOffset);
_logger.Info("Set right foot pose correction " + fullBodyCalibration.rightFoot);
}
}
