public static Vector3 GetDirection(Direction settings, TrackerReference trackers, CalibrationProfile profile)
{
switch (settings.type)
{
case DirectionType.WorldDirection:
return(settings.worldDirection);
case DirectionType.TrackerDirection:
TransformValues?trackerFrom = trackers.GetTracker(settings.trackerFrom);
if (settings.trackerFromLocal)
{
if (profile.trackerOffsets.ContainsKey(settings.trackerFromLocalOffset) &&
profile.trackerOffsets[settings.trackerFromLocalOffset].position != null)
{
trackerFrom = trackers.GetTrackerWithOffset(settings.trackerFrom, profile.trackerOffsets[settings.trackerFromLocalOffset].Position, Quaternion.identity);
}
}
TransformValues?trackerTo = trackers.GetTracker(settings.trackerTo);
if (settings.trackerToLocal)
{
if (profile.trackerOffsets.ContainsKey(settings.trackerToLocalOffset) &&
profile.trackerOffsets[settings.trackerToLocalOffset].position != null)
{
trackerTo = trackers.GetTrackerWithOffset(settings.trackerTo, profile.trackerOffsets[settings.trackerToLocalOffset].Position, Quaternion.identity);
}
}
if (trackerFrom == null || trackerTo == null)
{
Debug.LogError("Not all trackers are connected");
break;
}
return(trackerTo.Value.position - trackerFrom.Value.position);
}
return(Vector3.zero);
}
private void VisualizeTrackerOffsets()
{
for (int i = 0; i < profile.trackerOffsets.Keys.Count; i++)
{
if (trackerOffsetVisuals.Count < i + 1)
{
trackerOffsetVisuals.Add(GameObject.CreatePrimitive(PrimitiveType.Sphere));
trackerOffsetVisuals[i].GetComponent <MeshRenderer>().material.color = Color.black;
trackerOffsetVisuals[i].transform.localScale = new Vector3(0.05f, 0.05f, 0.05f);
trackerOffsetVisuals[i].transform.SetParent(transform);
}
OffsetsToTrackers offsetType = profile.trackerOffsets.Keys.ToArray()[i];
VRTrackerType type = CalibrationProfile.GetMatchingTrackerFromOffset(offsetType) ?? VRTrackerType.Other;
TrackerOffset offset = profile.trackerOffsets[offsetType];
TransformValues?trackerWithOffset = trackers.GetTrackerWithOffset(type, offset.Position, Quaternion.identity);
if (trackerWithOffset == null)
{
if (trackerOffsetVisuals[i].activeSelf)
{
trackerOffsetVisuals[i].SetActive(false);
}
continue;
}
if (!trackerOffsetVisuals[i].activeSelf)
{
trackerOffsetVisuals[i].SetActive(true);
}
trackerOffsetVisuals[i]?.transform.SetPositionAndRotation(
trackerWithOffset.Value.position,
trackerWithOffset.Value.rotation);
}
}
public static Vector3 GetPoint(Point settings, TrackerReference trackers, CalibrationProfile profile)
{
switch (settings.type)
{
case PointType.Tracker:
TransformValues?trackerTransform = trackers.GetTracker(settings.tracker);
if (settings.useTrackerLocal)
{
if (!profile.trackerOffsets.ContainsKey(settings.trackerOffset) ||
profile.trackerOffsets[settings.trackerOffset].position == null)
{
break;
}
trackerTransform = trackers.GetTrackerWithOffset(settings.tracker, profile.trackerOffsets[settings.trackerOffset].Position, Quaternion.identity);
}
if (trackerTransform == null)
{
break;
}
return(trackerTransform.Value.position);
break;
default:
Debug.LogError("Not Implemented");
break;
}
Debug.LogError("Something went wrong here");
return(Vector3.zero);
}
private void UpdateTrackerTargets()
{
foreach (VRTrackerType tracker in trackers.RequiredTrackers)
{
TransformValues?trackerTransform = trackers.GetTracker(tracker);
Transform obj = null;
switch (tracker)
{
case VRTrackerType.Head:
obj = head;
if (profile.trackerOffsets.ContainsKey(OffsetsToTrackers.HeadTrackerToHead))
{
TrackerOffset offset = profile.trackerOffsets[OffsetsToTrackers.HeadTrackerToHead];
trackerTransform = trackers.GetTrackerWithOffset(
VRTrackerType.Head,
offset.Position,
offset.Rotation);
}
break;
case VRTrackerType.Waist:
obj = hip;
if (profile.trackerOffsets.ContainsKey(OffsetsToTrackers.HipTrackerToHip))
{
TrackerOffset offset = profile.trackerOffsets[OffsetsToTrackers.HipTrackerToHip];
trackerTransform = trackers.GetTrackerWithOffset(
VRTrackerType.Waist,
offset.Position,
offset.Rotation);
}
break;
case VRTrackerType.LeftHand:
obj = leftHand;
if (profile.trackerOffsets.ContainsKey(OffsetsToTrackers.LeftHandTrackerToWrist))
{
TrackerOffset offset = profile.trackerOffsets[OffsetsToTrackers.LeftHandTrackerToWrist];
trackerTransform = trackers.GetTrackerWithOffset(
VRTrackerType.LeftHand,
offset.Position,
offset.Rotation);
}
break;
case VRTrackerType.RightHand:
obj = rightHand;
if (profile.trackerOffsets.ContainsKey(OffsetsToTrackers.RightHandTrackerToWrist))
{
TrackerOffset offset = profile.trackerOffsets[OffsetsToTrackers.RightHandTrackerToWrist];
trackerTransform = trackers.GetTrackerWithOffset(
VRTrackerType.RightHand,
offset.Position,
offset.Rotation);
}
break;
case VRTrackerType.LeftFoot:
obj = leftFoot;
if (profile.trackerOffsets.ContainsKey(OffsetsToTrackers.LeftFootTrackerToAnkle))
{
TrackerOffset offset = profile.trackerOffsets[OffsetsToTrackers.LeftFootTrackerToAnkle];
trackerTransform = trackers.GetTrackerWithOffset(
VRTrackerType.LeftFoot,
offset.Position,
offset.Rotation);
}
break;
case VRTrackerType.RightFoot:
obj = rightFoot;
if (profile.trackerOffsets.ContainsKey(OffsetsToTrackers.RightFootTrackerToAnkle))
{
TrackerOffset offset = profile.trackerOffsets[OffsetsToTrackers.RightFootTrackerToAnkle];
trackerTransform = trackers.GetTrackerWithOffset(
VRTrackerType.RightFoot,
offset.Position,
offset.Rotation);
}
break;
}
if (trackerTransform == null || obj == null)
{
continue;
}
filters[tracker].UpdateFilter(trackerTransform.Value.position, trackerTransform.Value.rotation);
obj.position = useKalmanOnTrackerData ? filters[tracker].Position : trackerTransform.Value.position;
obj.rotation = useKalmanOnTrackerData ? filters[tracker].Rotation : trackerTransform.Value.rotation;
switch (tracker)
{
case VRTrackerType.LeftFoot:
case VRTrackerType.RightFoot:
float _footHeight = 0.1346572f;
if (obj.position.y < _footHeight)
{
obj.position = new Vector3(obj.position.x, _footHeight, obj.position.z);
}
break;
}
}
}
