private void CalibrateHand(Transform handBone, IKSolverVR.Arm arm, bool isLeft)
{
// adjust tracker position to transform position (neck)
var target = TargetObject.transform;
// matches the rotation but the pose of player does not necessarily matches the pose of the model
// 1st, matches wrist-to-palm vector to tracker forward
var trackerUpVector = transform.up;
var handUpVector = handBone.rotation * Vector3.Cross(arm.wristToPalmAxis, arm.palmToThumbAxis);
if (handUpVector.y < 0)
{
handUpVector = -handUpVector;
}
var angle1 = Vector3.Angle(trackerUpVector, handUpVector);
var axis1 = -Vector3.Cross(trackerUpVector, handUpVector);
target.rotation = Quaternion.AngleAxis(angle1, axis1) * target.rotation;
// 2nd, matches hand upward (downward) vector to tracker upward (downward)
var trackerDownVector = -trackerUpVector;
var currentForwardVector = target.forward;
var angle2 = Vector3.Angle(trackerDownVector, currentForwardVector);
var axis2 = -Vector3.Cross(trackerDownVector, currentForwardVector);
target.rotation = Quaternion.AngleAxis(angle2, axis2) * target.rotation;
}
public VRIKSolverDataArm(IKSolverVR.Arm arm)
{
positionWeight = arm.positionWeight;
rotationWeight = arm.rotationWeight;
shoulderRotationWeight = arm.shoulderRotationWeight;
shoulderTwistWeight = arm.shoulderTwistWeight;
bendGoalWeight = arm.bendGoalWeight;
swivelOffset = arm.swivelOffset;
armLengthMlp = arm.armLengthMlp;
}
public void ApplyTo(IKSolverVR.Arm arm)
{
arm.positionWeight = positionWeight;
arm.rotationWeight = rotationWeight;
arm.shoulderRotationWeight = shoulderRotationWeight;
arm.shoulderTwistWeight = shoulderTwistWeight;
arm.bendGoalWeight = bendGoalWeight;
arm.swivelOffset = swivelOffset;
arm.armLengthMlp = armLengthMlp;
}
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;
}
